layoit

2026-09-16 01:21:20 -04:00 · 2025-11-15 21:30:18 -05:00
parent 6b52c84b86
commit 392e2f661b
21 changed files with 782 additions and 203 deletions
@@ -1,29 +1,71 @@
-import { useMemo, useState } from 'react';
+import { useEffect, useMemo, useState } from 'react';
 import { useSession } from './context/SessionContext.jsx';
+import { useTelemetryFrame } from './context/TelemetryContext.jsx';
 import TelemetryPanel from './components/TelemetryPanel.jsx';
 import VideoTile from './components/VideoTile.jsx';
 import DrivePanel from './components/DrivePanel.jsx';
 import AlertFeed from './components/AlertFeed.jsx';
 import AdminPanel from './components/AdminPanel.jsx';
+import MobileControls, { MobileJoystick, AuxMotorControls } from './components/MobileControls.jsx';
+import { DriveControlProvider } from './context/DriveControlContext.jsx';
 import { useVideoRequests } from './hooks/useVideoRequests.js';

 function StatusBadge({ connected, role, mode }) {
  const color = connected ? 'bg-emerald-500/20 text-emerald-300' : 'bg-red-500/20 text-red-200';
  return (
-    <div className="flex flex-wrap items-center gap-3 text-sm">
-      <span className={`rounded-full px-3 py-1 font-medium ${color}`}>
+    <div className="flex flex-wrap items-center gap-1 text-[0.65rem] uppercase tracking-[0.2em]">
+      <span className={`rounded-full px-2 py-0.5 font-medium ${color}`}>
        {connected ? 'Connected' : 'Disconnected'}
      </span>
-      <span className="rounded-full bg-slate-800/80 px-3 py-1 text-slate-200">
-        Role: {role || 'unknown'}
+      <span className="rounded-full bg-slate-800/80 px-2 py-0.5 text-slate-200">
+        Role {role || 'unknown'}
      </span>
-      <span className="rounded-full bg-slate-800/80 px-3 py-1 text-slate-200">
-        Mode: {mode || '--'}
+      <span className="rounded-full bg-slate-800/80 px-2 py-0.5 text-slate-200">
+        Mode {mode || '--'}
      </span>
    </div>
  );
 }

+function RoomCameraPanel() {
+  return (
+    <div className="min-h-[8rem] rounded-lg border border-slate-800 bg-slate-900/70 p-2 text-[0.75rem] text-slate-400">
+      <p className="text-center text-xs uppercase tracking-[0.3em] text-slate-500">Room camera</p>
+      <p className="mt-2 text-center text-sm text-slate-300">Feed placeholder. Wire upcoming room cam here.</p>
+    </div>
+  );
+}
+
+function useLayoutMode() {
+  const [mode, setMode] = useState(() => {
+    if (typeof window === 'undefined') return 'desktop';
+    return window.innerWidth >= 1024
+      ? 'desktop'
+      : window.innerWidth > window.innerHeight
+      ? 'mobile-landscape'
+      : 'mobile-portrait';
+  });
+
+  useEffect(() => {
+    function updateMode() {
+      if (typeof window === 'undefined') return;
+      const { innerWidth, innerHeight } = window;
+      if (innerWidth >= 1024) {
+        setMode('desktop');
+      } else if (innerWidth > innerHeight) {
+        setMode('mobile-landscape');
+      } else {
+        setMode('mobile-portrait');
+      }
+    }
+    updateMode();
+    window.addEventListener('resize', updateMode);
+    return () => window.removeEventListener('resize', updateMode);
+  }, []);
+
+  return mode;
+}
+
 function LogPanel() {
  const { logs } = useSession();
  return (
@@ -167,6 +209,12 @@ function DriverVideoPanel() {
  const roverId = session?.assignment?.roverId;
  const sources = useVideoRequests(roverId ? [roverId] : []);
  const info = roverId ? sources[roverId] : null;
+  const frame = useTelemetryFrame(roverId);
+  const batteryConfig = useMemo(() => {
+    if (!roverId) return null;
+    const record = session?.roster?.find((item) => item.id === roverId);
+    return record?.battery ?? null;
+  }, [session?.roster, roverId]);

  return (
    <section className="rounded-2xl border border-slate-800 bg-slate-900/60 p-4">
@@ -179,7 +227,13 @@ function DriverVideoPanel() {
        </div>
      </header>
      {roverId ? (
-        <VideoTile sessionInfo={info} label={roverId} muted={false} />
+        <VideoTile
+          sessionInfo={info}
+          label={roverId}
+          muted={false}
+          telemetryFrame={frame}
+          batteryConfig={batteryConfig}
+        />
      ) : (
        <p className="text-sm text-slate-400">Assignment required to initialize video.</p>
      )}
@@ -252,28 +306,95 @@ function AuthPanel() {
  );
 }

