chat history, better turn queue updates

pi/roverd/cmd/roverd/main.go

@@ -78,10 +78,19 @@ func main() {
 		defer nightVision.Close()
 	}
 
+	var irTx *roverd.IRTransmitter
+	if cfg.IR.Enabled {
+		irTx, err = roverd.NewIRTransmitter(cfg.IR, logger)
+		if err != nil {
+			logger.Fatalf("init ir tx: %v", err)
+		}
+		defer irTx.Close()
+	}
+
 	autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
 	go autoCharge.Run(ctx, sensorSamples)
 
-	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, logger)
+	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, irTx, logger)
 
 	retryDelay := time.Second
 	for ctx.Err() == nil {

pi/roverd/command.go

@@ -29,6 +29,7 @@ type inboundMessage struct {
 	TTS          *ttsPayload          `json:"tts,omitempty"`
 	NightVision  *nightVisionPayload  `json:"nightVision,omitempty"`
 	Song         *songPayload         `json:"song,omitempty"`
+	IR           *irPayload           `json:"ir,omitempty"`
 }
 
 type driveDirectPayload struct {
@@ -79,6 +80,11 @@ type songNote struct {
 	Duration int `json:"duration"`
 }
 
+type irPayload struct {
+	Code   int `json:"code"`
+	Repeat int `json:"repeat,omitempty"`
+}
+
 type ackMessage struct {
 	Type   string `json:"type"`
 	ID     string `json:"id"`

pi/roverd/config.go

@@ -103,6 +103,20 @@ type NightVisionConfig struct {
 	InitialOn bool   `yaml:"initialOn" json:"initialOn"`
 }
 
+type IRConfig struct {
+	Enabled     bool `yaml:"enabled" json:"enabled"`
+	Pin         int  `yaml:"pin" json:"pin"`
+	CarrierHz   int  `yaml:"carrierHz" json:"carrierHz"`
+	CycleLen    int  `yaml:"cycleLen" json:"cycleLen"`
+	DutyPercent int  `yaml:"dutyPercent" json:"dutyPercent"`
+	Bit0OnMs    int  `yaml:"bit0OnMs" json:"bit0OnMs"`
+	Bit1OnMs    int  `yaml:"bit1OnMs" json:"bit1OnMs"`
+	BitTotalMs  int  `yaml:"bitTotalMs" json:"bitTotalMs"`
+	Repeat      int  `yaml:"repeat" json:"repeat"`
+	GapMs       int  `yaml:"gapMs" json:"gapMs"`
+	ActiveLow   bool `yaml:"activeLow" json:"activeLow"`
+}
+
 type Config struct {
 	Name        string            `yaml:"name"`
 	ServerURL   string            `yaml:"serverUrl"`
@@ -114,6 +128,7 @@ type Config struct {
 	CameraServo CameraServoConfig `yaml:"cameraServo"`
 	Audio       AudioConfig       `yaml:"audio"`
 	NightVision NightVisionConfig `yaml:"nightVision" json:"nightVision"`
+	IR          IRConfig          `yaml:"ir" json:"ir"`
 }
 
 func LoadConfig(path string) (*Config, error) {
@@ -169,6 +184,19 @@ func LoadConfig(path string) (*Config, error) {
 			GPIOChip:  "gpiochip0",
 			InitialOn: true,
 		},
+		IR: IRConfig{
+			Enabled:     false,
+			Pin:         17,
+			CarrierHz:   38000,
+			CycleLen:    100,
+			DutyPercent: 50,
+			Bit0OnMs:    1,
+			Bit1OnMs:    3,
+			BitTotalMs:  4,
+			Repeat:      3,
+			GapMs:       100,
+			ActiveLow:   true,
+		},
 	}
 	if err := yaml.Unmarshal(data, &cfg); err != nil {
 		return nil, err
@@ -232,6 +260,9 @@ func LoadConfig(path string) (*Config, error) {
 	if err := validateNightVisionConfig(&cfg.NightVision); err != nil {
 		return nil, fmt.Errorf("nightVision: %w", err)
 	}
+	if err := validateIRConfig(&cfg.IR); err != nil {
+		return nil, fmt.Errorf("ir: %w", err)
+	}
 	validateAudioConfig(&cfg.Audio)
 	return &cfg, nil
 }
@@ -316,6 +347,37 @@ func validateNightVisionConfig(cfg *NightVisionConfig) error {
 	return nil
 }
 
