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e&&(e=JSON.parse(e));if(Array.isArray(e)){if(!e.length||Array.isArray(e[0]))return n(null,e,i);if(\"object\"==typeof e[0])return n(r||Object.keys(e[0]),e,i)}else if(\"object\"==typeof e)return\"string\"==typeof e.data&&(e.data=JSON.parse(e.data)),Array.isArray(e.data)&&(e.fields||(e.fields=e.meta&&e.meta.fields||r),e.fields||(e.fields=Array.isArray(e.data[0])?e.fields:\"object\"==typeof e.data[0]?Object.keys(e.data[0]):[]),Array.isArray(e.data[0])||\"object\"==typeof e.data[0]||(e.data=[e.data])),n(e.fields||[],e.data||[],i);throw new Error(\"Unable to serialize unrecognized input\");function n(e,t,i){var r=\"\",n=(\"string\"==typeof e&&(e=JSON.parse(e)),\"string\"==typeof t&&(t=JSON.parse(t)),Array.isArray(e)&&0{for(var i=0;i= 1e6 ? `${number(millimeters / 1e6)} km` : `${number(millimeters / 1000, 1)} m`;\n}\n\nfunction exportCsv(rows) {\n // Papa Parse owns quoting and escaping so new metric columns cannot silently\n // corrupt exports when rover names or confidence explanations contain commas.\n const csv = Papa.unparse(rows.map((rover) => ({\n ...rover,\n batteryHealth: JSON.stringify(rover.batteryHealth),\n })));\n const url = URL.createObjectURL(new Blob([csv], { type: 'text/csv;charset=utf-8' }));\n const anchor = document.createElement('a');\n anchor.href = url;\n anchor.download = 'fleet-battery-efficiency.csv';\n anchor.click();\n URL.revokeObjectURL(url);\n}\n\nfunction Metric({ label, value, detail }) {\n return (\n
\n
{label}
\n
{value}
\n {detail ?
{detail}
: null}\n
\n );\n}\n\nfunction SortHeading({ field, sort, onSort, children }) {\n // Sorting is an explicit table interaction rather than hidden column state;\n // the arrow tells users which fleet comparison currently controls row order.\n return ;\n}\n\nfunction BatteryRegistry({ report, refresh }) {\n const socket = useSocket();\n const role = useSessionSelector((state) => state.session?.role || null);\n const canEdit = role === 'admin' || role === 'lockdown';\n const [draft, setDraft] = useState({\n roverId: report.rovers[0]?.roverId || '',\n chemistry: 'unknown',\n ratedCapacityMah: '',\n installedDate: new Date().toISOString().slice(0, 10),\n notes: '',\n });\n const [status, setStatus] = useState('');\n\n function submit(event) {\n event.preventDefault();\n setStatus('Saving…');\n socket.emit('fleetReports:replaceBattery', {\n ...draft,\n ratedCapacityMah: Number(draft.ratedCapacityMah),\n installedAt: new Date(`${draft.installedDate}T12:00:00`).getTime(),\n }, (response = {}) => {\n setStatus(response.error || `Registered ${response.battery?.batteryKey || 'battery'}`);\n if (!response.error) refresh();\n });\n }\n\n return (\n \n
\n \n \n {report.batteryRegistry.map((battery) => (\n \n \n \n \n \n ))}\n
RoverBatteryChemistryRated mAhInstalledRetiredLearned baseline mAhNotes
{battery.roverId}{battery.batteryKey}{battery.chemistry || '--'}{number(battery.ratedCapacityMah, 0)}{timestamp(battery.installedAt)}{timestamp(battery.retiredAt)}{number(battery.healthyBaselineMah, 0)}{battery.notes || '--'}
\n
\n {canEdit ? (\n
\n \n \n \n \n \n
{status}
\n
\n ) : null}\n \n );\n}\n\nfunction FullReportContent() {\n const [rangeMs, setRangeMs] = useState(RANGE_OPTIONS[1].ms);\n const [rangeEnd, setRangeEnd] = useState(() => Date.now());\n const [query, setQuery] = useState('');\n const [sort, setSort] = useState({ key: 'name', descending: false });\n const { report, loading, error, refresh } = useFleetReport({\n since: rangeEnd - rangeMs,\n until: rangeEnd,\n includeEvents: false,\n });\n\n const rows = useMemo(() => {\n const filtered = (report?.rovers || []).filter((rover) =>\n `${rover.name} ${rover.roverId}`.toLowerCase().includes(query.trim().toLowerCase()),\n );\n return [...filtered].sort((left, right) => {\n const leftValue = sort.key.startsWith('batteryHealth.')\n ? left.batteryHealth?.[sort.key.slice('batteryHealth.'.length)]\n : left[sort.key];\n const rightValue = sort.key.startsWith('batteryHealth.')\n ? right.batteryHealth?.[sort.key.slice('batteryHealth.'.length)]\n : right[sort.key];\n const result = typeof leftValue === 'string'\n ? leftValue.localeCompare(String(rightValue ?? ''))\n : (Number(leftValue) || 0) - (Number(rightValue) || 0);\n return sort.descending ? -result : result;\n });\n }, [query, report, sort]);\n\n function sortBy(key) {\n setSort((current) => ({ key, descending: current.key === key ? !current.descending : false }));\n }\n\n return (\n <>\n \n
\n \n \n \n Back\n
\n {loading && !report ?

Loading fleet metrics…

: null}\n {error ?