-function App() {
-  const { connected, session } = useSession();
-
+function DesktopLayout() {
  return (
-    <div className="min-h-screen bg-slate-950 text-slate-50">
-      <main className="mx-auto flex max-w-6xl flex-col gap-6 px-6 py-10">
-        <header className="space-y-4">
-          <h1 className="text-4xl font-semibold text-white">Multi Roomba Rover Console</h1>
-          <StatusBadge connected={connected} role={session?.role} mode={session?.mode} />
-        </header>
+    <div className="flex flex-col gap-2">
+      <section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1.4fr)_minmax(0,1fr)] gap-2">
+        <TelemetryPanel />
        <DriverVideoPanel />
-        <section className="grid gap-6 lg:grid-cols-2">
+        <DrivePanel />
+      </section>
+      <section className="grid grid-cols-[minmax(0,1.2fr)_minmax(0,1fr)_minmax(0,1fr)] gap-2">
+        <div className="flex flex-col gap-2">
+          <AuthPanel />
+          <AdminPanel />
+          <RosterPanel />
+        </div>
+        <RoomCameraPanel />
+        <div className="flex flex-col gap-2">
+          <AssignmentCard />
+          <LogPanel />
+          <SessionInspector />
+        </div>
+      </section>
+    </div>
+  );
+}
+
+function MobilePortraitLayout() {
+  return (
+    <div className="flex flex-col gap-2">
+      <DriverVideoPanel />
+      <MobileControls />
+      <DrivePanel />
+      <TelemetryPanel />
+      <RosterPanel />
+      <AssignmentCard />
+      <AuthPanel />
+      <AdminPanel />
+      <RoomCameraPanel />
+      <LogPanel />
+      <SessionInspector />
+    </div>
+  );
+}
+
+function MobileLandscapeLayout() {
+  return (
+    <div className="flex flex-col gap-2">
+      <section className="grid grid-cols-[minmax(0,0.9fr)_minmax(0,1.2fr)_minmax(0,0.9fr)] gap-2">
+        <div className="flex flex-col gap-2">
+          <DrivePanel />
+          <AuxMotorControls />
+        </div>
+        <DriverVideoPanel />
+        <div className="flex flex-col gap-2">
+          <MobileJoystick />
+          <TelemetryPanel />
+        </div>
+      </section>
+      <section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-2">
+        <div className="flex flex-col gap-2">
          <RosterPanel />
          <AssignmentCard />
-          <DrivePanel />
-          <TelemetryPanel />
          <AuthPanel />
-          <SessionInspector />
          <AdminPanel />
+        </div>
+        <div className="flex flex-col gap-2">
+          <RoomCameraPanel />
+          <LogPanel />
+          <SessionInspector />
+        </div>
+      </section>
+    </div>
+  );
+}
+
+function App() {
+  const { connected, session } = useSession();
+  const layout = useLayoutMode();
+  const renderedLayout = layout === 'desktop' ? <DesktopLayout /> : layout === 'mobile-landscape' ? <MobileLandscapeLayout /> : <MobilePortraitLayout />;
+
+  return (
+    <div className="min-h-screen bg-black text-slate-50">
+      <main className="mx-auto flex w-full max-w-screen-2xl flex-col gap-2 px-1 py-1">
+        <DriveControlProvider>
+          <div className="flex justify-end">
+            <StatusBadge connected={connected} role={session?.role} mode={session?.mode} />
+          </div>
+          {renderedLayout}
          <AlertFeed />
-        </section>
-        <LogPanel />
+        </DriveControlProvider>
      </main>
    </div>
  );
@@ -10,7 +10,7 @@ const MODES = [

 export default function AdminPanel() {
  const { session, lockRover, setMode, requestControl } = useSession();
-  const roster = session?.roster ?? [];
+  const roster = useMemo(() => session?.roster ?? [], [session?.roster]);
  const [lockStates, setLockStates] = useState({});

  const isAdmin =
@@ -1,30 +1,54 @@
-import { useMemo } from 'react';
+import { useEffect, useMemo, useState } from 'react';
 import { useSession } from '../context/SessionContext.jsx';

