allow everyone to switch rovers conditionally

2026-09-16 01:21:20 -04:00 · 2025-12-08 03:50:36 -05:00
parent e9fd5f55a8
commit 161929e280
5 changed files with 84 additions and 8 deletions
@@ -11,7 +11,7 @@
    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
    <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-BCyA38CU.js"></script>
+    <script type="module" crossorigin src="/assets/index-6QuSGuDC.js"></script>
    <link rel="stylesheet" crossorigin href="/assets/index-DusXB4R9.css">
  </head>
  <body>
@@ -54,6 +54,15 @@ roverManager.managerEvents.on('rover', ({ action }) => {
  }
 });

+roverManager.managerEvents.on('switch', ({ socketId, roverId }) => {
+  if (!socketId || !roverId) return;
+  const socket = socketRefs.get(socketId);
+  if (!socket) return;
+  assignments.set(socketId, roverId);
+  waiting.delete(socketId);
+  assignmentEvents.emit('update', socketId);
+});
+
 function assignSocket(socket) {
  if (!socket || isAdmin(socket) || getRole(socket) !== 'user') {
    return;
@@ -177,4 +186,15 @@ module.exports = {
  assignmentEvents,
  describeAssignment,
  forceRelease,
+  getAssignedRover: (socketId) => assignments.get(socketId) || null,
+  moveAssignment: (socket, roverId, { releasePrevious = true } = {}) => {
+    if (!socket || !roverId) return;
+    const previous = assignments.get(socket.id);
+    if (previous && previous !== roverId && releasePrevious) {
+      roverManager.releaseControl(previous, socket);
+    }
+    assignments.set(socket.id, roverId);
+    waiting.delete(socket.id);
+    assignmentEvents.emit('update', socket.id);
+  },
 };
@@ -6,6 +6,7 @@ const { parseSensorFrame } = require('../helpers/sensorDecoder');
 const { MODES, getMode } = require('./modeManager');
 const { isAdmin, roleEvents } = require('./roleService');
 const { publishEvent } = require('./eventBus');
+const videoSessions = require('./videoSessions');

 const rovers = new Map(); // roverId -> record
 const socketToRovers = new Map(); // socketId -> Set(roverId)
@@ -276,6 +277,41 @@ function getPrimaryRoverForSocket(socketId) {
  return first.done ? null : first.value;
 }

+function isDockedAndCharging(record) {
+  const sensors = record?.lastSensor?.decoded || record?.lastSensor?.sensors || null;
+  if (!sensors) return false;
+  const docked = Boolean(sensors.chargingSources?.homeBase);
+  const code = sensors.chargingState?.code;
+  const charging = code === 2 || code === 3 || code === 4;
+  return docked && charging;
+}
+
+function hasOtherDrivers(record, socketId) {
+  if (!record) return false;
+  for (const driver of record.drivers) {
+    if (driver !== socketId) return true;
+  }
+  return false;
+}
+
+function canSwitchRover(socket, targetRoverId) {
+  const currentId = getPrimaryRoverForSocket(socket.id);
+  if (!currentId || currentId === targetRoverId) {
+    return { ok: true, currentId };
+  }
+  const currentRecord = rovers.get(currentId);
+  if (!currentRecord) {
+    return { ok: true, currentId };
+  }
+  if (hasOtherDrivers(currentRecord, socket.id)) {
+    return { ok: true, currentId };
+  }
+  if (isDockedAndCharging(currentRecord)) {
+    return { ok: true, currentId };
+  }
+  return { ok: false, currentId, message: 'Dock and charge your current rover before switching.' };
+}
+
 module.exports = {
  upsertRover,
  removeRover,
@@ -312,12 +348,35 @@ io.on('connection', (socket) => {

  function handleRequestControl({ roverId, force } = {}, cb = () => {}) {
    try {
+      if (socket.data?.role === 'spectator') {
+        throw new Error('Spectators cannot drive');
+      }
      const targetId = roverId || Array.from(rovers.keys())[0];
      if (!targetId) {
        throw new Error('No rovers available');
      }
+      const previousJoined = getRoversForSocket(socket.id);
+      if (!isAdmin(socket)) {
+        const { ok, message } = canSwitchRover(socket, targetId);
+        if (!ok) {
+          throw new Error(message || 'Switch denied');
+        }
+      }
      logger.info('Request control', socket.id, targetId, { force });
-      requestControl(targetId, socket, { force: Boolean(force) });
+      requestControl(targetId, socket, { force: Boolean(force), allowUser: true });
+      previousJoined.forEach((rid) => {
+        if (rid !== targetId) {
+          releaseControl(rid, socket);
+        }
+      });
+      videoSessions.revokeWhere(
+        (info) =>
+          info.socketId === socket.id &&
+          info.sourceType === 'rover' &&
+          info.sourceId !== targetId &&
+          info.sourceId !== `${targetId}-audio`,
+      );
+      managerEvents.emit('switch', { socketId: socket.id, roverId: targetId });
      socket.emit('controlGranted', { roverId: targetId });
      cb({ success: true, roverId: targetId });
    } catch (err) {
@@ -29,10 +29,7 @@ export default function TelemetryPanel() {
    const user = (session?.users || []).find((entry) => entry.socketId === activeDriverId);
    return user?.nickname || activeDriverId.slice(0, 6);
  }, [activeDriverId, roverId, session?.socketId, session?.users]);
-  const isAdmin = useMemo(
-    () => session?.role === 'admin' || session?.role === 'lockdown' || session?.role === 'lockdown-admin',
-    [session?.role],
-  );
+  const canRequest = useMemo(() => session?.role && session.role !== 'spectator', [session?.role]);
  const [pending, setPending] = useState({});

  async function handleRequest(roverId) {
@@ -102,7 +99,7 @@ export default function TelemetryPanel() {
        title="Rovers"
        roster={roster}
        renderActions={(rover) =>
-          isAdmin ? (
+          canRequest ? (
            <button
              type="button"
              onClick={() => handleRequest(rover.id)}