{error}

: null}\n {report ? (\n
\n \n \n \n \n \n \n \n \n
\n ) : null}\n \n\n {report ? (\n <>\n exportCsv(rows)}>Export CSV}\n bodyClassName=\"overflow-x-auto p-0.5\"\n >\n \n \n RoverState\n HealthUsable Ah\n Usable WhConfidence\n Wh/kmMoving Wh/km\n DistanceUsed Wh\n Moving WhStationary Wh\n Moving timeAverage speed\n Maximum speedCharge\n VoltageCurrent\n TemperatureLast data\n \n {rows.map((rover) => {\n const health = rover.batteryHealth;\n return (\n \n \n \n \n \n \n \n \n \n \n \n \n \n );\n })}\n
{rover.name}{rover.online ? 'online' : 'offline'}{health.capacityRetentionPercent == null ? '--' : `${number(health.capacityRetentionPercent, 1)}%`}{health.measuredUsableMah == null ? '--' : number(health.measuredUsableMah / 1000, 3)}{number(health.measuredUsableWh)}{health.confidence}{rover.overallWhPerKm == null ? `need ${distance(rover.efficiencyDistanceRequiredMm)}` : number(rover.overallWhPerKm)}{number(rover.movingWhPerKm)}{distance(rover.distanceMm)}{number(rover.dischargedWh)}{number(rover.movingDischargedWh)}{number(rover.stationaryDischargedWh)}{duration(rover.movingMs)}{rover.averageSpeedMmPerSecond == null ? '--' : `${number(rover.averageSpeedMmPerSecond)} mm/s`}{rover.maximumSpeedMmPerSecond == null ? '--' : `${number(rover.maximumSpeedMmPerSecond)} mm/s`}{number(rover.latestChargeMah, 0)} mAh{number(rover.averageVoltageMv, 0)} mV{number(rover.averageCurrentMa, 0)} mA{number(rover.maximumTemperatureC, 1)} °C{timestamp(rover.lastSampleAt)}
\n \n\n \n \n \n {rows.map((rover) => {\n const health = rover.batteryHealth;\n return ;\n })}\n
RoverBatteryReference mAhEstimated usable mAhObserved range floorRetentionObservationsAverage depthThroughputLatest evidenceConfidence basis
{rover.name}{health.batteryKey}{number(health.referenceMah, 0)}{number(health.measuredUsableMah, 0)}{number(health.observedUsableFloorMah, 0)}{health.capacityRetentionPercent == null ? '--' : `${number(health.capacityRetentionPercent, 1)}%`}{number(health.observationCount, 0)}{number(health.averageObservationDepthPercent, 1)}%{number(health.dischargedThroughputMah, 0)} mAh{timestamp(health.latestObservationAt)}{health.confidenceReason}
\n \n\n {report.attention.length ? (\n \n {report.attention.map((item) => )}
RoverSeverityReason
{item.roverId}{item.severity}{item.title}
\n \n ) : null}\n\n \n\n \n

Energy is integrated per sensor interval from OI voltage and signed current. Existing odometer distance and speed are consumed directly; reporting does not calculate a competing speed value.

\n

Capacity combines partial discharge current with packet 25 charge movement. Every usable observation contributes; deeper observations increase confidence without labeling cycles good or bad. Packet 26 is only a fixed reference.

\n

Wh/km appears after 25 m of selected-range odometer travel. Existing historical rows predate exact power integration, so their Wh fields remain zero rather than being backfilled with false precision.

\n \n \n ) : null}\n \n );\n}\n\nexport default function FleetReportsApp() {\n useUserIdentitySync({ identitySurface: 'passive' });\n const enabled = useSessionSelector((state) => isFeatureEnabled(state, 'fleetReports'));\n const { value: pageSettings } = useSettingsNamespace('page', { backgroundTheme: DEFAULT_PAGE_THEME_KEY });\n const pageBackgroundClass = usePageThemeClass(pageSettings?.backgroundTheme);\n return (\n
\n \n
\n {enabled ? : (\n \n

This server has not enabled fleet reporting.