-function AlertCard({ alert }) {
-  const color =
-    alert.color === 'error'
-      ? 'bg-red-500/10 border-red-500/40 text-red-100'
-      : alert.color === 'warn'
-      ? 'bg-amber-500/10 border-amber-500/40 text-amber-100'
-      : 'bg-emerald-500/10 border-emerald-500/30 text-emerald-100';
+const LIFETIME_MS = 5000;

-  return (
-    <div className={`rounded-2xl border px-4 py-3 text-sm ${color}`}>
-      <p className="text-xs uppercase tracking-[0.3em] opacity-60">{alert.title || 'Alert'}</p>
-      <p className="mt-1 text-base font-semibold">{alert.message}</p>
-    </div>
-  );
+function buildKey(alert) {
+  if (alert.id) return alert.id;
+  if (alert.timestamp) return `${alert.timestamp}-${alert.message}`;
+  return `${alert.title || 'alert'}-${alert.message}`;
 }

 export default function AlertFeed() {
  const { alerts } = useSession();
-  const recent = useMemo(() => alerts.slice(-5).reverse(), [alerts]);
-  if (recent.length === 0) return null;
+  const [now, setNow] = useState(() => Date.now());
+  const latest = useMemo(() => alerts.slice(-5).map((alert) => ({ alert, key: buildKey(alert) })), [alerts]);
+
+  useEffect(() => {
+    if (!latest.length) return undefined;
+    const interval = setInterval(() => setNow(Date.now()), 200);
+    return () => clearInterval(interval);
+  }, [latest.length]);
+
+  const visible = latest
+    .map((item) => ({
+      ...item,
+      age: now - (item.alert.receivedAt ?? item.alert.timestamp ?? 0),
+    }))
+    .filter((item) => item.age <= LIFETIME_MS);
+
+  if (!visible.length) return null;
+
  return (
-    <section className="rounded-2xl border border-slate-800 bg-slate-900/60 p-4">
-      <h2 className="text-lg font-semibold text-white">Recent Alerts</h2>
-      <div className="mt-4 space-y-3">{recent.map((alert) => <AlertCard key={alert.id || alert.message} alert={alert} />)}</div>
-    </section>
+    <div className="pointer-events-none fixed top-2 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-2">
+      {visible.map((toast) => (
+        <AlertToast key={toast.key} alert={toast.alert} />
+      ))}
+    </div>
+  );
+}
+
+function AlertToast({ alert }) {
+  const colorClasses =
+    alert.color === 'error'
+      ? 'border-red-500/50 bg-red-500/20 text-red-100'
+      : alert.color === 'warn'
+      ? 'border-amber-500/50 bg-amber-500/20 text-amber-100'
+      : 'border-emerald-500/40 bg-emerald-500/10 text-emerald-100';
+  return (
+    <div className={`pointer-events-auto rounded-md border px-3 py-2 text-[0.75rem] shadow-lg shadow-black/60 ${colorClasses}`}>
+      <p className="text-[0.6rem] uppercase tracking-[0.4em] opacity-70">{alert.title || 'Alert'}</p>
+      <p className="text-sm font-semibold">{alert.message}</p>
+    </div>
  );
 }
@@ -1,79 +1,120 @@
-import { useDriveControls } from '../hooks/useDriveControls.js';
+import { useDriveControl } from '../context/DriveControlContext.jsx';
+import { useTelemetryFrame } from '../context/TelemetryContext.jsx';

-const oiButtons = [
-  { key: 'start', label: 'Start OI' },
+const manualOiButtons = [
  { key: 'safe', label: 'Safe' },
-  { key: 'full', label: 'Full' },
  { key: 'passive', label: 'Passive' },
-  { key: 'dock', label: 'Dock' },
+  { key: 'full', label: 'Full' },
 ];

