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\`/\`\` and will default to "${yu}"`),null):s}function cv(s,i){let c,r,f,d,m;if(lv(s)){let b=s.getAttribute("action");r=b?cl(b,i):null,c=s.getAttribute("method")||mu,f=Fc(s.getAttribute("enctype"))||yu,d=new FormData(s)}else if(tv(s)||nv(s)&&(s.type==="submit"||s.type==="image")){let b=s.form;if(b==null)throw new Error('Cannot submit a +

Runs Start → Dock → Full commands to ready the rover.

+
+ + {updated && Updated {updated}} +
+ +
+ +

+ Point the rover straight at the dock, about one foot away, before triggering. +

+
+ + +
+
+ +
+

Manual OI

+
+ {manualOiButtons.map((btn) => ( + + ))} +
+
+
+ +
+ +

Sensor streaming auto-starts after each OI change.

+ + ); +} + +function SpeedRow({ left, right }) { + return ( +
-

Left

-

{left}

+

Left

+

{left}

-

Right

-

{right}

+

Right

+

{right}

); } -export default function DrivePanel() { - const { roverId, speeds, stopMotors, sendOiCommand } = useDriveControls(); - +function StatusPill({ label, active }) { return ( -
-
-
-

Drive Controls

-

- {roverId ? `Driving rover ${roverId}` : 'No rover assigned'} -

-
-
- W/A/S/D: move - Shift: boost -
-
- - - -
- -
- -
-

OI Modes

-
- {oiButtons.map((btn) => ( - - ))} -
-
- -

- Sensor streaming starts automatically after each OI change. Keep this tab focused while driving. -

-
+ + {label} + ); } diff --git a/webui/src/components/MobileControls.jsx b/webui/src/components/MobileControls.jsx new file mode 100644 index 00000000..3182b7d4 --- /dev/null +++ b/webui/src/components/MobileControls.jsx @@ -0,0 +1,128 @@ +import { useCallback } from 'react'; +import { Joystick } from 'react-joystick-component'; +import { useDriveControl } from '../context/DriveControlContext.jsx'; + +function clampUnit(value = 0) { + if (typeof value !== 'number' || Number.isNaN(value)) return 0; + return Math.max(-1, Math.min(1, value)); +} + +function MobileJoystick() { + const { roverId, driveWithVector, stopMotors } = useDriveControl(); + const disabled = !roverId; + + const handleMove = useCallback( + (event = {}) => { + if (disabled) return; + const x = clampUnit(event.x ?? 0); + const y = clampUnit(event.y ?? 0); + driveWithVector({ x, y }); + }, + [disabled, driveWithVector], + ); + + const handleStop = useCallback(() => { + if (disabled) return; + driveWithVector({ x: 0, y: 0 }); + }, [disabled, driveWithVector]); + + return ( +
+
Joystick
+
+ +
+

+ Drag to drive. Release to stop sending drive commands. +

+ +
+ ); +} + +function AuxMotorControls() { + const { roverId, setAuxMotors } = useDriveControl(); + const disabled = !roverId; + + const runAllForward = () => { + if (disabled) return; + setAuxMotors({ main: 127, side: 127, vacuum: 127 }); + }; + + const stopAll = () => { + if (disabled) return; + setAuxMotors({ main: 0, side: 0, vacuum: 0 }); + }; + + const auxButtons = [ + { label: 'Main +', values: { main: 127 } }, + { label: 'Main -', values: { main: -127 } }, + { label: 'Side +', values: { side: 127 } }, + { label: 'Side -', values: { side: -127 } }, + { label: 'Vacuum Max', values: { vacuum: 127 } }, + { label: 'Vacuum Off', values: { vacuum: 0 } }, + ]; + + return ( +
+
Aux Motors
+
+ + +
+
+ {auxButtons.map((btn) => ( + + ))} +
+
+ ); +} + +export default function MobileControlsStack() { + return ( +
+ + +
+ ); +} + +export { MobileJoystick, AuxMotorControls }; diff --git a/webui/src/components/TelemetryPanel.jsx b/webui/src/components/TelemetryPanel.jsx index af75fdbd..298a1443 100644 --- a/webui/src/components/TelemetryPanel.jsx +++ b/webui/src/components/TelemetryPanel.jsx @@ -1,56 +1,56 @@ -import { useMemo } from 'react'; import { useSession } from '../context/SessionContext.jsx'; import { useTelemetryFrame } from '../context/TelemetryContext.jsx'; -function formatEntries(sensors = {}) { - return Object.entries(sensors).map(([key, value]) => ({ - key, - value: typeof value === 'object' ? JSON.stringify(value) : value, - })); +function formatMetric(value, fallback = '--') { + if (value == null || value === '') return fallback; + return value; } export default function TelemetryPanel() { const { session } = useSession(); const roverId = session?.assignment?.roverId; const frame = useTelemetryFrame(roverId); - - const entries = useMemo(() => formatEntries(frame?.sensors), [frame?.sensors]); + const sensors = frame?.sensors || {}; + const voltage = sensors.voltageMv != null ? (sensors.voltageMv / 1000).toFixed(2) : null; + const current = sensors.currentMa != null ? (sensors.currentMa / 1000).toFixed(2) : null; + const charge = sensors.batteryChargeMah; + const capacity = sensors.batteryCapacityMah; + const updated = frame?.receivedAt ? new Date(frame.receivedAt).toLocaleTimeString() : null; + const rawSnippet = frame?.raw ? (frame.raw.length > 80 ? `${frame.raw.slice(0, 80)}…` : frame.raw) : null; return ( -
-
-
-

