ui race condition fix

webui/src/components/DriveDockAction/driveDockState.js

@@ -4,14 +4,14 @@
 
 import { useMemo } from 'react';
 import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
-import { dockTelemetryEqual, isDockedChargingState, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
+import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
 
 export function deriveDriveDockStateFromTelemetry(dockTelemetry) {
   const oiLabel = dockTelemetry?.oiModeLabel || 'Unknown';
   const oiNormalized = oiLabel.toLowerCase();
   const chargingLabel = dockTelemetry?.chargingStateLabel || '';
-  const docked = resolveDocked(dockTelemetry);
-  const charging = isDockedChargingState(chargingLabel);
+  const docked = Boolean(dockTelemetry?.homeBase);
+  const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== '';
   const driving = oiNormalized === 'full';
   const dockedNotCharging = docked && !charging;
   const dockingInProgress = !docked && !charging && oiNormalized === 'passive';

webui/src/components/HudOverlays/newgen/CornerPods/TopRightPod.jsx

@@ -4,7 +4,7 @@ import { createElement, useMemo } from 'react';
 import { FaArrowDown, FaArrowUp, FaBatteryHalf, FaBolt, FaExclamationTriangle, FaMemory, FaThermometerHalf, FaWifi } from 'react-icons/fa';
 import { useSessionSelector } from '../../../../context/SessionContext.jsx';
 import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
-import { hostStatsEqual, resolveDocked, selectHostStats, selectSpectatorTelemetry, spectatorTelemetryEqual } from '../../../../context/telemetryViews.js';
+import { hostStatsEqual, selectHostStats, selectSpectatorTelemetry, spectatorTelemetryEqual } from '../../../../context/telemetryViews.js';
 import CornerPodToggle from './CornerPodToggle.jsx';
 import ExpansionToggle from './ExpansionToggle.jsx';
 import usePodVisibility from './usePodVisibility.js';
@@ -101,7 +101,7 @@ export default function TopRightPod({ roverId }) {
   const memoryTone = memoryUsed >= 90 ? 'bg-red-400' : memoryUsed >= 75 ? 'bg-amber-400' : 'bg-violet-400';
   const download = finite(wifi.downloadMbps);
   const upload = finite(wifi.uploadMbps);
-  const docked = resolveDocked(electrical);
+  const docked = Boolean(electrical?.homeBase);
   const warningMessage = urgentBattery ? 'BATTERY CRITICAL, DOCK NOW' : 'Battery low, please dock soon.';
 
   return (

webui/src/components/HudOverlays/newgen/DockingHud/index.jsx

@@ -7,7 +7,7 @@ import { FaChargingStation, FaChevronDown } from 'react-icons/fa';
 import { useControlActions, useControlSelector } from '../../../../controls/index.js';
 import { formatKeyLabel } from '../../../../controls/keymapUtils.js';
 import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
-import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../../../context/telemetryViews.js';
+import { dockTelemetryEqual, selectDockTelemetry } from '../../../../context/telemetryViews.js';
 import { useManualDockAssist } from '../../../../features/manualDockAssist/useManualDockAssist.js';
 import { useSettingsNamespace } from '../../../../settings/index.js';
 import useCanControlRover from '../../../../hooks/useCanControlRover.js';
@@ -256,7 +256,7 @@ export default function DockingHud({ roverId }) {
   const [error, setError] = useState('');
   const [showUndockTransition, setShowUndockTransition] = useState(false);
 
-  const docked = resolveDocked(dockTelemetry);
+  const docked = Boolean(dockTelemetry?.homeBase);
   const oiMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase();
   // The established UI contract treats exactly passive + undocked as the Roomba's
   // autonomous docking attempt. Unknown telemetry must not fabricate that state.

webui/src/components/MobileControls/AuxColumn.jsx

@@ -6,7 +6,7 @@ import { FaBullhorn, FaCrosshairs, FaLightbulb } from 'react-icons/fa';
 import './mobileControls.css';
 import { useControlActions, useControlSelector } from '../../controls/index.js';
 import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
-import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
+import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
 import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 import useCanControlRover from '../../hooks/useCanControlRover.js';
 import HornControl from '../HornControl/index.jsx';
@@ -37,7 +37,7 @@ function AuxColumnContent() {
   // column. Dock and OI state are applied separately only where the hardware
   // command itself depends on the Roomba being able to drive.
   const controlsDisabled = !roverId || !canControl;
-  const docked = resolveDocked(dockTelemetry);
+  const docked = Boolean(dockTelemetry?.homeBase);
   const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
   const vacuumDisabled = controlsDisabled
     || docked