-function SpeedMeter({ left, right }) {
+export default function DrivePanel() {
+  const { roverId, speeds, stopMotors, sendOiCommand, runStartDockFull, seekDock } = useDriveControl();
+  const frame = useTelemetryFrame(roverId);
+  const sensors = frame?.sensors || {};
+  const drivingMode = (sensors.oiMode?.label || '').toLowerCase() === 'full';
+  const docked = Boolean(sensors.chargingSources?.homeBase);
+  const charging = Boolean(
+    sensors.chargingState?.label && sensors.chargingState.label.toLowerCase() !== 'not charging',
+  );
+  const updated = frame?.receivedAt ? new Date(frame.receivedAt).toLocaleTimeString() : null;
+
  return (
-    <div className="grid grid-cols-2 gap-4 rounded-2xl border border-slate-800/60 bg-slate-950/40 p-4 text-sm">
+    <section className="rounded-lg border border-slate-900 bg-slate-950/70 p-2 text-[0.8rem] text-slate-100">
+      <div className="flex items-center justify-between text-[0.65rem] uppercase tracking-[0.3em] text-slate-500">
+        <span>Drive Control</span>
+        <span>{roverId ? `Rover ${roverId}` : 'unassigned'}</span>
+      </div>
+      <div className="mt-2 space-y-2">
+        <div>
+          <button
+            type="button"
+            onClick={runStartDockFull}
+            disabled={!roverId}
+            className="w-full rounded border border-emerald-500/40 bg-emerald-500/10 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.3em] text-emerald-200 disabled:opacity-40"
+          >
+            Enable Driving Mode
+          </button>
+          <p className="mt-1 text-[0.65rem] text-slate-400">Runs Start → Dock → Full commands to ready the rover.</p>
+          <div className="mt-1 flex flex-wrap items-center gap-1 text-[0.6rem]">
+            <StatusPill label="Driving mode" active={drivingMode} />
+            {updated && <span className="text-slate-500">Updated {updated}</span>}
+          </div>
+        </div>
+        <div>
+          <button
+            type="button"
+            onClick={seekDock}
+            disabled={!roverId}
+            className="w-full rounded border border-cyan-500/40 bg-cyan-500/10 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.3em] text-cyan-200 disabled:opacity-40"
+          >
+            Seek Dock
+          </button>
+          <p className="mt-1 text-[0.65rem] text-slate-400">
+            Point the rover straight at the dock, about one foot away, before triggering.
+          </p>
+          <div className="mt-1 flex flex-wrap gap-1">
+            <StatusPill label={docked ? 'Docked' : 'Not docked'} active={docked} />
+            <StatusPill label={charging ? 'Charging' : 'Not charging'} active={charging} />
+          </div>
+        </div>
+        <SpeedRow left={speeds.left} right={speeds.right} />
+        <div>
+          <p className="text-[0.6rem] uppercase tracking-[0.3em] text-slate-500">Manual OI</p>
+          <div className="mt-1 flex flex-wrap gap-1">
+            {manualOiButtons.map((btn) => (
+              <button
+                key={btn.key}
+                type="button"
+                onClick={() => sendOiCommand(btn.key)}
+                disabled={!roverId}
+                className="rounded border border-slate-800 px-2 py-0.5 text-[0.65rem] uppercase tracking-[0.2em] text-slate-200 disabled:opacity-30"
+              >
+                {btn.label}
+              </button>
+            ))}
+          </div>
+        </div>
+        <div className="flex flex-wrap gap-1">
+          <button
+            type="button"
+            onClick={stopMotors}
+            disabled={!roverId}
+            className="flex-1 rounded border border-red-500/50 bg-red-500/10 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.3em] text-red-200 disabled:opacity-40"
+          >
+            Stop Motors
+          </button>
+        </div>
+      </div>
+      <p className="mt-2 text-[0.6rem] text-slate-500">Sensor streaming auto-starts after each OI change.</p>
+    </section>
+  );
+}
+
+function SpeedRow({ left, right }) {
+  return (
+    <div className="grid grid-cols-2 gap-1 rounded border border-slate-900 bg-black/50 p-1 text-[0.7rem]">
      <div>
-        <p className="text-xs uppercase tracking-[0.3em] text-slate-500">Left</p>
-        <p className="text-2xl font-semibold text-white">{left}</p>
+        <p className="text-[0.55rem] uppercase tracking-[0.3em] text-slate-500">Left</p>
+        <p className="font-semibold text-slate-100">{left}</p>
      </div>
      <div>
-        <p className="text-xs uppercase tracking-[0.3em] text-slate-500">Right</p>
-        <p className="text-2xl font-semibold text-white">{right}</p>
+        <p className="text-[0.55rem] uppercase tracking-[0.3em] text-slate-500">Right</p>
+        <p className="font-semibold text-slate-100">{right}</p>
      </div>
    </div>
  );
 }

