mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-11-14 18:58:49 -05:00
slop
This commit is contained in:
legop3
@@ -259,144 +259,146 @@ module.exports = {
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setDriveCooldown,
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commandEvents,
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subscribeCommandRecording,
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submitCommand,
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};
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io.on('connection', (socket) => {
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function handleCommand({ roverId, type, data } = {}, cb) {
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const reply = typeof cb === 'function' ? cb : () => {};
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try {
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if (!roverId) {
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throw new Error('roverId required');
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// Shared authorization/safety boundary for browser and service-owned control.
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function submitCommand(socket, { roverId, type, data } = {}, cb) {
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const reply = typeof cb === 'function' ? cb : () => {};
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try {
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if (!roverId) {
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throw new Error('roverId required');
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}
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if (!type) {
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throw new Error('type required');
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}
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if (type === 'audioLevels') {
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throw new Error('audioLevels command is service-managed');
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}
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let payload = data ? { ...data } : {};
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if (type === 'headlight' && isHeadlightBlocked()) {
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logger.info('Ignoring headlight command while darkness lock is active', { socketId: socket.id, roverId });
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reply({ ignored: true, reason: 'darknessActive' });
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return;
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}
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if (type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
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logger.info('Ignoring laser command while room lights are locked on', {
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socketId: socket.id,
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roverId,
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action: getLaserAction(payload),
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});
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reply({ ignored: true, reason: 'roomLightsLockedOn' });
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return;
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}
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const isRebootCommand = type === 'reboot';
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const isUpdateCommand = type === 'update';
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const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
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const isAdminSocket = isAdmin(socket);
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if (!isAdminSocket && isDeterred(socket)) {
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throw new Error('Not authorized');
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}
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/*
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Both structured song commands and raw Open Interface song payloads
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reach this shared flag. Enforcing mute here covers the VIP MIDI beeper
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and any future browser beeper without affecting unrelated driving.
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*/
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if (!isAdminSocket && isSongCommand && isMuted(socket)) {
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throw new Error('Muted');
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}
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// Rover updates run a privileged, root-owned helper on the Pi. Keep this
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// in the same explicit admin-only branch as reboot instead of relying on
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// drive ownership checks, because having a turn should not grant system
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// maintenance privileges.
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if ((isRebootCommand || isUpdateCommand) && !isAdminSocket) {
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throw new Error('Not authorized');
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}
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if (!isSongCommand && !isRebootCommand && !isUpdateCommand && !roverManager.canDrive(roverId, socket)) {
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throw new Error('Not your turn or no control');
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}
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const driveDirect = payload?.driveDirect;
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if (type === 'drive' && driveDirect) {
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if (!isAdminSocket) {
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const safeDrive = roverManager.applyPrivateDriveSafety(roverId, socket, driveDirect);
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if (safeDrive) {
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payload.driveDirect = safeDrive;
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}
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}
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if (!type) {
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throw new Error('type required');
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}
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if (type === 'audioLevels') {
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throw new Error('audioLevels command is service-managed');
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}
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let payload = data ? { ...data } : {};
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if (type === 'headlight' && isHeadlightBlocked()) {
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logger.info('Ignoring headlight command while darkness lock is active', { socketId: socket.id, roverId });
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reply({ ignored: true, reason: 'darknessActive' });
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return;
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const left = Number(payload?.driveDirect?.left);
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const right = Number(payload?.driveDirect?.right);
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const speed = Math.max(Math.abs(left), Math.abs(right));
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if (!isAdminSocket) {
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const blockedUntil = driveCooldowns.get(roverId);
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if (blockedUntil && Date.now() < blockedUntil && speed > 0) {
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const reason = isLockdownAdmin(socket)
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? 'Drive blocked: cooldown'
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: 'Drive blocked: safety cooldown';
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throw new Error(reason);
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}
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}
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if (type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
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logger.info('Ignoring laser command while room lights are locked on', {
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if (speed > 0) {
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let direction = 'turn';
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if (left > 0 && right > 0) direction = 'forward';
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if (left < 0 && right < 0) direction = 'backward';
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lastDriveActivity.set(roverId, {
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ts: Date.now(),
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socketId: socket.id,
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roverId,
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action: getLaserAction(payload),
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});
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reply({ ignored: true, reason: 'roomLightsLockedOn' });
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return;
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}
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const isRebootCommand = type === 'reboot';
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const isUpdateCommand = type === 'update';
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const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
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const isAdminSocket = isAdmin(socket);
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if (!isAdminSocket && isDeterred(socket)) {
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throw new Error('Not authorized');
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}
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/*
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Both structured song commands and raw Open Interface song payloads
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reach this shared flag. Enforcing mute here covers the VIP MIDI beeper
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and any future browser beeper without affecting unrelated driving.
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*/
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if (!isAdminSocket && isSongCommand && isMuted(socket)) {
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throw new Error('Muted');
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}
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// Rover updates run a privileged, root-owned helper on the Pi. Keep this
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// in the same explicit admin-only branch as reboot instead of relying on
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// drive ownership checks, because having a turn should not grant system
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// maintenance privileges.