\n Back to rover page\n \n )}\n
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All component children of must be a or `),j2(!l.props.index||!l.props.children,"An index route cannot have child routes.");let h={id:l.props.id||o.join("-"),caseSensitive:l.props.caseSensitive,element:l.props.element,Component:l.props.Component,index:l.props.index,path:l.props.path,middleware:l.props.middleware,loader:l.props.loader,action:l.props.action,hydrateFallbackElement:l.props.hydrateFallbackElement,HydrateFallback:l.props.HydrateFallback,errorElement:l.props.errorElement,ErrorBoundary:l.props.ErrorBoundary,hasErrorBoundary:l.props.hasErrorBoundary===!0||l.props.ErrorBoundary!=null||l.props.errorElement!=null,shouldRevalidate:l.props.shouldRevalidate,handle:l.props.handle,lazy:l.props.lazy};l.props.children&&(h.children=Wa(l.props.children,o)),r.push(h)}),r}var T5="get",D5="application/x-www-form-urlencoded";function b7(t){return t!=null&&typeof t.tagName=="string"}function ab(t){return b7(t)&&t.tagName.toLowerCase()==="button"}function rb(t){return b7(t)&&t.tagName.toLowerCase()==="form"}function lb(t){return b7(t)&&t.tagName.toLowerCase()==="input"}function ib(t){return!!(t.metaKey||t.altKey||t.ctrlKey||t.shiftKey)}function sb(t,n){return t.button===0&&(!n||n==="_self")&&!ib(t)}var u5=null;function ob(){if(u5===null)try{new FormData(document.createElement("form"),0),u5=!1}catch{u5=!0}return u5}var ub=new Set(["application/x-www-form-urlencoded","multipart/form-data","text/plain"]);function aa(t){return t!=null&&!ub.has(t)?(J4(!1,`"${t}" is not a valid \`encType\` for \`
\`/\`\` and will default to "${D5}"`),null):t}function db(t,n){let r,l,s,o,h;if(rb(t)){let m=t.getAttribute("action");l=m?R3(m,n):null,r=t.getAttribute("method")||T5,s=aa(t.getAttribute("enctype"))||D5,o=new FormData(t)}else if(ab(t)||lb(t)&&(t.type==="submit"||t.type==="image")){let m=t.form;if(m==null)throw new Error('Cannot submit a @@ -106,25 +151,48 @@ export default function GamepadMappingSettings() { GAMEPAD_SETTINGS_DEFAULTS, ); const [captureAction, setCaptureAction] = useState(null); + const [actionFilter, setActionFilter] = useState(''); const baselineRef = useRef(null); - const grouped = useMemo(() => groupActions(ACTIONS), []); + const captureCandidateRef = useRef(null); + + useEffect(() => { + /* The settings panel remains a live control surface so operators can tune calibration while + driving and immediately feel the result. Only capture owns the controller lock: without + that narrow guard, pressing the input being assigned could also drive a wheel, start a + motor, or toggle rover hardware before the new binding is saved. */ + if (!captureAction) return undefined; + return acquireControllerControlLock('controller-binding-capture'); + }, [captureAction]); const activePad = useMemo( - () => pickActivePad(hubState.pads, gamepadSettings.activeSignature), - [hubState.pads, gamepadSettings.activeSignature], + () => pickActivePad(hubState.pads, gamepadSettings.activeInstanceKey), + [hubState.pads, gamepadSettings.activeInstanceKey], ); const activeSignature = activePad?.signature ?? null; const activeProfile = useMemo(() => { - if (!activeSignature) { - return gamepadSettings?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT; - } - return ( + const storedProfile = !activeSignature + ? gamepadSettings?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT + : ( gamepadSettings?.profiles?.[activeSignature] ?? gamepadSettings?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT - ); + ); + return resolveGamepadProfile(storedProfile, GAMEPAD_PROFILE_DEFAULT); }, [activeSignature, gamepadSettings?.defaults?.profile, gamepadSettings?.profiles]); + const driveMode = activeProfile.calibration?.driveMode === 'tank' ? 'tank' : 'single'; + const grouped = useMemo(() => { + const query = actionFilter.trim().toLowerCase(); + /* Only the active steering scheme is shown. Keeping inactive track/stick bindings out of the + mapping list prevents operators from tuning controls that currently have no runtime effect. */ + const modeActions = ACTIONS.filter( + (action) => !action.driveMode || action.driveMode === driveMode, + ); + const visibleActions = query + ? modeActions.filter((action) => `${action.label} ${action.section}`.toLowerCase().includes(query)) + : modeActions; + return groupActions(visibleActions); + }, [actionFilter, driveMode]); useEffect(() => { if (!activePad || !activeSignature) return; @@ -132,7 +200,7 @@ export default function GamepadMappingSettings() { saveGamepadSettings((prev) => { const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS; if (current.profiles?.[activeSignature]) return current; - const base = current?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT; + const base = resolveGamepadProfile(current?.defaults?.profile, GAMEPAD_PROFILE_DEFAULT); const nextProfile = createProfileForPad(activePad, base); return { ...current, @@ -146,6 +214,7 @@ export default function GamepadMappingSettings() { useEffect(() => { baselineRef.current = null; + captureCandidateRef.current = null; }, [captureAction, activeSignature]); useEffect(() => { @@ -154,16 +223,49 @@ export default function GamepadMappingSettings() { baselineRef.current = snapshotBaseline(activePad); return; } - const descriptor = buildDescriptorFromCapture(activePad, baselineRef.current, captureAction); + let descriptor = buildDescriptorFromCapture(activePad, baselineRef.current, captureAction); + if (captureAction.kind === 'button' && descriptor?.kind !== 'chord') { + const now = typeof performance !== 'undefined' ? performance.now() : Date.now(); + if (descriptor && !captureCandidateRef.current) { + /* Give the user a short window to add a modifier after the first button. Immediate capture + makes chords physically impossible because browser frames never report both presses at + precisely the same instant. */ + captureCandidateRef.current = { descriptor, startedAt: now }; + return; + } + if (!captureCandidateRef.current) return; + if (now - captureCandidateRef.current.startedAt < 220) return; + /* A quick tap may already be released when the chord window expires. Preserve the original + candidate so capture completes normally instead of waiting for an unrelated later press. */ + descriptor = captureCandidateRef.current.descriptor; + } if (!descriptor) return; saveGamepadSettings((prev) => { const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS; - const baseProfile = - current.profiles?.