Telemetry

-

- {roverId ? `Rover ${roverId}` : 'No rover assigned'} -

-
-

- {frame?.receivedAt ? `Updated ${new Date(frame.receivedAt).toLocaleTimeString()}` : 'Waiting…'} -

-
- {entries.length === 0 ? ( -

- {roverId ? 'No sensor frames yet.' : 'Assignment required to view sensors.'} -

+
+
+ Telemetry + {updated ? `Updated ${updated}` : 'waiting'} +
+ {!roverId ? ( +

Assignment required to view sensors.

+ ) : !frame ? ( +

No sensor frames yet.

) : ( -
- {entries.map(({ key, value }) => ( -
-
{key}
-
{value}
-
- ))} -
- )} - {frame?.raw && ( -
-

Raw frame

- 
-            {frame.raw}
-
+
+ + + + +
)} + {rawSnippet && ( + 
+          {rawSnippet}
+
+ )}
); } + +function Metric({ label, value }) { + return ( +
+ {label} + {value} +
+ ); +} diff --git a/webui/src/components/VideoTile.jsx b/webui/src/components/VideoTile.jsx index 9035c543..8558a4be 100644 --- a/webui/src/components/VideoTile.jsx +++ b/webui/src/components/VideoTile.jsx @@ -4,7 +4,7 @@ import { WhepPlayer } from '../lib/whepPlayer.js'; const RESTART_DELAY_MS = 2000; const UNMUTE_RETRY_MS = 3000; -export default function VideoTile({ sessionInfo, label, forceMute = false }) { +export default function VideoTile({ sessionInfo, label, forceMute = false, telemetryFrame, batteryConfig }) { const videoRef = useRef(null); const restartTimer = useRef(null); const unmuteTimer = useRef(null); @@ -12,6 +12,13 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) { const [detail, setDetail] = useState(null); const [restartToken, setRestartToken] = useState(0); const [muted, setMuted] = useState(true); + const sensors = telemetryFrame?.sensors; + const batteryCharge = sensors?.batteryChargeMah ?? null; + const batteryCapacity = sensors?.batteryCapacityMah ?? null; + const wheelOvercurrents = sensors?.wheelOvercurrents || null; + const overcurrentActive = Boolean( + wheelOvercurrents && Object.values(wheelOvercurrents).some((value) => Boolean(value)), + ); const scheduleRestart = useCallback(() => { clearTimeout(restartTimer.current); @@ -22,19 +29,31 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) { (delay = 0) => { if (forceMute) return; clearTimeout(unmuteTimer.current); - unmuteTimer.current = setTimeout(async () => { + + const scheduleRetry = () => { + clearTimeout(unmuteTimer.current); + unmuteTimer.current = setTimeout(() => { + if (!forceMute) { + tryPlay(); + } + }, UNMUTE_RETRY_MS); + }; + + const tryPlay = async () => { const video = videoRef.current; if (!video) return; try { video.muted = false; await video.play(); setMuted(false); - } catch (err) { + } catch { video.muted = true; setMuted(true); - attemptUnmute(UNMUTE_RETRY_MS); + scheduleRetry(); } - }, delay); + }; + + unmuteTimer.current = setTimeout(tryPlay, delay); }, [forceMute], ); @@ -55,13 +74,11 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) { useEffect(() => { if (!sessionInfo?.url || !videoRef.current) { - setStatus('waiting'); - setDetail(null); return undefined; } let active = true; let player; - setMuted(true); + const resetMuteId = setTimeout(() => setMuted(true), 0); const handleStatus = (nextStatus, info) => { if (!active) return; setStatus(nextStatus); @@ -87,6 +104,7 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) { return () => { active = false; + clearTimeout(resetMuteId); player?.stop(); }; }, [sessionInfo?.url, sessionInfo?.token, restartToken, scheduleRestart]); @@ -97,16 +115,17 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) { } }, [status, sessionInfo?.url, scheduleRestart]); - const renderedStatus = - status === 'error' - ? `Error: ${detail || 'unknown'}` - : detail - ? `${status} (${detail})` - : status; + const renderedStatus = !sessionInfo?.url + ? 'waiting' + : status === 'error' + ? `Error: ${detail || 'unknown'}` + : detail + ? `${status} (${detail})` + : status; return ( -