-export default function DrivePanel() {
-  const { roverId, speeds, stopMotors, sendOiCommand } = useDriveControls();
-
+function StatusPill({ label, active }) {
  return (
-    <section className="rounded-2xl border border-slate-800 bg-slate-900/60 p-4">
-      <header className="mb-4 flex flex-wrap items-center justify-between gap-3">
-        <div>
-          <p className="text-xs uppercase tracking-[0.3em] text-slate-500">Drive Controls</p>
-          <h2 className="text-2xl font-semibold text-white">
-            {roverId ? `Driving rover ${roverId}` : 'No rover assigned'}
-          </h2>
-        </div>
-        <div className="flex flex-wrap items-center gap-2 text-xs text-slate-400">
-          <span>W/A/S/D: move</span>
-          <span>Shift: boost</span>
-        </div>
-      </header>
-
-      <SpeedMeter left={speeds.left} right={speeds.right} />
-
-      <div className="mt-4 flex flex-wrap gap-3">
-        <button
-          type="button"
-          onClick={stopMotors}
-          className="rounded-lg bg-red-600 px-4 py-2 text-sm font-semibold text-white disabled:opacity-50"
-          disabled={!roverId}
-        >
-          Stop Motors
-        </button>
-      </div>
-
-      <div className="mt-6 space-y-2">
-        <p className="text-xs uppercase tracking-[0.3em] text-slate-500">OI Modes</p>
-        <div className="flex flex-wrap gap-2">
-          {oiButtons.map((btn) => (
-            <button
-              key={btn.key}
-              type="button"
-              onClick={() => sendOiCommand(btn.key)}
-              disabled={!roverId}
-              className="rounded-lg border border-slate-700 px-3 py-1 text-sm font-semibold text-slate-200 disabled:opacity-50"
-            >
-              {btn.label}
-            </button>
-          ))}
-        </div>
-      </div>
-
-      <p className="mt-4 text-xs text-slate-500">
-        Sensor streaming starts automatically after each OI change. Keep this tab focused while driving.
-      </p>
-    </section>
+    <span
+      className={`rounded-full border px-2 py-0.5 text-[0.55rem] uppercase tracking-[0.3em] ${
+        active
+          ? 'border-emerald-400 bg-emerald-500/10 text-emerald-200'
+          : 'border-slate-700 bg-slate-900 text-slate-500'
+      }`}
+    >
+      {label}
+    </span>
  );
 }
@@ -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 (
+    <section className="rounded-lg border border-slate-900 bg-slate-950/70 p-2 text-[0.8rem] text-slate-100">
+      <div className="text-[0.65rem] uppercase tracking-[0.3em] text-slate-500">Joystick</div>
+      <div className="mt-2 flex items-center justify-center">
+        <Joystick
+          size={120}
+          baseColor="#0f172a"
+          stickColor="#38bdf8"
+          throttle={75}
+          move={handleMove}
+          stop={handleStop}
+          disabled={disabled}
+        />
+      </div>
+      <p className="mt-2 text-[0.65rem] text-slate-400">
+        Drag to drive. Release to stop sending drive commands.
+      </p>
+      <button
+        type="button"
+        onClick={stopMotors}
+        disabled={disabled}
+        className="mt-2 w-full rounded border border-slate-800 bg-black/40 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.2em] text-slate-200 disabled:opacity-40"
+      >
+        Panic Stop
+      </button>
+    </section>
+  );
+}
+
+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 (
+    <section className="rounded-lg border border-slate-900 bg-slate-950/70 p-2 text-[0.8rem] text-slate-100">
+      <div className="text-[0.65rem] uppercase tracking-[0.3em] text-slate-500">Aux Motors</div>
+      <div className="mt-2 flex flex-wrap gap-1">
+        <button
+          type="button"
+          onClick={runAllForward}
+          disabled={disabled}
+          className="flex-1 rounded border border-emerald-500/40 bg-emerald-500/10 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.2em] text-emerald-200 disabled:opacity-40"
+        >
+          All forward
+        </button>
+        <button
+          type="button"
+          onClick={stopAll}
+          disabled={disabled}
+          className="flex-1 rounded border border-slate-800 bg-black/40 py-1 text-[0.7rem] font-semibold uppercase tracking-[0.2em] text-slate-200 disabled:opacity-40"
+        >
+          Stop all
+        </button>
+      </div>