[activeSignature] ?? current?.defaults?.profile ?? GAMEPAD_PROFILE_DEFAULT; + const baseProfile = resolveGamepadProfile( + current.profiles?.[activeSignature] ?? current?.defaults?.profile, + GAMEPAD_PROFILE_DEFAULT, + ); + const bindingsWithoutConflict = Object.fromEntries( + Object.entries(baseProfile.bindings ?? {}).map(([actionId, binding]) => { + if (actionId === captureAction.id) return [actionId, binding]; + const otherMode = actionDriveMode(actionId); + const captureMode = actionDriveMode(captureAction.id); + /* Opposing mode-only actions may intentionally reuse a physical input because runtime + never activates them together. Common actions still conflict with both modes. */ + if (captureMode && otherMode && captureMode !== otherMode) return [actionId, binding]; + const sources = (binding?.sources ?? []).filter( + (source) => !sourcesUseSamePhysicalInput(source, descriptor), + ); + return [actionId, { ...binding, sources }]; + }), + ); const nextProfile = { ...baseProfile, bindings: { - ...(baseProfile.bindings ?? {}), + /* A physical input has one owner by default. Removing an exact duplicate avoids two + toggles firing from one press while still allowing deliberate multi-button chords. */ + ...bindingsWithoutConflict, [captureAction.id]: { ...(baseProfile.bindings?.[captureAction.id] ?? {}), kind: captureAction.kind, @@ -179,14 +281,20 @@ export default function GamepadMappingSettings() { }, }; }); - setCaptureAction(null); + /* Hub snapshots drive this effect, but capture state is React-owned UI state. Deferring its + reset to a microtask avoids a synchronous state cascade inside the effect while the id + guard prevents an older completion from cancelling a newer capture request. */ + const completedActionId = captureAction.id; + queueMicrotask(() => { + setCaptureAction((current) => current?.id === completedActionId ? null : current); + }); }, [activePad, activeSignature, captureAction, saveGamepadSettings]); - const setActiveSignature = useCallback( - (signature) => { + const setActiveInstanceKey = useCallback( + (instanceKey) => { saveGamepadSettings((prev) => ({ ...(prev ?? GAMEPAD_SETTINGS_DEFAULTS), - activeSignature: signature || null, + activeInstanceKey: instanceKey || null, })); }, [saveGamepadSettings], @@ -196,10 +304,10 @@ export default function GamepadMappingSettings() { (patch) => { saveGamepadSettings((prev) => { const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS; - const baseProfile = + const storedProfile = (activeSignature && current.profiles?.[activeSignature]) ?? - current?.defaults?.profile ?? - GAMEPAD_PROFILE_DEFAULT; + current?.defaults?.profile; + const baseProfile = resolveGamepadProfile(storedProfile, GAMEPAD_PROFILE_DEFAULT); const nextProfile = { ...baseProfile, calibration: { @@ -228,14 +336,48 @@ export default function GamepadMappingSettings() { [activeSignature, saveGamepadSettings], ); + const updateProfile = useCallback( + (patch) => { + saveGamepadSettings((prev) => { + const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS; + const storedProfile = + (activeSignature && current.profiles?.[activeSignature]) ?? + current?.defaults?.profile; + const nextProfile = { + ...resolveGamepadProfile(storedProfile, GAMEPAD_PROFILE_DEFAULT), + ...patch, + }; + if (!activeSignature) { + return { + ...current, + defaults: { ...(current.defaults ?? {}), profile: nextProfile }, + }; + } + return { + ...current, + profiles: { ...(current.profiles ?? {}), [activeSignature]: nextProfile }, + }; + }); + }, + [activeSignature, saveGamepadSettings], + ); + + const resetActiveProfile = useCallback(() => { + /* Resetting only the selected hardware avoids erasing carefully tuned profiles for other + controllers. Device metadata is rebuilt so the profile remains recognizable offline. */ + const nextProfile = createProfileForPad(activePad, GAMEPAD_PROFILE_DEFAULT); + updateProfile(nextProfile); + setCaptureAction(null); + }, [activePad, updateProfile]); + const updateBinding = useCallback( (actionId, updater) => { saveGamepadSettings((prev) => { const current = prev ?? GAMEPAD_SETTINGS_DEFAULTS; - const baseProfile = + const storedProfile = (activeSignature && current.profiles?.[activeSignature]) ?? - current?.defaults?.profile ?? - GAMEPAD_PROFILE_DEFAULT; + current?.defaults?.profile; + const baseProfile = resolveGamepadProfile(storedProfile, GAMEPAD_PROFILE_DEFAULT); const nextBinding = updater(baseProfile.bindings?.[actionId] ?? {}); const nextProfile = { ...baseProfile, @@ -300,39 +442,74 @@ export default function GamepadMappingSettings() { const outputs = computeGamepadOutputs(activePad, activeProfile); return { outputs }; }, [activePad, activeProfile]); + const controllerDescription = useMemo(() => describeController(activePad), [activePad]); + + const liveValueForAction = useCallback((actionId) => { + const outputs = diagnostics?.outputs; + if (!outputs) return false; + if (actionId === 'drive') return Math.hypot(outputs.driveVector.x, outputs.driveVector.y) > 0.01; + if (actionId === 'tankLeft') return Math.abs(outputs.tankTracks?.left ?? 0) > 0.01; + if (actionId === 'tankRight') return Math.abs(outputs.tankTracks?.right ?? 0) > 0.01; + if (actionId === 'tankCameraUp' || actionId === 'tankCameraDown') { + return Boolean(outputs.buttons[actionId]); + } + if (actionId === 'cameraTilt') return Math.abs(outputs.cameraAxis) > 0.01; + if (actionId === 'mainBrush') return Math.abs(outputs.auxAxis.main) > 0.01; + if (actionId === 'sideBrush') return Math.abs(outputs.auxAxis.side) > 0.01; + return Boolean(outputs.buttons[actionId]); + }, [diagnostics]); return ( + Reset profile + + } bodyClassName="space-y-2 p-1 text-sm" > {captureAction && ( -

