# LeRobot Arena - Robot Control Architecture v2.0

> **Master-Slave Pattern for Scalable Robot Control**  
> A revolutionary architecture that separates command generation (Masters) from execution (Slaves), enabling sophisticated robot control scenarios from simple manual operation to complex multi-robot coordination.

## 🏗️ Architecture Overview

The architecture follows a **Master-Slave Pattern** with complete separation of concerns:

```
┌─────────────────┐    ┌──────────────────┐    ┌─────────────────┐
│   Web Frontend  │    │  RobotManager    │    │    Masters      │
│                 │◄──►│                  │◄──►│                 │
│ • 3D Visualization   │ • Robot Creation │    │ • USB Master    │
│ • Manual Control│    │ • Master/Slave   │    │ • Remote Server │
│ • Monitoring    │    │   Orchestration  │    │ • Mock Sequence │
│ (disabled when  │    │ • State Sync     │    │   (1 per robot) │
│  master active) │    └──────────────────┘    └─────────────────┘
└─────────────────┘             │
                                ▼
                       ┌──────────────────┐    ┌─────────────────┐
                       │   Robot Class    │◄──►│     Slaves      │
                       │                  │    │                 │
                       │ • Joint States   │    │ • USB Robot     │
                       │ • URDF Model     │    │ • Remote Robot  │
                       │ • Command Queue  │    │ • WebSocket     │
                       │ • Calibration    │    │   (N per robot) │
                       └──────────────────┘    └─────────────────┘
                                │
                                ▼
                       ┌──────────────────┐
                       │  Python Backend  │
                       │                  │
                       │ • WebSocket API  │
                       │ • Connection Mgr │
                       │ • Robot Manager  │
                       └──────────────────┘
```

### Control Flow States

```
┌─────────────────┐    Master Connected    ┌─────────────────┐
│   Manual Mode   │ ──────────────────────► │  Master Mode    │
│                 │                         │                 │
│ ✅ Panel Active  │                         │ ❌ Panel Locked  │
│ ✅ Direct Control│                         │ ✅ Master Commands│
│ ❌ No Master     │                         │ ✅ All Slaves Exec│
└─────────────────┘ ◄────────────────────── └─────────────────┘
                     Master Disconnected
```

## 🎯 Core Concepts

### Masters (Command Sources)
**Purpose**: Generate and provide robot control commands

| Type | Description | Connection | Use Case |
|------|-------------|------------|----------|
| **USB Master** | Physical robot as command source | USB/Serial | Teleoperation, motion teaching |
| **Remote Server** | WebSocket/HTTP command reception | Network | External control systems |
| **Mock Sequence** | Predefined movement patterns | Internal | Testing, demonstrations |

**Key Rules**:
- 🔒 **Exclusive Control**: Only 1 master per robot
- 🚫 **Panel Lock**: Manual control disabled when master active
- 🔄 **Seamless Switch**: Masters can be swapped dynamically

### Slaves (Execution Targets)
**Purpose**: Execute commands on physical or virtual robots

| Type | Description | Connection | Use Case |
|------|-------------|------------|----------|
| **USB Slave** | Physical robot control | USB/Serial | Hardware execution |
| **Remote Server Slave** | Network robot control | WebSocket | Distributed robots |
| **WebSocket Slave** | Real-time WebSocket execution | WebSocket | Cloud robots |

**Key Rules**:
- 🔢 **Multiple Allowed**: N slaves per robot
- 🎯 **Parallel Execution**: All slaves execute same commands
- 🔄 **Independent Operation**: Slaves can fail independently

### Architecture Comparison

| Aspect | v1.0 (Single Driver) | v2.0 (Master-Slave) |
|--------|---------------------|---------------------|
| **Connection Model** | 1 Driver ↔ 1 Robot | 1 Master + N Slaves ↔ 1 Robot |
| **Command Source** | Always UI Panel | Master OR UI Panel |
| **Execution Targets** | Single Connection | Multiple Parallel |
| **Control Hierarchy** | Flat | Hierarchical |
| **Scalability** | Limited | Unlimited |