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if ((isRebootCommand || isUpdateCommand) && !isAdminSocket) {
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throw new Error('Not authorized');
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}
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if (!isSongCommand && !isRebootCommand && !isUpdateCommand && !roverManager.canDrive(roverId, socket)) {
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throw new Error('Not your turn or no control');
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}
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const driveDirect = payload?.driveDirect;
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if (type === 'drive' && driveDirect) {
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if (!isAdminSocket) {
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const safeDrive = roverManager.applyPrivateDriveSafety(roverId, socket, driveDirect);
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if (safeDrive) {
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payload.driveDirect = safeDrive;
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}
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}
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const left = Number(payload?.driveDirect?.left);
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const right = Number(payload?.driveDirect?.right);
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const speed = Math.max(Math.abs(left), Math.abs(right));
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if (!isAdminSocket) {
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const blockedUntil = driveCooldowns.get(roverId);
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if (blockedUntil && Date.now() < blockedUntil && speed > 0) {
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const reason = isLockdownAdmin(socket)
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? 'Drive blocked: cooldown'
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: 'Drive blocked: safety cooldown';
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throw new Error(reason);
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}
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}
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if (speed > 0) {
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let direction = 'turn';
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if (left > 0 && right > 0) direction = 'forward';
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if (left < 0 && right < 0) direction = 'backward';
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lastDriveActivity.set(roverId, {
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ts: Date.now(),
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socketId: socket.id,
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direction,
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speed,
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isAdmin: isAdminSocket,
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});
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}
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}
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if (type === 'drive' || type === 'motors') {
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/*
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Role is supplied at the command boundary because telemetry does not
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identify the operator who produced the active motor intent. Admin and
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lockdown commands therefore enter the service explicitly bypassed;
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they are recorded for status visibility but are never scaled, blocked,
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or countermanded by a later sensor frame.
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*/
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payload = overcurrentProtectionService.protectCommand(roverId, type, payload, {
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bypassed: isAdminSocket,
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direction,
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speed,
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isAdmin: isAdminSocket,
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});
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}
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const id = issueCommand(roverId, { type, ...payload });
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commandEvents.emit('observation', {
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ts: Date.now(),
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roverId: String(roverId),
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type,
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commandId: id,
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outcome: 'issued',
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socketId: socket.id,
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// Payloads are omitted deliberately: raw OI, TTS, and maintenance
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// commands can carry arbitrary content. Their structured type/outcome
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// supplies analytics without accidentally persisting secret material.
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});
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logger.info('Queued command', socket.id, roverId, type);
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if (shouldRecordTurnActivity(type, payload)) {
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try {
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const { recordActivity } = require('../turnService');
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recordActivity(roverId, socket.id);
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} catch (err) {
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// Activity recording is best-effort because command delivery should not fail if turn bookkeeping has a transient issue.
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}
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}
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reply({ id });
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} catch (err) {
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logger.warn('Command rejected', socket.id, err.message);
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commandEvents.emit('observation', {
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ts: Date.now(),
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roverId: roverId ? String(roverId) : null,
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type: type || 'unknown',
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outcome: 'rejected',
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socketId: socket.id,
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error: err.message,
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});
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reply({ error: err.message });
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}
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}
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const recordedCommand = (request, reply) => recordCommandRequest(socket, request, reply, handleCommand);
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if (type === 'drive' || type === 'motors') {
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/*
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Role is supplied at the command boundary because telemetry does not
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identify the operator who produced the active motor intent. Admin and
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lockdown commands therefore enter the service explicitly bypassed;
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they are recorded for status visibility but are never scaled, blocked,
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or countermanded by a later sensor frame.
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*/
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payload = overcurrentProtectionService.protectCommand(roverId, type, payload, {
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bypassed: isAdminSocket,
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});
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}
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const id = issueCommand(roverId, { type, ...payload });
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commandEvents.emit('observation', {
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ts: Date.now(),
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roverId: String(roverId),
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type,
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commandId: id,
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outcome: 'issued',
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socketId: socket.id,
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// Payloads are omitted deliberately: raw OI, TTS, and maintenance
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// commands can carry arbitrary content. Their structured type/outcome
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// supplies analytics without accidentally persisting secret material.
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});
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logger.info('Queued command', socket.id, roverId, type);
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if (shouldRecordTurnActivity(type, payload)) {
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try {
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const { recordActivity } = require('../turnService');
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recordActivity(roverId, socket.id);
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} catch (err) {
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// Activity recording is best-effort because command delivery should not fail if turn bookkeeping has a transient issue.
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}
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}
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reply({ id });
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} catch (err) {
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logger.warn('Command rejected', socket.id, err.message);
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commandEvents.emit('observation', {
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ts: Date.now(),
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roverId: roverId ? String(roverId) : null,
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type: type || 'unknown',
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outcome: 'rejected',
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socketId: socket.id,
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error: err.message,
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});
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reply({ error: err.message });
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}
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}
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io.on('connection', (socket) => {
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const recordedCommand = (request, reply) => recordCommandRequest(socket, request, reply, (message, cb) => submitCommand(socket, message, cb));
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socket.on('command', recordedCommand);
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socket.on('command:issue', recordedCommand);
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