- Capturing {captureAction.label}... -

+
+ Release controls, then move or press the input for {captureAction.label}. + +
)}
Connected controller - {hubState.pads.length === 0 ? ( -

No controller detected.

+ {hubState.error ? ( +

+ Controller access failed: {hubState.error} +

+ ) : hubState.pads.length === 0 ? ( +

+ {hubState.supported === false + ? 'This browser does not support controllers.' + : 'No controller detected. Connect it, focus this page, then press a button.'} +

) : (
{activePad?.mapping ?? 'unknown'} +

+ {controllerDescription.description ?? activePad?.id} +

)}
@@ -342,6 +519,42 @@ export default function GamepadMappingSettings() { {/* Calibration controls stay in one stacked column because range inputs become harder to tune when squeezed into multiple narrow columns. */}
+ + updateCalibration({ driveDeadzone: value })} /> - updateCalibration({ cameraDeadzone: value })} + updateCalibration({ driveCurve: value })} /> + updateCalibration({ baseSpeed: value })} + /> + updateCalibration({ turboSpeed: value })} + /> + {driveMode === 'single' && ( + <> + {/* Analog-only settings are hidden in tank mode because its two D-pad camera + directions are digital velocity inputs. The values remain saved for when the + operator returns to single-stick steering. */} + updateCalibration({ cameraDeadzone: value })} + /> + updateCalibration({ cameraCurve: value })} + /> + + )} updateCalibration({ auxDeadzone: value })} /> + updateCalibration({ auxCurve: value })} + /> updateCalibration({ auxSideScale: value })} /> - + updateCalibration({ precisionSpeed: value })} + /> + {driveMode === 'single' && ( + + )}
+ {Object.entries(grouped).map(([section, actions]) => (
{section} @@ -421,10 +695,13 @@ export default function GamepadMappingSettings() { key={action.id} action={action} source={source} + sourceLabel={formatControllerBinding(activeProfile, action.id, activePad)} + liveValue={liveValueForAction(action.id)} isCapturing={captureAction?.id === action.id} onClear={handleClear} onCapture={setCaptureAction} onInvert={handleInvert} + disabled={!activePad} /> ); })} @@ -434,11 +711,12 @@ export default function GamepadMappingSettings() {
- Diagnostics {!activePad ? ( -

No controller detected.