## 📁 Project Structure

### Frontend Architecture (TypeScript + Svelte)
```
src/lib/robot/
├── Robot.svelte.ts              # Individual robot master-slave coordination
├── RobotManager.svelte.ts       # Global robot orchestration
└── drivers/
    ├── USBMaster.ts             # Physical robot as command source
    ├── RemoteServerMaster.ts    # WebSocket command reception
    ├── USBSlave.ts              # Physical robot execution
    ├── RemoteServerSlave.ts     # Network robot execution
    └── WebSocketSlave.ts        # Real-time WebSocket execution

src/lib/types/
├── robotDriver.ts               # Master/Slave interfaces
└── robot.ts                     # Robot state management
```

### Backend Architecture (Python + FastAPI)
```
src-python/src/
├── main.py                      # FastAPI server + WebSocket endpoints
├── robot_manager.py             # Server-side robot lifecycle
├── connection_manager.py        # WebSocket connection handling
└── models.py                    # Pydantic data models
```

## 🎮 Usage Examples

### Basic Robot Setup

```typescript
import { robotManager } from "$lib/robot/RobotManager.svelte";

// Create robot from URDF
const robot = await robotManager.createRobot("demo-arm", {
  urdfPath: "/robots/so-arm100/robot.urdf",
  jointNameIdMap: { "Rotation": 1, "Pitch": 2, "Elbow": 3 },
  restPosition: { "Rotation": 0, "Pitch": 0, "Elbow": 0 }
});

// Add execution targets (slaves)
await robotManager.connectUSBSlave("demo-arm");           // Real hardware
await robotManager.connectRemoteServerSlave("demo-arm");  // Network robot

// Connect command source (master) - panel becomes locked
await robotManager.connectUSBMaster("demo-arm"); 

// Result: USB master controls both USB and Remote slaves
```

### Master Switching Workflow

```typescript
const robot = robotManager.getRobot("my-robot");

// Start with manual control
console.log(robot.manualControlEnabled); // ✅ true

// Switch to USB master (robot becomes command source)
await robotManager.connectUSBMaster("my-robot");
console.log(robot.manualControlEnabled); // ❌ false (panel locked)

// Switch to remote control
await robotManager.disconnectMaster("my-robot");
await robotManager.connectMaster("my-robot", {
  type: "remote-server",
  url: "ws://robot-controller:8080/ws"
});

// Restore manual control
await robotManager.disconnectMaster("my-robot");
console.log(robot.manualControlEnabled); // ✅ true (panel restored)
```

## 🔌 Driver Implementations

### USB Master Driver

**Physical robot as command source for teleoperation**

```typescript
// USBMaster.ts - Core implementation
export class USBMaster implements MasterDriver {
  readonly type = "master" as const;
  private feetechDriver: FeetechSerialDriver;
  private pollIntervalId?: number;

  async connect(): Promise<void> {
    // Initialize feetech.js serial connection
    this.feetechDriver = new FeetechSerialDriver({
      port: this.config.port || await this.detectPort(),
      baudRate: this.config.baudRate || 115200
    });
    
    await this.feetechDriver.connect();
    this.startPolling();
  }

  private startPolling(): void {
    this.pollIntervalId = setInterval(async () => {
      try {
        // Read current joint positions from hardware
        const jointStates = await this.readAllJoints();
        
        // Convert to robot commands
        const commands = this.convertToCommands(jointStates);
        
        // Emit commands to slaves
        this.notifyCommand(commands);
      } catch (error) {
        console.error('USB Master polling error:', error);
      }
    }, this.config.pollInterval || 100);
  }

  private async readAllJoints(): Promise<DriverJointState[]> {
    const states: DriverJointState[] = [];
    
    for (const [jointName, servoId] of Object.entries(this.jointMap)) {
      const position = await this.feetechDriver.readPosition(servoId);
      states.push({
        name: jointName,
        servoId,
        type: "revolute",
        virtualValue: position,
        realValue: position
      });
    }
    
    return states;
  }
}
```

**Usage Pattern:**
- Connect USB robot as master
- Physical robot becomes the command source
- Move robot manually → slaves follow the movement
- Ideal for: Teleoperation, motion teaching, demonstration recording