+func validateIRConfig(cfg *IRConfig) error {
+	if !cfg.Enabled {
+		return nil
+	}
+	if cfg.Pin <= 0 {
+		return errors.New("pin must be > 0")
+	}
+	if cfg.CarrierHz <= 0 {
+		return errors.New("carrierHz must be > 0")
+	}
+	if cfg.CycleLen <= 0 {
+		return errors.New("cycleLen must be > 0")
+	}
+	if cfg.DutyPercent <= 0 || cfg.DutyPercent >= 100 {
+		return errors.New("dutyPercent must be 1-99")
+	}
+	if cfg.Bit0OnMs <= 0 || cfg.Bit1OnMs <= 0 {
+		return errors.New("bit0OnMs/bit1OnMs must be > 0")
+	}
+	if cfg.BitTotalMs < cfg.Bit0OnMs || cfg.BitTotalMs < cfg.Bit1OnMs {
+		return errors.New("bitTotalMs must be >= bit on durations")
+	}
+	if cfg.Repeat <= 0 {
+		cfg.Repeat = 1
+	}
+	if cfg.GapMs < 0 {
+		cfg.GapMs = 0
+	}
+	return nil
+}
+
 func derivePublishURL(serverURL, streamName string, port int) (string, error) {
 	if streamName == "" {
 		return "", errors.New("missing stream name for publishUrl")

