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legop3
2025-11-17 18:39:21 -05:00
parent 9b552fb857
commit 2a942ff55c
10 changed files with 193 additions and 20 deletions
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pi/roverd/command.go
+6 -5
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@@ -1,11 +1,12 @@
package roverd package roverd
type helloMessage struct { type helloMessage struct {
Type string `json:"type"` Type string `json:"type"`
Name string `json:"name"` Name string `json:"name"`
Battery BatteryConfig `json:"battery"` Battery BatteryConfig `json:"battery"`
MaxWheelSpeed int `json:"maxWheelSpeed"` MaxWheelSpeed int `json:"maxWheelSpeed"`
Media MediaConfig `json:"media"` Media MediaConfig `json:"media"`
CameraServo CameraServoConfig `json:"cameraServo,omitempty"`
} }
type sensorMessage struct { type sensorMessage struct {
pi/roverd/wsclient.go
+1
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@@ -70,6 +70,7 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
Battery: c.cfg.Battery, Battery: c.cfg.Battery,
MaxWheelSpeed: c.cfg.MaxWheelMMs, MaxWheelSpeed: c.cfg.MaxWheelMMs,
Media: c.cfg.Media, Media: c.cfg.Media,
CameraServo: c.cfg.CameraServo,
} }
return writeJSON(ctx, conn, msg) return writeJSON(ctx, conn, msg)
} }
server/public/assets/index-BvgUoEqO.js
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server/public/assets/index-Dk59njim.css
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server/public/assets/index-DwQ38q3M.css
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server/public/assets/index-OLyWk2-K.js
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server/public/index.html
+2 -2
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@@ -5,8 +5,8 @@
<link rel="icon" type="image/svg+xml" href="/vite.svg" /> <link rel="icon" type="image/svg+xml" href="/vite.svg" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>webui</title> <title>webui</title>
<script type="module" crossorigin src="/assets/index-BvgUoEqO.js"></script> <script type="module" crossorigin src="/assets/index-OLyWk2-K.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DwQ38q3M.css"> <link rel="stylesheet" crossorigin href="/assets/index-Dk59njim.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
webui/src/components/CameraServoPanel.jsx
+88
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@@ -0,0 +1,88 @@
import { useDriveControl } from '../context/DriveControlContext.jsx';
function formatDegrees(value) {
if (typeof value !== 'number' || Number.isNaN(value)) return '—';
return `${value > 0 ? '+' : ''}${value.toFixed(1)}°`;
}
export default function CameraServoPanel() {
const { roverId, servo } = useDriveControl();
const config = servo?.config;
const enabled = Boolean(roverId && servo?.enabled && config);
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
typeof servo?.angle === 'number'
? servo.angle
: typeof config?.homeAngle === 'number'
? config.homeAngle
: (min + max) / 2;
if (!enabled) return null;
const step =
typeof config?.nudgeDegrees === 'number' && config.nudgeDegrees > 0
? config.nudgeDegrees
: 1;
const handleSlider = (event) => {
const next = Number.parseFloat(event.target.value);
if (Number.isNaN(next)) return;
servo.setAngle(next);
};
const handleNudge = (direction) => {
const delta = step * direction;
servo.nudge(delta);
};
return (
<section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
<div className="flex items-center justify-between text-sm text-slate-300">
<span>Camera Tilt</span>
<span className="font-mono text-sm text-slate-100">{formatDegrees(value)}</span>
</div>
<div className="mt-2">
<input
type="range"
className="w-full accent-emerald-400"
min={min}
max={max}
step={0.5}
value={value}
onChange={handleSlider}
/>
<div className="mt-1 flex justify-between text-xs text-slate-400">
<span>{formatDegrees(min)}</span>
<span>{formatDegrees(max)}</span>
</div>
</div>
<div className="mt-2 flex gap-1 text-sm">
<button
type="button"
className="flex-1 rounded bg-slate-800 px-1 py-0.5 text-slate-100 hover:bg-slate-700"
onClick={() => handleNudge(-1)}
>
Tilt Down
</button>
<button
type="button"
className="flex-1 rounded bg-slate-700 px-1 py-0.5 text-slate-100 hover:bg-slate-600"
onClick={() => servo.goHome()}
>
Center
</button>
<button
type="button"
className="flex-1 rounded bg-slate-800 px-1 py-0.5 text-slate-100 hover:bg-slate-700"
onClick={() => handleNudge(1)}
>
Tilt Up
</button>
</div>
<p className="mt-1 text-xs text-slate-400">
Step: {formatDegrees(step)} · Pin GPIO {config?.pin}
</p>
</section>
);
}
webui/src/components/RightPaneTabs.jsx
+2
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@@ -1,6 +1,7 @@