### USB Slave Driver

**Physical robot as execution target**

```typescript
// USBSlave.ts - Core implementation
export class USBSlave implements SlaveDriver {
  readonly type = "slave" as const;
  private feetechDriver: FeetechSerialDriver;
  private calibrationOffsets: Map<string, number> = new Map();

  async executeCommand(command: RobotCommand): Promise<void> {
    for (const joint of command.joints) {
      const servoId = this.getServoId(joint.name);
      if (!servoId) continue;

      // Apply calibration offset
      const offset = this.calibrationOffsets.get(joint.name) || 0;
      const adjustedValue = joint.value + offset;

      // Send to hardware via feetech.js
      await this.feetechDriver.writePosition(servoId, adjustedValue, {
        speed: joint.speed || 100,
        acceleration: 50
      });
    }
  }

  async readJointStates(): Promise<DriverJointState[]> {
    const states: DriverJointState[] = [];
    
    for (const joint of this.jointStates) {
      const position = await this.feetechDriver.readPosition(joint.servoId);
      const offset = this.calibrationOffsets.get(joint.name) || 0;
      
      states.push({
        ...joint,
        realValue: position - offset // Remove offset for accurate state
      });
    }
    
    return states;
  }

  async calibrate(): Promise<void> {
    console.log('Calibrating USB robot...');
    
    for (const joint of this.jointStates) {
      // Read current hardware position
      const currentPos = await this.feetechDriver.readPosition(joint.servoId);
      
      // Calculate offset: desired_rest - actual_position
      const offset = joint.restPosition - currentPos;
      this.calibrationOffsets.set(joint.name, offset);
      
      console.log(`Joint ${joint.name}: offset=${offset.toFixed(1)}°`);
    }
  }
}
```

**Features:**
- Direct hardware control via feetech.js
- Real position feedback
- Calibration offset support
- Smooth motion interpolation

### Remote Server Master

**Network command reception via WebSocket**

```typescript
// RemoteServerMaster.ts - Core implementation
export class RemoteServerMaster implements MasterDriver {
  readonly type = "master" as const;
  private websocket?: WebSocket;
  private reconnectAttempts = 0;

  async connect(): Promise<void> {
    const wsUrl = `${this.config.url}/ws/master/${this.robotId}`;
    this.websocket = new WebSocket(wsUrl);

    this.websocket.onopen = () => {
      console.log(`Remote master connected: ${wsUrl}`);
      this.reconnectAttempts = 0;
      this.updateStatus({ isConnected: true });
    };

    this.websocket.onmessage = (event) => {
      try {
        const message = JSON.parse(event.data);
        this.handleServerMessage(message);
      } catch (error) {
        console.error('Failed to parse server message:', error);
      }
    };

    this.websocket.onclose = () => {
      this.updateStatus({ isConnected: false });
      this.attemptReconnect();
    };
  }

  private handleServerMessage(message: any): void {
    switch (message.type) {
      case 'command':
        // Convert server message to robot command
        const command: RobotCommand = {
          timestamp: Date.now(),
          joints: message.data.joints.map((j: any) => ({
            name: j.name,
            value: j.value,
            speed: j.speed
          }))
        };
        this.notifyCommand([command]);
        break;

      case 'sequence':
        // Handle command sequence
        const sequence: CommandSequence = message.data;
        this.notifySequence(sequence);
        break;
    }
  }

  async sendSlaveStatus(slaveStates: DriverJointState[]): Promise<void> {
    if (!this.websocket) return;

    const statusMessage = {
      type: 'slave_status',
      timestamp: new Date().toISOString(),
      robot_id: this.robotId,
      data: {
        joints: slaveStates.map(state => ({
          name: state.name,
          virtual_value: state.virtualValue,
          real_value: state.realValue
        }))
      }
    };

    this.websocket.send(JSON.stringify(statusMessage));
  }
}
```

**Protocol:**
```json
// Command from server to robot
{
  "type": "command",
  "timestamp": "2024-01-15T10:30:00Z",
  "data": {
    "joints": [
      { "name": "Rotation", "value": 45, "speed": 100 },
      { "name": "Elbow", "value": -30, "speed": 80 }
    ]
  }
}

// Status from robot to server
{
  "type": "slave_status",
  "timestamp": "2024-01-15T10:30:01Z",
  "robot_id": "robot-1",
  "data": {
    "joints": [
      { "name": "Rotation", "virtual_value": 45, "real_value": 44.8 },
      { "name": "Elbow", "virtual_value": -30, "real_value": -29.9 }
    ]
  }
}
```