pi/roverd/ir_tx.go

@@ -0,0 +1,327 @@
+//go:build !dummy
+
+package roverd
+
+import (
+	"bytes"
+	"encoding/binary"
+	"fmt"
+	"io"
+	"log"
+	"net"
+	"sync"
+	"time"
+)
+
+const (
+	pigpioAddr           = "127.0.0.1:8888"
+	piCmdSetMode         = 0
+	piCmdWrite           = 4
+	piCmdWaveClear       = 27
+	piCmdWaveAddGeneric  = 28
+	piCmdWaveTxBusy      = 32
+	piCmdWaveCreate      = 49
+	piCmdWaveDelete      = 50
+	piCmdWaveTxSend      = 51
+	piOutput             = 1
+)
+
+type pigpioCmd struct {
+	Cmd uint32
+	P1  uint32
+	P2  uint32
+	P3  uint32
+}
+
+type gpioPulse struct {
+	GpioOn  uint32
+	GpioOff uint32
+	DelayUs uint32
+}
+
+type pigpioClient struct {
+	conn net.Conn
+	mu   sync.Mutex
+}
+
+func newPigpioClient(addr string) (*pigpioClient, error) {
+	conn, err := net.Dial("tcp", addr)
+	if err != nil {
+		return nil, err
+	}
+	if tcpConn, ok := conn.(*net.TCPConn); ok {
+		_ = tcpConn.SetNoDelay(true)
+	}
+	return &pigpioClient{conn: conn}, nil
+}
+
+func (c *pigpioClient) Close() error {
+	if c.conn == nil {
+		return nil
+	}
+	return c.conn.Close()
+}
+
+func (c *pigpioClient) command(cmd, p1, p2, p3 uint32, ext []byte) (int32, error) {
+	c.mu.Lock()
+	defer c.mu.Unlock()
+
+	var buf [16]byte
+	binary.LittleEndian.PutUint32(buf[0:], cmd)
+	binary.LittleEndian.PutUint32(buf[4:], p1)
+	binary.LittleEndian.PutUint32(buf[8:], p2)
+	binary.LittleEndian.PutUint32(buf[12:], p3)
+
+	if _, err := c.conn.Write(buf[:]); err != nil {
+		return -1, err
+	}
+	if len(ext) > 0 {
+		if _, err := c.conn.Write(ext); err != nil {
+			return -1, err
+		}
+	}
+	if _, err := io.ReadFull(c.conn, buf[:]); err != nil {
+		return -1, err
+	}
+	res := int32(binary.LittleEndian.Uint32(buf[12:]))
+	return res, nil
+}
+
+type IRTransmitter struct {
+	cfg       IRConfig
+	logger    *log.Logger
+	gpioMask  uint32
+	pigpio    *pigpioClient
+	mu        sync.Mutex
+	closed    bool
+	activeLow bool
+}
+
+func NewIRTransmitter(cfg IRConfig, logger *log.Logger) (*IRTransmitter, error) {
+	if !cfg.Enabled {
+		return nil, fmt.Errorf("ir disabled")
+	}
+
+	client, err := newPigpioClient(pigpioAddr)
+	if err != nil {
+		return nil, fmt.Errorf("connect pigpio: %w", err)
+	}
+	mask := uint32(1) << cfg.Pin
+	tx := &IRTransmitter{
+		cfg:       cfg,
+		logger:    logger,
+		gpioMask:  mask,
+		pigpio:    client,
+		activeLow: cfg.ActiveLow,
+	}
+
+	if err := tx.configureLine(); err != nil {
+		_ = client.Close()
+		return nil, err
+	}
+
+	logger.Printf("ir tx initialized on GPIO %d (%d Hz carrier, activeLow=%v)", cfg.Pin, cfg.CarrierHz, tx.activeLow)
+	return tx, nil
+}
+
+func (t *IRTransmitter) Close() {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	if t.closed {
+		return
+	}
+	_ = t.setInactive()
+	_ = t.pigpio.Close()
+	t.closed = true
+}
+
+func (t *IRTransmitter) Send(code byte, repeat int) error {
+	t.mu.Lock()
+	defer t.mu.Unlock()
+	if t.closed {
+		return fmt.Errorf("ir transmitter closed")
+	}
+	if repeat <= 0 {
+		repeat = t.cfg.Repeat
+	}
+	pulses, totalUs := t.buildWaveform(code, repeat)
+	if len(pulses) == 0 {
+		return nil
+	}
+	if err := t.writeWave(pulses, time.Duration(totalUs)*time.Microsecond); err != nil {
+		return err
+	}
+	return nil
+}
+
+func (t *IRTransmitter) configureLine() error {
+	if res, err := t.pigpio.command(piCmdSetMode, uint32(t.cfg.Pin), piOutput, 0, nil); err != nil {
+		return fmt.Errorf("pigpio set mode: %w", err)
+	} else if res < 0 {
+		return fmt.Errorf("pigpio set mode: %d", res)
+	}
+	return t.setInactive()
+}
+
+func (t *IRTransmitter) setInactive() error {
+	level := uint32(0)
+	if t.activeLow {
+		level = 1
+	}
+	res, err := t.pigpio.command(piCmdWrite, uint32(t.cfg.Pin), level, 0, nil)
+	if err != nil {
+		return fmt.Errorf("pigpio write: %w", err)
+	}
+	if res < 0 {
+		return fmt.Errorf("pigpio write: %d", res)
+	}
+	return nil
+}
+