import { useState } from 'react'; import { useState } from 'react';
import TelemetryPanel from './TelemetryPanel.jsx'; import TelemetryPanel from './TelemetryPanel.jsx';
import DrivePanel from './DrivePanel.jsx'; import DrivePanel from './DrivePanel.jsx';
import CameraServoPanel from './CameraServoPanel.jsx';
import RoomCameraPanel from './RoomCameraPanel.jsx'; import RoomCameraPanel from './RoomCameraPanel.jsx';
import AdvancedSettings from './AdvancedSettings.jsx'; import AdvancedSettings from './AdvancedSettings.jsx';
import HelpPanel from './HelpPanel.jsx'; import HelpPanel from './HelpPanel.jsx';
@@ -51,6 +52,7 @@ export default function RightPaneTabs({ layout }) {
{active === 'telemetry' && ( {active === 'telemetry' && (
<div className="space-y-1"> <div className="space-y-1">
<DrivePanel /> <DrivePanel />
<CameraServoPanel />
<TelemetryPanel /> <TelemetryPanel />
</div> </div>
)} )}
webui/src/hooks/useDriveControls.js
+82 -1
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@@ -1,6 +1,6 @@
/* global Buffer */ /* global Buffer */
import { useCallback, useEffect, useRef, useState } from 'react'; import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
import { useSocket } from '../context/SocketContext.jsx'; import { useSocket } from '../context/SocketContext.jsx';
import { useSession } from '../context/SessionContext.jsx'; import { useSession } from '../context/SessionContext.jsx';
@@ -96,6 +96,7 @@ export function useDriveControls() {
const keysRef = useRef(new Set()); const keysRef = useRef(new Set());
const lastSpeedsRef = useRef({ left: 0, right: 0 }); const lastSpeedsRef = useRef({ left: 0, right: 0 });
const [currentSpeeds, setCurrentSpeeds] = useState(() => ({ left: 0, right: 0 })); const [currentSpeeds, setCurrentSpeeds] = useState(() => ({ left: 0, right: 0 }));
const [servoAngle, setServoAngle] = useState(null);
const emitCommand = useCallback( const emitCommand = useCallback(
(payload, cb) => { (payload, cb) => {
@@ -105,6 +106,18 @@ export function useDriveControls() {
[socket, roverId], [socket, roverId],
); );
const currentRosterEntry = useMemo(() => {
if (!roverId || !Array.isArray(session?.roster)) return null;
return session.roster.find((entry) => String(entry.id) === String(roverId)) || null;
}, [roverId, session?.roster]);
const servoConfig = useMemo(() => {
if (!currentRosterEntry?.cameraServo || !currentRosterEntry.cameraServo.enabled) {
return null;
}
return currentRosterEntry.cameraServo;
}, [currentRosterEntry]);
const enableSensorStream = useCallback(() => { const enableSensorStream = useCallback(() => {
if (!roverId) return; if (!roverId) return;
emitCommand({ emitCommand({
@@ -205,6 +218,60 @@ export function useDriveControls() {
[roverId, sendMotorPwm], [roverId, sendMotorPwm],
); );
const sendServoCommand = useCallback(
(payload) => {
if (!roverId || !servoConfig) return;
emitCommand({
type: 'servo',
data: { servo: payload },
});
},
[emitCommand, roverId, servoConfig],
);
const applyServoAngle = useCallback(
(angle) => {
if (!servoConfig) return;
const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
const clamped = clamp(angle, min, max);
setServoAngle(clamped);
sendServoCommand({ angle: clamped });
},
[sendServoCommand, servoConfig],
);
const nudgeServo = useCallback(
(delta) => {
if (!servoConfig) return;
const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
const midpoint = (min + max) / 2;
const step =
typeof delta === 'number' && !Number.isNaN(delta) && delta !== 0
? delta
: servoConfig.nudgeDegrees || 1;
const baseline =
typeof servoAngle === 'number'
? servoAngle
: servoConfig.homeAngle ?? midpoint;
applyServoAngle(baseline + step);
},
[applyServoAngle, servoAngle, servoConfig],
);
useEffect(() => {
if (!servoConfig) {
setServoAngle(null);
return;
}
const min = typeof servoConfig.minAngle === 'number' ? servoConfig.minAngle : -45;
const max = typeof servoConfig.maxAngle === 'number' ? servoConfig.maxAngle : 45;
const initial =
typeof servoConfig.homeAngle === 'number' ? servoConfig.homeAngle : (min + max) / 2;
setServoAngle(clamp(initial, min, max));
}, [servoConfig, roverId]);
useEffect(() => { useEffect(() => {
if (!roverId) { if (!roverId) {
keysRef.current.clear(); keysRef.current.clear();
@@ -249,5 +316,19 @@ export function useDriveControls() {
seekDock, seekDock,
setAuxMotors, setAuxMotors,
driveWithVector, driveWithVector,
servo: {
enabled: Boolean(roverId && servoConfig),
config: servoConfig,
angle:
typeof servoAngle === 'number'
? servoAngle
: servoConfig?.homeAngle ?? servoConfig?.minAngle ?? 0,
setAngle: applyServoAngle,
nudge: nudgeServo,
goHome: () => {
if (!servoConfig) return;
applyServoAngle(servoConfig.homeAngle ?? 0);
},
},
}; };
} }