+ null ) : ( -
+
+ Advanced diagnostics +

Raw axes

{activePad.axes.map((value, index) => ( @@ -475,7 +753,8 @@ export default function GamepadMappingSettings() {
)} -
+
+ )}
diff --git a/webui/src/components/GamepadMappingSettings/constants.js b/webui/src/components/GamepadMappingSettings/constants.js index 81438aea..59af90e3 100644 --- a/webui/src/components/GamepadMappingSettings/constants.js +++ b/webui/src/components/GamepadMappingSettings/constants.js @@ -10,6 +10,23 @@ export const ACTIONS = [ kind: 'axisPair', section: 'Driving', invertDefaults: { invertX: false, invertY: true }, + driveMode: 'single', + }, + { + id: 'tankLeft', + label: 'Left track', + kind: 'axis', + section: 'Driving', + invertDefaults: { invert: true }, + driveMode: 'tank', + }, + { + id: 'tankRight', + label: 'Right track', + kind: 'axis', + section: 'Driving', + invertDefaults: { invert: true }, + driveMode: 'tank', }, { id: 'cameraTilt', @@ -17,7 +34,10 @@ export const ACTIONS = [ kind: 'axis', section: 'Camera', invertDefaults: { invert: true }, + driveMode: 'single', }, + { id: 'tankCameraUp', label: 'Camera up', kind: 'button', section: 'Camera', driveMode: 'tank' }, + { id: 'tankCameraDown', label: 'Camera down', kind: 'button', section: 'Camera', driveMode: 'tank' }, { id: 'mainBrush', label: 'Main brush', @@ -32,14 +52,33 @@ export const ACTIONS = [ section: 'Brushes', invertDefaults: { invert: false }, }, - { id: 'vacuum', label: 'Vacuum', kind: 'button', section: 'Aux buttons' }, - { id: 'allAux', label: 'All aux', kind: 'button', section: 'Aux buttons' }, + { id: 'vacuum', label: 'Vacuum only', kind: 'button', section: 'Aux buttons' }, + { id: 'allAux', label: 'All cleaning motors', kind: 'button', section: 'Aux buttons' }, { id: 'mainReverse', label: 'Main reverse toggle', kind: 'button', section: 'Brush toggles' }, { id: 'sideReverse', label: 'Side reverse toggle', kind: 'button', section: 'Brush toggles' }, - { id: 'driveMacro', label: 'Drive macro', kind: 'button', section: 'Mode macros' }, - { id: 'dockMacro', label: 'Dock macro', kind: 'button', section: 'Mode macros' }, + { id: 'driveMacro', label: 'Drive / undock sequence', kind: 'button', section: 'Mode controls' }, + { id: 'dockMacro', label: 'Manual docking assist', kind: 'button', section: 'Mode controls' }, { id: 'headlightToggle', label: 'Headlight toggle', kind: 'button', section: 'Camera' }, { id: 'laserToggle', label: 'Laser toggle', kind: 'button', section: 'Camera' }, + { id: 'boostModifier', label: 'Turbo modifier', kind: 'button', section: 'Driving' }, + { id: 'slowModifier', label: 'Precision modifier', kind: 'button', section: 'Driving' }, + { id: 'hornHonk', label: 'Horn (hold)', kind: 'button', section: 'Audio and chat' }, + { id: 'micPtt', label: 'Microphone push to talk', kind: 'button', section: 'Audio and chat' }, + { id: 'chatFocus', label: 'Focus chat', kind: 'button', section: 'Audio and chat' }, + { id: 'videoFilterCycle', label: 'Cycle video filter', kind: 'button', section: 'Camera' }, + { id: 'songNoteUp', label: 'Play higher note', kind: 'button', section: 'Audio and chat', driveMode: 'single' }, + { id: 'songNoteDown', label: 'Play lower note', kind: 'button', section: 'Audio and chat', driveMode: 'single' }, + { id: 'homeAssistantOn', label: 'Turn next room control on', kind: 'button', section: 'Room controls' }, + { id: 'homeAssistantOff', label: 'Turn next room control off', kind: 'button', section: 'Room controls' }, + /* Digital aux actions provide exact parity with the keyboard help surface. They coexist with + analog brush controls so each operator can choose proportional triggers or discrete buttons. */ + { id: 'auxMainForward', label: 'Main brush forward', kind: 'button', section: 'Aux buttons' }, + { id: 'auxMainReverse', label: 'Main brush reverse', kind: 'button', section: 'Aux buttons' }, + { id: 'auxSideForward', label: 'Side brush forward', kind: 'button', section: 'Aux buttons' }, + { id: 'auxSideReverse', label: 'Side brush reverse', kind: 'button', section: 'Aux buttons' }, + { id: 'auxVacuumFast', label: 'Vacuum max', kind: 'button', section: 'Aux buttons' }, + { id: 'auxVacuumSlow', label: 'Vacuum low', kind: 'button', section: 'Aux buttons' }, + { id: 'auxAllForward', label: 'All motors forward', kind: 'button', section: 'Aux buttons' }, ]; export const CAPTURE_AXIS_THRESHOLD = 0.45; diff --git a/webui/src/components/GamepadMappingSettings/helpers.js b/webui/src/components/GamepadMappingSettings/helpers.js index 4e162666..99a16d63 100644 --- a/webui/src/components/GamepadMappingSettings/helpers.js +++ b/webui/src/components/GamepadMappingSettings/helpers.js @@ -33,10 +33,10 @@ export function groupActions(actions) { }, {}); } -export function pickActivePad(pads, activeSignature) { +export function pickActivePad(pads, activeInstanceKey) { if (!pads || pads.length === 0) return null; - if (activeSignature) { - const match = pads.find((pad) => pad.signature === activeSignature); + if (activeInstanceKey) { + const match = pads.find((pad) => pad.instanceKey === activeInstanceKey); if (match) return match; } return pads[0]; @@ -62,10 +62,13 @@ function detectAxisCapture(pad, baseline, action) { if (action.kind === 'axisPair') { const top = deltas.filter((entry) => entry.delta > CAPTURE_AXIS_THRESHOLD).slice(0, 2); if (top.length < 2) return null; + const orderedIndices = top.map((entry) => entry.index).sort((a, b) => a - b); return { kind: 'axisPair', - x: top[0].index, - y: top[1].index, + // Browsers expose two-dimensional controls as adjacent X/Y axes. Sorting the captured pair + // prevents whichever direction moved first from randomly swapping steering and throttle. + x: orderedIndices[0], + y: orderedIndices[1], ...(action.invertDefaults ?? {}), }; } @@ -80,16 +83,25 @@ function detectAxisCapture(pad, baseline, action) { function detectButtonCapture(pad, baseline, action) { const buttons = pad.buttons ?? []; + const newlyPressed = []; for (let i = 0; i < buttons.length; i += 1) { const btn = buttons[i]; const value = typeof btn?.value === 'number' ? btn.value : btn?.pressed ? 