+func (t *IRTransmitter) buildWaveform(code byte, repeat int) ([]gpioPulse, int) {
+	if repeat <= 0 {
+		return nil, 0
+	}
+	periodUs := int(1_000_000 / t.cfg.CarrierHz)
+	if periodUs <= 0 {
+		periodUs = 1
+	}
+	onDuty := int(float64(periodUs) * (float64(t.cfg.DutyPercent) / 100.0))
+	if onDuty <= 0 {
+		onDuty = 1
+	}
+	if onDuty >= periodUs {
+		onDuty = periodUs - 1
+	}
+	offDuty := periodUs - onDuty
+	if offDuty <= 0 {
+		offDuty = 1
+	}
+
+	var pulses []gpioPulse
+	totalUs := 0
+	onPulse := func(duration int) {
+		if duration <= 0 {
+			return
+		}
+		pulses = append(pulses, t.pulseOn(duration))
+		totalUs += duration
+	}
+	offPulse := func(duration int) {
+		if duration <= 0 {
+			return
+		}
+		pulses = append(pulses, t.pulseOff(duration))
+		totalUs += duration
+	}
+	addCarrier := func(onUs int) {
+		if onUs <= 0 {
+			return
+		}
+		cycles := onUs / periodUs
+		if onUs%periodUs != 0 {
+			cycles++
+		}
+		for i := 0; i < cycles; i++ {
+			onPulse(onDuty)
+			offPulse(offDuty)
+		}
+	}
+
+	for i := 0; i < repeat; i++ {
+		for mask := byte(0x80); mask > 0; mask >>= 1 {
+			onMs := t.cfg.Bit0OnMs
+			if code&mask != 0 {
+				onMs = t.cfg.Bit1OnMs
+			}
+			onUs := onMs * 1000
+			offUs := (t.cfg.BitTotalMs - onMs) * 1000
+			addCarrier(onUs)
+			offPulse(offUs)
+		}
+		if i < repeat-1 && t.cfg.GapMs > 0 {
+			offPulse(t.cfg.GapMs * 1000)
+		}
+	}
+	if totalUs > 0 {
+		pulses = append(pulses, t.pulseOff(1))
+		totalUs++
+	}
+	return pulses, totalUs
+}
+
+func (t *IRTransmitter) pulseOn(durationUs int) gpioPulse {
+	if t.activeLow {
+		return gpioPulse{GpioOn: 0, GpioOff: t.gpioMask, DelayUs: uint32(durationUs)}
+	}
+	return gpioPulse{GpioOn: t.gpioMask, GpioOff: 0, DelayUs: uint32(durationUs)}
+}
+
+func (t *IRTransmitter) pulseOff(durationUs int) gpioPulse {
+	if t.activeLow {
+		return gpioPulse{GpioOn: t.gpioMask, GpioOff: 0, DelayUs: uint32(durationUs)}
+	}
+	return gpioPulse{GpioOn: 0, GpioOff: t.gpioMask, DelayUs: uint32(durationUs)}
+}
+
+func (t *IRTransmitter) writeWave(pulses []gpioPulse, duration time.Duration) error {
+	if len(pulses) == 0 {
+		return nil
+	}
+	if res, err := t.pigpio.command(piCmdWaveClear, 0, 0, 0, nil); err != nil {
+		return fmt.Errorf("pigpio wave clear: %w", err)
+	} else if res < 0 {
+		return fmt.Errorf("pigpio wave clear: %d", res)
+	}
+
+	payload := make([]byte, 0, len(pulses)*12)
+	buf := bytes.NewBuffer(payload)
+	for _, pulse := range pulses {
+		_ = binary.Write(buf, binary.LittleEndian, pulse.GpioOn)
+		_ = binary.Write(buf, binary.LittleEndian, pulse.GpioOff)
+		_ = binary.Write(buf, binary.LittleEndian, pulse.DelayUs)
+	}
+	data := buf.Bytes()
+	if res, err := t.pigpio.command(piCmdWaveAddGeneric, 0, 0, uint32(len(data)), data); err != nil {
+		return fmt.Errorf("pigpio wave add: %w", err)
+	} else if res < 0 {
+		return fmt.Errorf("pigpio wave add: %d", res)
+	}
+
+	waveID, err := t.pigpio.command(piCmdWaveCreate, 0, 0, 0, nil)
+	if err != nil {
+		return fmt.Errorf("pigpio wave create: %w", err)
+	}
+	if waveID < 0 {
+		return fmt.Errorf("pigpio wave create: %d", waveID)
+	}
+	defer func() {
+		_, _ = t.pigpio.command(piCmdWaveDelete, uint32(waveID), 0, 0, nil)
+	}()
+
+	if res, err := t.pigpio.command(piCmdWaveTxSend, uint32(waveID), 0, 0, nil); err != nil {
+		return fmt.Errorf("pigpio wave tx: %w", err)
+	} else if res < 0 {
+		return fmt.Errorf("pigpio wave tx: %d", res)
+	}
+
+	if duration <= 0 {
+		return nil
+	}
+	timeout := duration + 250*time.Millisecond
+	deadline := time.Now().Add(timeout)
+	for time.Now().Before(deadline) {
+		busy, err := t.pigpio.command(piCmdWaveTxBusy, 0, 0, 0, nil)
+		if err != nil {
+			return fmt.Errorf("pigpio wave busy: %w", err)
+		}
+		if busy < 0 {
+			return fmt.Errorf("pigpio wave busy: %d", busy)
+		}
+		if busy == 0 {
+			return nil
+		}
+		time.Sleep(2 * time.Millisecond)
+	}
+	return fmt.Errorf("pigpio wave timeout after %s", timeout)
+}