-
+
+
-
- {label}{' '} - {renderedStatus} + +
+ {label} · {renderedStatus} +
+
+ ); +} + +function BatteryBar({ charge, capacity, config }) { + if (charge == null || !config?.full || config.warn == null) { + return null; + } + const span = config.full - config.warn; + if (span <= 0) return null; + const normalized = (charge - config.warn) / span; + const percent = Math.min(1, Math.max(0, normalized)); + const percentDisplay = Math.round(percent * 100); + const depleted = normalized <= 0; + const urgent = config.urgent != null && charge <= config.urgent; + const barClass = depleted + ? 'bg-red-500 animate-pulse' + : urgent + ? 'bg-amber-400' + : 'bg-emerald-500'; + const capText = capacity ? `${charge}/${capacity}` : `${charge}`; + return ( +
+
+ Battery + {capText} mAh +
+
+
+
+
+ ); +} + +function HudOverlay({ frame }) { + const sensors = frame?.sensors; + const bumps = sensors?.bumpsAndWheelDrops || {}; + const [now, setNow] = useState(() => Date.now()); + + useEffect(() => { + const interval = setInterval(() => setNow(Date.now()), 150); + return () => clearInterval(interval); + }, []); + + const pulse = frame?.receivedAt ? now - frame.receivedAt < 200 : false; + + const bumperBadges = [ + { label: 'B-L', active: bumps.bumpLeft }, + { label: 'B-R', active: bumps.bumpRight }, + ]; + const wheelBadges = [ + { label: 'DROP L', active: bumps.wheelDropLeft }, + { label: 'DROP R', active: bumps.wheelDropRight }, + ]; + + return ( +
+
+
+ + SENSORS +
+
+ {bumperBadges.map((badge) => ( + + ))} +
+
+
+ {wheelBadges.map((badge) => ( + + ))} +
+
+ ); +} + +function HudBadge({ label, active }) { + return ( + + {label} + + ); +} + +function OvercurrentOverlay({ active }) { + if (!active) return null; + return ( +
+
+ Overcurrent
); diff --git a/webui/src/context/DriveControlContext.jsx b/webui/src/context/DriveControlContext.jsx new file mode 100644 index 00000000..121d63ba --- /dev/null +++ b/webui/src/context/DriveControlContext.jsx @@ -0,0 +1,19 @@ +import { createContext, useContext } from 'react'; +import { useDriveControls as useDriveControlsHook } from '../hooks/useDriveControls.js'; + +/* eslint-disable react-refresh/only-export-components */ + +const DriveControlContext = createContext(null); + +export function DriveControlProvider({ children }) { + const controls = useDriveControlsHook(); + return {children}; +} + +export function useDriveControl() { + const context = useContext(DriveControlContext); + if (!context) { + throw new Error('useDriveControl must be used within DriveControlProvider'); + } + return context; +} diff --git a/webui/src/context/SessionContext.jsx b/webui/src/context/SessionContext.jsx index 6dec238f..8027f6eb 100644 --- a/webui/src/context/SessionContext.jsx +++ b/webui/src/context/SessionContext.jsx @@ -1,3 +1,5 @@ +/* eslint-disable react-refresh/only-export-components */ + import { createContext, useCallback, useContext, useEffect, useMemo, useState } from 'react'; import { useSocket } from './SocketContext.jsx'; @@ -61,7 +63,13 @@ export function SessionProvider({ children }) { socket.on('log:init', handleLogInit); socket.on('log:entry', handleLogEntry); socket.on('alert:new', (payload = {}) => { - setAlerts((prev) => [...prev.slice(-49), payload]); + setAlerts((prev) => [ + ...prev.slice(-49), + { + ...payload, + receivedAt: Date.now(), + }, + ]); }); return () => { socket.off('session:sync', handleSession); diff --git a/webui/src/context/SocketContext.jsx b/webui/src/context/SocketContext.jsx index c464e304..fd96a846 100644 --- a/webui/src/context/SocketContext.jsx +++ b/webui/src/context/SocketContext.jsx @@ -1,3 +1,5 @@ +/* eslint-disable react-refresh/only-export-components */ + // src/context/SocketContext.jsx