1 : 0; - if (btn?.pressed || value > CAPTURE_BUTTON_THRESHOLD) { + const baselineValue = baseline.buttons?.[i]?.value ?? 0; + const baselinePressed = baseline.buttons?.[i]?.pressed ?? false; + if (!baselinePressed && (btn?.pressed || value - baselineValue > CAPTURE_BUTTON_THRESHOLD)) { if (action.kind === 'axis') { return { kind: 'buttonAxis', index: i }; } - return { kind: 'button', index: i }; + newlyPressed.push({ kind: 'button', index: i }); } } + if (newlyPressed.length > 1) { + // Capturing all buttons observed in the same frame makes intentional modifier chords possible + // without a separate advanced editor, while a normal single press keeps the compact shape. + return { kind: 'chord', inputs: newlyPressed }; + } + if (newlyPressed.length === 1) return newlyPressed[0]; const axes = pad.axes ?? []; for (let i = 0; i < axes.length; i += 1) { const value = axes[i] ?? 0; diff --git a/webui/src/components/GamepadMappingSettings/helpers.test.js b/webui/src/components/GamepadMappingSettings/helpers.test.js new file mode 100644 index 00000000..3426e982 --- /dev/null +++ b/webui/src/components/GamepadMappingSettings/helpers.test.js @@ -0,0 +1,49 @@ +// Controller Capture Tests +// Purpose: Verifies that binding capture cannot select held controls or swap stick axes randomly. +// Scope: Covers the pure capture detector used by the Controller settings surface. +import assert from 'node:assert/strict'; +import test from 'node:test'; +import { buildDescriptorFromCapture, snapshotBaseline } from './helpers.js'; + +function button(pressed = false, value = pressed ? 1 : 0) { + return { pressed, value }; +} + +test('a button held before capture is ignored', () => { + const baselinePad = { axes: [0, 0], buttons: [button(true), button(false)] }; + const currentPad = { axes: [0, 0], buttons: [button(true), button(false)] }; + const descriptor = buildDescriptorFromCapture( + currentPad, + snapshotBaseline(baselinePad), + { kind: 'button' }, + ); + assert.equal(descriptor, null); +}); + +test('axis-pair capture assigns the lower adjacent axis to X regardless of movement order', () => { + const baseline = snapshotBaseline({ axes: [0, 0, 0, 0], buttons: [] }); + const descriptor = buildDescriptorFromCapture( + { axes: [0, 0, -0.7, 0.9], buttons: [] }, + baseline, + { kind: 'axisPair', invertDefaults: { invertY: true } }, + ); + assert.deepEqual(descriptor, { + kind: 'axisPair', + x: 2, + y: 3, + invertY: true, + }); +}); + +test('simultaneous new buttons are represented as a chord', () => { + const baseline = snapshotBaseline({ axes: [], buttons: [button(), button(), button()] }); + const descriptor = buildDescriptorFromCapture( + { axes: [], buttons: [button(true), button(), button(true)] }, + baseline, + { kind: 'button' }, + ); + assert.deepEqual(descriptor, { + kind: 'chord', + inputs: [{ kind: 'button', index: 0 }, { kind: 'button', index: 2 }], + }); +}); diff --git a/webui/src/components/HelpContentView/index.jsx b/webui/src/components/HelpContentView/index.jsx index 239356a7..a40ba317 100644 --- a/webui/src/components/HelpContentView/index.jsx +++ b/webui/src/components/HelpContentView/index.jsx @@ -2,14 +2,14 @@ // Purpose: Defines the Help Content View module and the local helpers/components used in this file. // Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit. import { useMemo } from 'react'; -import { formatKeyLabel } from '../../controls/keymapUtils.js'; +import ControlHint from '../ControlHint/index.jsx'; +import { useControllerRuntime } from '../../controls/inputs/controllerRuntime.js'; import { getHelpContent } from '../../help/content.js'; -function KeyPill({ actionId, keymap }) { - const value = keymap?.[actionId]?.[0] ?? ''; +function KeyPill({ actionId }) { return ( - {formatKeyLabel(value)} + ); } @@ -130,14 +130,20 @@ function KeyboardGroup({ group, keymap }) { } function KeyboardBlock({ block, keymap }) { + const runtime = useControllerRuntime(); if (!block) return null; + const usingController = runtime.inputMethod === 'controller'; return (
{/* Heading and footnote share a row when possible and wrap independently when the Help card is mounted in a narrow desktop column. */}
- {block.title} - {block.footnote && {block.footnote}} + {usingController ? 'Controller controls' : block.title} + + {usingController + ? 'Per-controller; adjust bindings in Settings → Controller.' + : block.footnote} +
{/* Two keyboard groups fit comfortably once the Help surface reaches 32rem. Using the real content threshold restores the established old-page layout diff --git a/webui/src/components/HomeAssistantControls/index.jsx b/webui/src/components/HomeAssistantControls/index.jsx index 3f8d52be..f77cc397 100644 --- a/webui/src/components/HomeAssistantControls/index.jsx +++ b/webui/src/components/HomeAssistantControls/index.jsx @@ -3,8 +3,7 @@ // Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit. import { useMemo } from 'react'; import { useSessionActions, useSessionSelector } from '../../context/SessionContext.jsx'; -import { useControlSelector } from '../../controls/index.js'; -import { formatKeyLabel } from '../../controls/keymapUtils.js'; +import ControlHint from '../ControlHint/index.jsx'; import CardFrame from '../CardFrame/index.jsx'; import { isFeatureEnabled } from '../../lib/features.js'; @@ -184,7 +183,6 @@ export default function HomeAssistantControls() { } function HomeAssistantControlsContent() { - const keymap = useControlSelector((control) => control.state.keymap); const ha = useSessionSelector((state) => state.session?.homeAssistant || null); const { homeAssistantToggle, homeAssistantSetLightColor, homeAssistantSetLightWhite } = useSessionActions(); @@ -196,8 +194,8 @@ function HomeAssistantControlsContent() { const lightPolicyLocked = Boolean(lightPolicy?.locked || lightPolicy?.lockedOn); const controlsLocked = lightPolicyLocked && !adminCanControlLockedLights; const lockState = lightPolicy?.lockState || (lightPolicy?.lockedOn ? 