pi/roverd/ir_tx_dummy.go

@@ -0,0 +1,20 @@
+//go:build dummy
+
+package roverd
+
+import "log"
+
+type IRTransmitter struct{}
+
+func NewIRTransmitter(cfg IRConfig, logger *log.Logger) (*IRTransmitter, error) {
+	if cfg.Enabled {
+		logger.Printf("[dummy] IR TX enabled on pin %d", cfg.Pin)
+	}
+	return &IRTransmitter{}, nil
+}
+
+func (t *IRTransmitter) Close() {}
+
+func (t *IRTransmitter) Send(code byte, repeat int) error {
+	return nil
+}

pi/roverd/roverd.sample.yaml

@@ -53,3 +53,15 @@ nightVision:
   gpioPin: 22
   gpioChip: gpiochip0
   initialOn: true
+ir:
+  enabled: false
+  pin: 17
+  carrierHz: 38000
+  cycleLen: 100
+  dutyPercent: 50
+  bit0OnMs: 1
+  bit1OnMs: 3
+  bitTotalMs: 4
+  repeat: 3
+  gapMs: 100
+  activeLow: true

pi/roverd/roverd.yaml

@@ -31,3 +31,15 @@ cameraServo:
   homeAngle: 0
   nudgeDegrees: 2
   allowRawPulse: false
+ir:
+  enabled: false
+  pin: 17
+  carrierHz: 38000
+  cycleLen: 100
+  dutyPercent: 50
+  bit0OnMs: 1
+  bit1OnMs: 3
+  bitTotalMs: 4
+  repeat: 3
+  gapMs: 100
+  activeLow: true

pi/roverd/wsclient.go

@@ -20,6 +20,7 @@ type WSClient struct {
 	media        *MediaSupervisor
 	servo        *CameraServo
 	nightVision  *NightVisionLight
+	ir           *IRTransmitter
 	log          *log.Logger
 	recoverMu    sync.Mutex
 	recovering   bool
@@ -30,7 +31,7 @@ type WSClient struct {
 	seekIssued   bool
 }
 
-func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo *CameraServo, nightVision *NightVisionLight, logger *log.Logger) *WSClient {
+func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo *CameraServo, nightVision *NightVisionLight, ir *IRTransmitter, logger *log.Logger) *WSClient {
 	var ttsQueue chan *ttsPayload
 	if cfg.Audio.TTSEnabled {
 		ttsQueue = make(chan *ttsPayload, 2)
@@ -43,6 +44,7 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
 		media:        media,
 		servo:        servo,
 		nightVision:  nightVision,
+		ir:           ir,
 		log:          logger,
 		ttsQueue:     ttsQueue,
 	}
@@ -181,6 +183,13 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
 			slot = clampInt(*msg.Song.Slot, 0, 4)
 		}
 		return c.adapter.PlaySong(slot, msg.Song.Notes)
+	case msg.IR != nil:
+		if c.ir == nil {
+			return fmt.Errorf("ir disabled")
+		}
+		code := clampInt(msg.IR.Code, 0, 255)
+		repeat := clampInt(msg.IR.Repeat, 0, 10)
+		return c.ir.Send(byte(code), repeat)
 	default:
 		return fmt.Errorf("unsupported command type: %s", msg.Type)
 	}

server/public/index.html

@@ -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-CvfJ6hKE.js"></script>
+    <script type="module" crossorigin src="/assets/index-UA5S-yPp.js"></script>
     <link rel="stylesheet" crossorigin href="/assets/index-BY_dmM98.css">
   </head>
   <body>

server/src/globals/io.js

@@ -3,6 +3,9 @@ const { httpServer } = require('./http');
 
 const io = new SocketIOServer(httpServer, {
   cors: { origin: '*' },
+  transports: ['websocket', 'polling'],
+  pingInterval: 5000,
+  pingTimeout: 7000,
 });
 
 // Allow more service listeners without warnings.

server/src/globals/ws.js

@@ -9,8 +9,6 @@ httpServer.on('upgrade', (req, socket, head) => {
     roverWSS.handleUpgrade(req, socket, head, (ws) => {
       roverWSS.emit('connection', ws, req);
     });
-  } else {
-    socket.destroy();
   }
 });
 

server/src/services/chatService.js

@@ -12,6 +12,9 @@ const RATE_LIMIT_WINDOW_MS = 8000;
 const RATE_LIMIT_MAX = 5;
 const rateBuckets = new Map(); // socketId -> [timestamps]
 