webui/src/components/MobileControls/MovementColumn.jsx

@@ -5,7 +5,7 @@ import { FaChargingStation } from 'react-icons/fa';
 import { useControlSelector } from '../../controls/index.js';
 import { useSessionSelector } from '../../context/SessionContext.jsx';
 import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
-import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
+import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
 import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 import useCanControlRover from '../../hooks/useCanControlRover.js';
 import { triggerTouchHaptic } from '../../lib/touchHaptics.js';
@@ -22,7 +22,7 @@ function MovementColumnContent({ layout }) {
   });
   const batteryUrgent = Boolean(batteryState?.urgentActive);
   const batteryLow = Boolean(batteryState?.warnActive || batteryUrgent);
-  const docked = resolveDocked(dockTelemetry);
+  const docked = Boolean(dockTelemetry?.homeBase);
   const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
 
   /*

webui/src/context/TelemetryContext.jsx

@@ -217,6 +217,14 @@ export function TelemetryProvider({ children }) {
           currentValue: selector(framesRef.current[roverId] ?? EMPTY_FRAME),
         };
         listeners.add(entry);
+
+        // React renders before effects subscribe. A sensor frame can therefore
+        // arrive after the hook's render-time read but before this entry exists.
+        // Publish the exact snapshot used to initialize the subscription so the
+        // component cannot remain stuck on that stale render-time value until a
+        // selected field changes again. Registering first is important: any
+        // frame arriving after this point will also notify the listener normally.
+        listener(entry.currentValue);
         return () => {
           const current = selectorSubscribersRef.current.get(roverId);
           if (!current) return;

webui/src/context/telemetryViews.js

@@ -37,27 +37,6 @@ const EMPTY_MAIN_BRUSH_AUDIO = Object.freeze({
   mainBrushOvercurrent: false,
 });
 
-// These labels represent an active charging relationship reported by the
-// Roomba. That is independently useful dock evidence: some already-docked
-// rovers report charging before the home-base contact bit changes again.
-const DOCKED_CHARGING_STATES = new Set([
-  'reconditioning charging',
-  'full charging',
-  'trickle charging',
-  'waiting',
-]);
-
-export function isDockedChargingState(chargingStateLabel) {
-  return DOCKED_CHARGING_STATES.has(String(chargingStateLabel || '').trim().toLowerCase());
-}
-
-export function resolveDocked(dockTelemetry) {
-  // Dock contact and active charging are complementary sensor evidence, not
-  // fallback state. Treating either as sufficient prevents UI controls from
-  // claiming a charging rover should be driven onto a dock it already occupies.
-  return Boolean(dockTelemetry?.homeBase) || isDockedChargingState(dockTelemetry?.chargingStateLabel);
-}
-
 function bucketNumber(value, step) {
   // Visual widgets do not benefit from repainting for tiny analog jitter. The
   // bucket step intentionally applies only to display selectors; raw telemetry
@@ -147,6 +126,9 @@ export function selectDockTelemetry(frame) {
   return {
     oiModeLabel: sensors.oiMode?.label || 'Unknown',
     chargingStateLabel: sensors.chargingState?.label || '',
+    // OI packet 34 is the authoritative charging-sources packet. Charging
+    // state describes the battery charger state and must not stand in for the
+    // physical home-base contact bit.
     homeBase: Boolean(sensors.chargingSources?.homeBase),
   };
 }

webui/src/features/manualDockAssist/useManualDockAssist.js

@@ -1,7 +1,7 @@
 import { useCallback, useEffect, useMemo, useRef } from 'react';
 import { useControlActions, useControlSelector } from '../../controls/index.js';
 import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
-import { dockTelemetryEqual, isDockedChargingState, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
+import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
 
 export function useManualDockAssist(options = {}) {
   const { manageLifecycle = false } = options;
@@ -10,10 +10,8 @@ export function useManualDockAssist(options = {}) {
   const actions = useControlActions();
   const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
   const chargingLabel = dockTelemetry.chargingStateLabel || '';
-  const docked = resolveDocked(dockTelemetry);
-  // Use the same explicit charging labels that can establish dock presence.
-  // A non-empty fault or unknown label must not masquerade as active charging.
-  const charging = isDockedChargingState(chargingLabel);
+  const docked = Boolean(dockTelemetry.homeBase);
+  const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== '';
   const wasDockedRef = useRef(false);
 
   const enterAssist = useCallback(() => {