'on' : null); - const onKeyLabel = formatKeyLabel(keymap?.homeAssistantOn?.[0]); - const offKeyLabel = formatKeyLabel(keymap?.homeAssistantOff?.[0]); + const onKeyLabel = ; + const offKeyLabel = ; if (!ha?.enabled) { return ( diff --git a/webui/src/components/HudOverlays/newgen/CornerPods/BottomLeftPod.jsx b/webui/src/components/HudOverlays/newgen/CornerPods/BottomLeftPod.jsx index c1a41085..c7614c15 100644 --- a/webui/src/components/HudOverlays/newgen/CornerPods/BottomLeftPod.jsx +++ b/webui/src/components/HudOverlays/newgen/CornerPods/BottomLeftPod.jsx @@ -3,7 +3,7 @@ import { useRef } from 'react'; import { FaBullhorn, FaCrosshairs, FaLightbulb } from 'react-icons/fa'; import { useControlActions, useControlSelector } from '../../../../controls/index.js'; -import { formatKeyLabel } from '../../../../controls/keymapUtils.js'; +import ControlHint from '../../../ControlHint/index.jsx'; import { useSessionSelector } from '../../../../context/SessionContext.jsx'; import useCanControlRover from '../../../../hooks/useCanControlRover.js'; import KeyPill from '../../../vip/VipAudioUploadCard/KeyPill.jsx'; @@ -45,7 +45,6 @@ export default function BottomLeftPod({ roverId }) { const headlightOn = useControlSelector((control) => Boolean(control.pipeline?.headlightState?.headlightOn)); const laserOn = useControlSelector((control) => Boolean(control.pipeline?.laserState?.laserOn)); const hornActive = useControlSelector((control) => Boolean(control.state.horn?.active)); - const keymap = useControlSelector((control) => control.state.keymap); const { setHeadlight, setLaser, startHorn, stopHorn } = useControlActions(); const canControl = useCanControlRover(roverId); const hornPointerRef = useRef(null); @@ -80,13 +79,13 @@ export default function BottomLeftPod({ roverId }) { {/* Physical rover actions become visibly and behaviorally unavailable while another queued driver owns the turn. Pod/settings controls remain interactive because they do not mutate rover hardware. */} - {hornDevice ? : null} - {headlight ? setHeadlight(!headlightOn)} className="absolute left-[1.979rem] top-[0.662rem]" /> : null} + {hornDevice ? } active={hornActive} tone="horn" disabled={!canControl} large onPointerDown={startHornPointer} onPointerUp={stopHornPointer} className="absolute bottom-1 left-1" /> : null} + {headlight ? } active={headlightOn} disabled={!canControl} onClick={() => setHeadlight(!headlightOn)} className="absolute left-[1.979rem] top-[0.662rem]" /> : null} {/* The room-light lock deliberately blocks laser activation because the laser is only intended for use while the room is dark. This mirrors the old desktop control's visible disabled state; turn ownership remains the other independent control restriction. */} - {laser ? setLaser(!laserOn)} className="absolute left-[5.338rem] top-[4.021rem]" /> : null} + {laser ? } active={laserOn} disabled={!canControl || roomLightsLockedOn} onClick={() => setLaser(!laserOn)} className="absolute left-[5.338rem] top-[4.021rem]" /> : null} setOpen(false)} />
) : ( diff --git a/webui/src/components/HudOverlays/newgen/CornerPods/BottomRightPod.jsx b/webui/src/components/HudOverlays/newgen/CornerPods/BottomRightPod.jsx index 080a1467..34ab252d 100644 --- a/webui/src/components/HudOverlays/newgen/CornerPods/BottomRightPod.jsx +++ b/webui/src/components/HudOverlays/newgen/CornerPods/BottomRightPod.jsx @@ -3,7 +3,7 @@ import { useCallback } from 'react'; import { FaVideo } from 'react-icons/fa'; import { useControlActions, useControlSelector } from '../../../../controls/index.js'; -import { formatKeyLabel } from '../../../../controls/keymapUtils.js'; +import ControlHint from '../../../ControlHint/index.jsx'; import useCanControlRover from '../../../../hooks/useCanControlRover.js'; import { useDriverLayout } from '../../../../layouts/driver/DriverLayoutContext.jsx'; import KeyPill from '../../../vip/VipAudioUploadCard/KeyPill.jsx'; @@ -32,7 +32,6 @@ export default function BottomRightPod({ roverId }) { const [open, setOpen] = usePodVisibility('camera', true); const camera = useControlSelector((control) => control.state.camera); const dockAssistActive = useControlSelector((control) => Boolean(control.state.manualDockAssist?.active)); - const keymap = useControlSelector((control) => control.state.keymap); const { setServoAngle } = useControlActions(); const canControl = useCanControlRover(roverId); const config = camera?.config; @@ -86,8 +85,8 @@ export default function BottomRightPod({ roverId }) { {/* These positions continue around the same circle just beyond the two slider endpoints. Together they occupy the open third facing the corner without enlarging the pod. */} -
-
+
} />
+
} />
setOpen(false)} />
) : showCameraControls && enabled ? ( diff --git a/webui/src/components/HudOverlays/newgen/CornerPods/ChatExpansion.jsx b/webui/src/components/HudOverlays/newgen/CornerPods/ChatExpansion.jsx index d98b4f7f..c524daa8 100644 --- a/webui/src/components/HudOverlays/newgen/CornerPods/ChatExpansion.jsx +++ b/webui/src/components/HudOverlays/newgen/CornerPods/ChatExpansion.jsx @@ -4,14 +4,12 @@ import { useCallback, useState } from 'react'; import { FaComment } from 'react-icons/fa'; import { useChatActions } from '../../../../context/ChatContext.jsx'; import { useSessionSelector } from '../../../../context/SessionContext.jsx'; -import { useControlSelector } from '../../../../controls/index.js'; -import { formatKeyLabel } from '../../../../controls/keymapUtils.js'; +import ControlHint from '../../../ControlHint/index.jsx'; import HudChatInput from '../../HudChatInput/index.jsx'; import KeyPill from '../../../vip/VipAudioUploadCard/KeyPill.jsx'; export default function ChatExpansion({ podOpen }) { const role = useSessionSelector((state) => state.session?.role || null); - const chatKeyLabel = useControlSelector((control) => formatKeyLabel(control.state.keymap?.chatFocus?.[0])); const { blurChat, focusChat } = useChatActions(); const [open, setOpen] = useState(false); @@ -50,7 +48,7 @@ export default function ChatExpansion({ podOpen }) {