+const MAX_HISTORY = 100;
+const history = [];
+
 const PROFANITY_LIST = ['bitch', 'cunt', 'nigger', 'nigga', 'asshole', 'dick'];
 const DUPLICATE_WINDOW_MS = 15000;
 const lastMessageBySocket = new Map(); // socketId -> { text, ts }
@@ -83,7 +86,15 @@ function buildMessage(socket, text, meta = {}) {
   };
 }
 
+function pushHistory(message) {
+  history.push(message);
+  if (history.length > MAX_HISTORY) {
+    history.shift();
+  }
+}
+
 function broadcastMessage(message) {
+  pushHistory(message);
   publishEvent({ source: 'chat', type: 'chat:message', payload: message });
 }
 
@@ -208,6 +219,7 @@ function sendExternalMessage({
 }
 
 io.on('connection', (socket) => {
+  socket.emit('chat:init', history);
   socket.on('chat:send', (payload = {}, cb = () => {}) => handleIncoming(payload, socket, cb));
 });
 

server/src/services/roverManager.js

@@ -657,6 +657,10 @@ io.on('connection', (socket) => {
   socket.on('subscribeAll', handleSubscribeAll);
   socket.on('session:subscribeAll', handleSubscribeAll);
 
+  socket.on('disconnecting', () => {
+    logger.info('Socket disconnecting', socket.id);
+    removeSocket(socket);
+  });
   socket.on('disconnect', () => {
     logger.info('Socket disconnected', socket.id);
     removeSocket(socket);

server/src/services/turnService.js

@@ -9,6 +9,7 @@ const activeDrivers = new Map();
 const TURN_DURATION_MS = 60 * 1000;
 const IDLE_TIMEOUT_MS = 7 * 1000;
 const MAX_IDLE_SKIPS = 3;
+const STALE_REAPER_MS = 5000;
 const turnEvents = new EventEmitter();
 const turnDeadlines = new Map(); // roverId -> timestamp when current driver expires
 const idleDeadlines = new Map(); // roverId -> timestamp when idle skip will happen
@@ -268,16 +269,44 @@ function removeDriverCompletely(roverId, socketId) {
 function recordActivity(roverId, socketId) {
   const queue = driverQueues.get(roverId);
   if (!queue || queue.current !== socketId) return;
+  if (idleDisarmed.get(roverId)) return;
   idleDisarmed.set(roverId, true);
+  const hadDeadline = idleDeadlines.has(roverId);
   clearTimeout(idleTimers.get(roverId));
   idleDeadlines.delete(roverId);
-  turnEvents.emit('queue', { roverId, reason: 'activity' });
+  if (hadDeadline) {
+    turnEvents.emit('queue', { roverId, reason: 'activity' });
+  }
 }
 
 modeEvents.on('change', (mode) => {
   driverQueues.forEach((_, roverId) => syncState(roverId));
 });
 
+function reapStaleDrivers() {
+  const staleIds = new Set();
+  driverQueues.forEach((queue) => {
+    queue.queue.forEach((socketId) => {
+      if (!io.sockets.sockets.has(socketId)) {
+        staleIds.add(socketId);
+      }
+    });
+    if (queue.current && !io.sockets.sockets.has(queue.current)) {
+      staleIds.add(queue.current);
+    }
+  });
+  if (staleIds.size === 0) return;
+  driverQueues.forEach((queue, roverId) => {
+    staleIds.forEach((socketId) => {
+      if (queue.current === socketId || queue.queue.includes(socketId)) {
+        driverRemoved(roverId, socketId);
+      }
+    });
+  });
+}
+
+setInterval(reapStaleDrivers, STALE_REAPER_MS);
+
 module.exports = {
   driverAdded,
   driverRemoved,

webui/src/components/AdminPanel.jsx

@@ -1,4 +1,5 @@
 import { useMemo, useState } from 'react';
+import { useCommandPipeline } from '../controls/commandPipeline.js';
 import { useSession } from '../context/SessionContext.jsx';
 import RoverRoster from './RoverRoster.jsx';
 
@@ -9,8 +10,11 @@ const MODES = [
   { key: 'lockdown', label: 'Lockdown' },
 ];
 
+const IR_SHOT_CODE = 200;
+
 export default function AdminPanel() {
   const { session, lockRover, setMode, requestControl } = useSession();
+  const pipeline = useCommandPipeline();
   const roster = useMemo(() => session?.roster ?? [], [session?.roster]);
   const [lockStates, setLockStates] = useState({});
   const health = session?.health || null;
@@ -48,6 +52,17 @@ export default function AdminPanel() {
     }
   };
 
