Add state-aware “Launch Sub” checklist + controller status

[brockgilman]

Goal
implement a “Launch the Sub” checklist panel as the main operator flow, and use it to drive/validate the current incomplete widgets (thruster spin button, camera viewer, node viewer).

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Main checklist flow

• connection + high-level status panel (comms, kill state, fault summary)

• numbered, state-aware buttons:

  1. unkill (shows KILLED/UNKILLED, disables if already unkilled)
  2. start localization (shows RUNNING/STOPPED, disables if already running)
  3. reset localization (confirm dialog; only enabled if localization running; requires re-stabilization)
     • safety gate: reset-localization should only be callable once per localization start (repeated resets can cause issues)
     • expected ops flow: localization generally needs exactly one reset before starting the controller (no more than once)
     • after reset, require localization to be stable for N seconds before proceeding
  4. start controller (shows RUNNING/STOPPED; disables if already running)

• add controller reporting: top bar “Controller: ON/OFF”

  • prefer: heartbeat age / mode if available (armed / hold / mission, etc.)
  • fallback: infer controller ON/OFF by whether it is publishing commands (and show last-command age if possible)

• “Launch Sub” button stays disabled until all required steps are healthy; if blocked, show why (missing node/service, localization not stable, controller off, etc.)

  • clarification: Launch Sub is the final action (mission/arm/operator transition) and does not auto-run steps 1–4; those are prerequisites the operator completes first

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Side tasks / incomplete widgets to tie in

• thruster spin test: safety-gated panel (confirm, duration limit, per-thruster selection, stop/kill visible, basic feedback)

• camera viewer: topic selection + stream state + fps/latency overlay (multi-cam layout optional)

• node viewer: list/graph of nodes + highlight required nodes for checklist + show missing dependencies that block Launch

  • use this as the primary “why blocked” explainer when Launch Sub is disabled (missing deps/services, etc.)

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Acceptance criteria

• checklist buttons reflect live state (already running/active -> indicated and disabled)

• controller ON/OFF is visible and updates automatically

  • meets this via heartbeat/mode when available, otherwise via command-publishing inference

• launch button properly gates and explains why it’s disabled

  • includes reset-localization gating rules (only once; must be done once before controller if not yet performed)

• camera/node/thruster widgets are no longer “placeholder only” and provide minimal usable functionality

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Sources/References

• Figma Jam Board
  • password: subgui

[brockgilman]

updated workflow, will be merging previous features that were in incomplete states into master branch, finishing them, and rehaul the GUI