### Remote Server Slave

**Network robot execution via WebSocket**

```typescript
// RemoteServerSlave.ts - Core implementation
export class RemoteServerSlave implements SlaveDriver {
  readonly type = "slave" as const;
  private websocket?: WebSocket;

  async executeCommand(command: RobotCommand): Promise<void> {
    if (!this.websocket) throw new Error('Not connected');

    const message = {
      type: 'command',
      timestamp: new Date().toISOString(),
      robot_id: this.config.robotId,
      data: {
        joints: command.joints.map(j => ({
          name: j.name,
          value: j.value,
          speed: j.speed
        }))
      }
    };

    this.websocket.send(JSON.stringify(message));
    
    // Wait for acknowledgment
    return new Promise((resolve, reject) => {
      const timeout = setTimeout(() => reject(new Error('Command timeout')), 5000);
      
      const messageHandler = (event: MessageEvent) => {
        const response = JSON.parse(event.data);
        if (response.type === 'command_ack') {
          clearTimeout(timeout);
          this.websocket?.removeEventListener('message', messageHandler);
          resolve();
        }
      };
      
      this.websocket.addEventListener('message', messageHandler);
    });
  }

  async readJointStates(): Promise<DriverJointState[]> {
    if (!this.websocket) throw new Error('Not connected');

    const message = {
      type: 'status_request',
      timestamp: new Date().toISOString(),
      robot_id: this.config.robotId
    };

    this.websocket.send(JSON.stringify(message));

    return new Promise((resolve, reject) => {
      const timeout = setTimeout(() => reject(new Error('Status timeout')), 3000);
      
      const messageHandler = (event: MessageEvent) => {
        const response = JSON.parse(event.data);
        if (response.type === 'joint_states') {
          clearTimeout(timeout);
          this.websocket?.removeEventListener('message', messageHandler);
          
          const states = response.data.joints.map((j: any) => ({
            name: j.name,
            servoId: j.servo_id,
            type: j.type,
            virtualValue: j.virtual_value,
            realValue: j.real_value
          }));
          
          resolve(states);
        }
      };
      
      this.websocket.addEventListener('message', messageHandler);
    });
  }
}
```

## 🔄 Command Flow Architecture

### Command Structure

```typescript
interface RobotCommand {
  timestamp: number;
  joints: {
    name: string;
    value: number;    // degrees for revolute, speed for continuous
    speed?: number;   // optional movement speed
  }[];
  duration?: number;  // optional execution time
  metadata?: Record<string, unknown>;
}
```

### Control Flow

1. **Master Generation**: Masters generate commands from various sources
2. **Robot Routing**: Robot class routes commands to all connected slaves
3. **Parallel Execution**: All slaves execute commands simultaneously
4. **State Feedback**: Slaves report back real joint positions
5. **Synchronization**: Robot maintains synchronized state across all slaves

### State Management

```typescript
// Robot.svelte.ts - Core state management
export interface ManagedJointState {
  name: string;
  urdfJoint: IUrdfJoint;
  servoId?: number;

  // State values
  virtualValue: number;      // What the UI shows
  realValue?: number;        // What hardware reports
  commandedValue: number;    // Last commanded value

  // Calibration
  calibrationOffset: number; // Hardware compensation
  restPosition: number;      // Safe default position

  // Synchronization
  lastVirtualUpdate: Date;
  lastRealUpdate?: Date;
  lastCommandUpdate?: Date;
}
```

## 📊 Benefits Summary

| Benefit | Description | Impact |
|---------|-------------|---------|
| **🔒 Clear Control Hierarchy** | Masters provide commands exclusively, slaves execute in parallel | No command conflicts, predictable behavior |
| **🔄 Flexible Command Sources** | Easy switching between manual, automated, and remote control | Supports development, testing, and production |
| **📡 Multiple Execution Targets** | Same commands executed on multiple robots simultaneously | Real hardware + simulation testing |
| **🎛️ Automatic Panel Management** | UI automatically adapts to master presence | Intuitive user experience |
| **🚀 Development Workflow** | Clear separation enables independent development | Faster iteration cycles |

---

**This architecture provides unprecedented flexibility for robot control, from simple manual operation to sophisticated multi-robot coordination, all with a clean, extensible, and production-ready design.**