import { createContext, useContext } from "react"; import { socket } from "../lib/socket"; diff --git a/webui/src/context/TelemetryContext.jsx b/webui/src/context/TelemetryContext.jsx index 03d97a45..0a37f312 100644 --- a/webui/src/context/TelemetryContext.jsx +++ b/webui/src/context/TelemetryContext.jsx @@ -1,3 +1,5 @@ +/* eslint-disable react-refresh/only-export-components */ + import { createContext, useContext, useMemo, useState, useEffect } from 'react'; import { useSocket } from './SocketContext.jsx'; diff --git a/webui/src/hooks/useDriveControls.js b/webui/src/hooks/useDriveControls.js index ea43164c..79a578ef 100644 --- a/webui/src/hooks/useDriveControls.js +++ b/webui/src/hooks/useDriveControls.js @@ -1,3 +1,5 @@ +/* global Buffer */ + import { useCallback, useEffect, useRef, useState } from 'react'; import { useSocket } from '../context/SocketContext.jsx'; import { useSession } from '../context/SessionContext.jsx'; @@ -10,6 +12,16 @@ const OI_COMMANDS = { dock: [143], }; +const AUX_LIMITS = { + main: [-127, 127], + side: [-127, 127], + vacuum: [0, 127], +}; + +const COMMAND_DELAY_MS = 200; + +const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms)); + function clamp(value, min, max) { return Math.max(min, Math.min(max, value)); } @@ -51,6 +63,11 @@ function computeSpeeds(keys) { }; } +function clampUnit(value) { + if (typeof value !== 'number' || Number.isNaN(value)) return 0; + return Math.max(-1, Math.min(1, value)); +} + function shouldIgnoreEvent(event) { const target = event.target; if (!target) return false; @@ -66,7 +83,10 @@ function shouldIgnoreEvent(event) { function bytesToBase64(bytes) { const binary = String.fromCharCode(...bytes); if (typeof btoa === 'function') return btoa(binary); - return Buffer.from(bytes).toString('base64'); + if (typeof Buffer !== 'undefined') { + return Buffer.from(bytes).toString('base64'); + } + throw new Error('No base64 encoder available'); } export function useDriveControls() { @@ -75,7 +95,7 @@ export function useDriveControls() { const roverId = session?.assignment?.roverId; const keysRef = useRef(new Set()); const lastSpeedsRef = useRef({ left: 0, right: 0 }); - const [currentSpeeds, setCurrentSpeeds] = useState(lastSpeedsRef.current); + const [currentSpeeds, setCurrentSpeeds] = useState(() => ({ left: 0, right: 0 })); const emitCommand = useCallback( (payload, cb) => { @@ -106,16 +126,49 @@ export function useDriveControls() { }); }, [emitCommand, roverId]); + const driveWithVector = useCallback( + ({ x = 0, y = 0, boost = false } = {}) => { + if (!roverId) return; + const base = boost ? 400 : 250; + const forward = clampUnit(y) * base; + const turn = clampUnit(x) * base; + const speeds = { + left: clamp(Math.round(forward + turn), -500, 500), + right: clamp(Math.round(forward - turn), -500, 500), + }; + lastSpeedsRef.current = speeds; + setCurrentSpeeds(speeds); + emitCommand({ + type: 'drive', + data: { driveDirect: speeds }, + }); + }, + [emitCommand, roverId], + ); + + const sendMotorPwm = useCallback( + ({ main = 0, side = 0, vacuum = 0 } = {}) => { + if (!roverId) return; + const payload = { + main: clamp(main, AUX_LIMITS.main[0], AUX_LIMITS.main[1]), + side: clamp(side, AUX_LIMITS.side[0], AUX_LIMITS.side[1]), + vacuum: clamp(vacuum, AUX_LIMITS.vacuum[0], AUX_LIMITS.vacuum[1]), + }; + emitCommand({ + type: 'motors', + data: { motorPwm: payload }, + }); + }, + [emitCommand, roverId], + ); + const stopMotors = useCallback(() => { if (!roverId) return; keysRef.current.clear(); lastSpeedsRef.current = { left: 0, right: 0 }; setCurrentSpeeds(lastSpeedsRef.current); - emitCommand({ - type: 'motors', - data: { motorPwm: { main: 0, side: 0, vacuum: 0 } }, - }); - }, [emitCommand, roverId]); + sendMotorPwm({ main: 0, side: 