+  const handleIrShot = (roverId) => {
+    pipeline.emitCommand(
+      {
+        type: 'ir',
+        data: { ir: { code: IR_SHOT_CODE } },
+      },
+      null,
+      roverId,
+    );
+  };
+
   const lockMap = useMemo(() => {
     const map = {};
     roster.forEach((rover) => {
@@ -56,39 +71,51 @@ export default function AdminPanel() {
     return map;
   }, [roster, lockStates]);
 
-  if (!isAdmin) return null;
-
   return (
     <section className="panel-section space-y-0.5 text-base">
-      <div className="flex items-center justify-between gap-0.5 text-sm">
-        <span>Admin controls</span>
-        <select value={currentMode} onChange={handleModeChange} className="field-input text-sm">
-          {MODES.map((mode) => (
-            <option key={mode.key} value={mode.key}>
-              {mode.label}
-            </option>
-          ))}
-        </select>
-      </div>
+      {isAdmin ? (
+        <div className="flex items-center justify-between gap-0.5 text-sm">
+          <span>Admin controls</span>
+          <select value={currentMode} onChange={handleModeChange} className="field-input text-sm">
+            {MODES.map((mode) => (
+              <option key={mode.key} value={mode.key}>
+                {mode.label}
+              </option>
+            ))}
+          </select>
+        </div>
+      ) : (
+        <div className="flex items-center justify-between gap-0.5 text-sm">
+          <span>Rover controls</span>
+          <span className="panel-muted text-xs">Limited access</span>
+        </div>
+      )}
 
       <RoverRoster
         roster={roster}
         renderActions={(rover) => (
           <div className="flex flex-wrap gap-0.5 text-xs">
-            <button
-              type="button"
-              onClick={() => handleLockToggle(rover.id, !lockMap[rover.id])}
-              className="button-dark"
-            >
-              {lockMap[rover.id] ? 'Unlock' : 'Lock'}
-            </button>
-            <button type="button" onClick={() => handleForceControl(rover.id)} className="button-dark">
-              Force
+            {isAdmin ? (
+              <>
+                <button
+                  type="button"
+                  onClick={() => handleLockToggle(rover.id, !lockMap[rover.id])}
+                  className="button-dark"
+                >
+                  {lockMap[rover.id] ? 'Unlock' : 'Lock'}
+                </button>
+                <button type="button" onClick={() => handleForceControl(rover.id)} className="button-dark">
+                  Force
+                </button>
+              </>
+            ) : null}
+            <button type="button" onClick={() => handleIrShot(rover.id)} className="button-dark">
+              IR Shot
             </button>
           </div>
         )}
       />
-      <ReplaySnapshotHealth health={health} />
+      {isAdmin ? <ReplaySnapshotHealth health={health} /> : null}
     </section>
   );
 }

webui/src/context/ChatContext.jsx

@@ -50,6 +50,24 @@ export function ChatProvider({ children }) {
     };
   }, [playSound, session?.socketId, socket]);
 
+  useEffect(() => {
+    function handleInit(payload = []) {
+      if (!Array.isArray(payload)) return;
+      setMessages((prev) => {
+        if (prev.length === 0) {
+          return payload.slice(-100);
+        }
+        const seen = new Set(payload.map((entry) => entry?.id));
+        const merged = [...payload, ...prev.filter((entry) => entry?.id && !seen.has(entry.id))];
+        return merged.slice(-100);
+      });
+    }
+    socket.on('chat:init', handleInit);
+    return () => {
+      socket.off('chat:init', handleInit);
+    };
+  }, [socket]);
+
   const sendMessage = useCallback(
     (text, tts = null) =>
       new Promise((resolve, reject) => {

webui/src/controls/commandPipeline.js

@@ -32,9 +32,10 @@ export function useCommandPipeline() {
   }, [rosterEntry]);
 
   const emitCommand = useCallback(
-    (payload, cb) => {
-      if (!roverId) return;
-      socket.emit('command', { roverId, ...payload }, cb);
+    (payload, cb, targetRoverId) => {
+      const roverTarget = targetRoverId ?? roverId;
+      if (!roverTarget) return;
+      socket.emit('command', { roverId: roverTarget, ...payload }, cb);
     },
     [socket, roverId],
   );