0, vacuum: 0 }); + }, [roverId, sendMotorPwm]); const sendOiCommand = useCallback( (key) => { @@ -131,6 +184,27 @@ export function useDriveControls() { [emitCommand, enableSensorStream, roverId], ); + const runStartDockFull = useCallback(async () => { + if (!roverId) return; + for (const key of ['start', 'dock', 'full']) { + sendOiCommand(key); + // brief pause so the commands aren't collapsed by the rover + await sleep(COMMAND_DELAY_MS); + } + }, [roverId, sendOiCommand]); + + const seekDock = useCallback(() => { + sendOiCommand('dock'); + }, [sendOiCommand]); + + const setAuxMotors = useCallback( + (values) => { + if (!roverId) return; + sendMotorPwm(values); + }, + [roverId, sendMotorPwm], + ); + useEffect(() => { if (!roverId) { keysRef.current.clear(); @@ -171,5 +245,9 @@ export function useDriveControls() { speeds: currentSpeeds, stopMotors, sendOiCommand, + runStartDockFull, + seekDock, + setAuxMotors, + driveWithVector, }; } diff --git a/webui/src/hooks/useVideoRequests.js b/webui/src/hooks/useVideoRequests.js index 474f080e..34a31c9b 100644 --- a/webui/src/hooks/useVideoRequests.js +++ b/webui/src/hooks/useVideoRequests.js @@ -1,24 +1,17 @@ -import { useEffect, useState } from 'react'; +import { useEffect, useMemo, useState } from 'react'; import { useSocket } from '../context/SocketContext.jsx'; export function useVideoRequests(roverIds = []) { const socket = useSocket(); const [sources, setSources] = useState({}); + const ids = useMemo(() => Array.from(new Set(roverIds.filter(Boolean))), [roverIds]); + const idsKey = ids.join('|'); useEffect(() => { - const ids = Array.from(new Set(roverIds.filter(Boolean))); if (!ids.length) { - setSources({}); - return; + return undefined; } let cancelled = false; - setSources((prev) => { - const next = {}; - ids.forEach((id) => { - if (prev[id]) next[id] = prev[id]; - }); - return next; - }); ids.forEach((roverId) => { socket.emit('video:request', { roverId }, (resp = {}) => { if (cancelled) return; @@ -32,7 +25,17 @@ export function useVideoRequests(roverIds = []) { return () => { cancelled = true; }; - }, [socket, roverIds.join('|')]); + }, [socket, idsKey, ids]); + const filtered = useMemo(() => { + if (!ids.length) return {}; + const next = {}; + ids.forEach((id) => { + if (sources[id]) { + next[id] = sources[id]; + } + }); + return next; + }, [ids, sources]); - return sources; + return filtered; } diff --git a/webui/src/lib/whepPlayer.js b/webui/src/lib/whepPlayer.js index 110cab98..69121798 100644 --- a/webui/src/lib/whepPlayer.js +++ b/webui/src/lib/whepPlayer.js @@ -1,3 +1,5 @@ +/* global Buffer */ + const RTC_CONFIG = { iceServers: [ { urls: 'stun:stun.l.google.com:19302' }, @@ -8,11 +10,20 @@ const RTC_CONFIG = { }; +function encodeBase64(value) { + if (typeof btoa === 'function') { + return btoa(value); + } + if (typeof Buffer !== 'undefined') { + return Buffer.from(value).toString('base64'); + } + throw new Error('No base64 encoder available'); +} + function buildAuthHeader(token) { if (!token) return {}; const credential = `${token}:${token}`; - const encoded = - typeof btoa === 'function' ? btoa(credential) : Buffer.from(credential).toString('base64'); + const encoded = encodeBase64(credential); return { Authorization: `Basic ${encoded}` }; } @@ -54,9 +65,9 @@ export class WhepPlayer { this.pc = pc; const stream = new MediaStream(); pc.ontrack = (event) => { - event.streams[0]?.getTracks().forEach((track) => stream.addTrack(track)); + event.streams[0]?.getTracks().forEach((mediaTrack) => stream.addTrack(mediaTrack)); this.video.srcObject = stream; - if (track.kind === 'video' && 'playoutDelayHint' in event.receiver) { + if (event.track?.kind === 'video' && 'playoutDelayHint' in event.receiver) { event.receiver.playoutDelayHint = 0; } };