+      <div className="mt-2 grid grid-cols-2 gap-1 text-[0.7rem]">
+        {auxButtons.map((btn) => (
+          <button
+            key={btn.label}
+            type="button"
+            onClick={() => !disabled && setAuxMotors(btn.values)}
+            disabled={disabled}
+            className="rounded border border-slate-800 bg-black/30 py-1 uppercase tracking-[0.2em] text-slate-200 disabled:opacity-30"
+          >
+            {btn.label}
+          </button>
+        ))}
+      </div>
+    </section>
+  );
+}
+
+export default function MobileControlsStack() {
+  return (
+    <div className="flex flex-col gap-2">
+      <MobileJoystick />
+      <AuxMotorControls />
+    </div>
+  );
+}
+
+export { MobileJoystick, AuxMotorControls };
@@ -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 (
-    <section className="rounded-2xl border border-slate-800 bg-slate-900/60 p-4">
-      <header className="flex flex-wrap items-center justify-between gap-3">
-        <div>
-          <p className="text-xs uppercase tracking-[0.3em] text-slate-500">Telemetry</p>
-          <h2 className="text-2xl font-semibold text-white">
-            {roverId ? `Rover ${roverId}` : 'No rover assigned'}
-          </h2>
-        </div>
-        <p className="text-sm text-slate-400">
-          {frame?.receivedAt ? `Updated ${new Date(frame.receivedAt).toLocaleTimeString()}` : 'Waiting…'}
-        </p>
-      </header>
-      {entries.length === 0 ? (
-        <p className="mt-4 text-sm text-slate-400">
-          {roverId ? 'No sensor frames yet.' : 'Assignment required to view sensors.'}
-        </p>
+    <section className="rounded-lg border border-slate-900 bg-slate-950/70 p-2 text-[0.8rem] text-slate-200">
+      <div className="flex items-center justify-between text-[0.65rem] uppercase tracking-[0.3em] text-slate-500">
+        <span>Telemetry</span>
+        <span>{updated ? `Updated ${updated}` : 'waiting'}</span>
+      </div>
+      {!roverId ? (
+        <p className="mt-2 text-[0.75rem] text-slate-400">Assignment required to view sensors.</p>
+      ) : !frame ? (
+        <p className="mt-2 text-[0.75rem] text-slate-400">No sensor frames yet.</p>
      ) : (
-        <dl className="mt-4 grid gap-3 text-sm text-slate-100">
-          {entries.map(({ key, value }) => (
-            <div key={key} className="flex justify-between gap-6">
-              <dt className="text-slate-500">{key}</dt>
-              <dd className="text-right font-semibold text-white">{value}</dd>
-            </div>
-          ))}
-        </dl>
-      )}
-      {frame?.raw && (
-        <div className="mt-6">
-          <p className="text-xs uppercase tracking-[0.3em] text-slate-500">Raw frame</p>
-          <pre className="mt-2 max-h-32 overflow-y-auto rounded-xl bg-slate-950/60 p-3 text-xs text-lime-300">
-            {frame.raw}
-          </pre>
+        <div className="mt-2 space-y-2">
+          <Metric label="Charge" value={formatMetric(charge != null && capacity != null ? `${charge}/${capacity} mAh` : null)} />
+          <Metric label="Charging" value={formatMetric(sensors.chargingState?.label)} />
+          <Metric label="OI Mode" value={formatMetric(sensors.oiMode?.label)} />
+          <Metric label="Voltage" value={formatMetric(voltage ? `${voltage} V` : null)} />
+          <Metric label="Current" value={formatMetric(current ? `${current} A` : null)} />
        </div>
      )}
+      {rawSnippet && (
+        <pre className="mt-2 overflow-hidden rounded border border-slate-800 bg-black/60 p-1 text-[0.6rem] text-lime-300">
+          {rawSnippet}
+        </pre>
+      )}
    </section>
  );
 }
+
+function Metric({ label, value }) {
+  return (
+    <div className="flex items-center justify-between text-[0.75rem]">
+      <span className="text-slate-500">{label}</span>
+      <span className="font-semibold text-slate-200">{value}</span>
+    </div>
+  );
+}
@@ -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 (
-    <div className="space-y-2">
-      <div className="w-full overflow-hidden rounded-2xl border border-slate-800 bg-black">
+    <div className="space-y-1">
+      <div className="relative w-full overflow-hidden rounded-lg border border-slate-900 bg-black">
        <video
          ref={videoRef}
          muted={forceMute || muted}
@@ -115,10 +134,121 @@ export default function VideoTile({ sessionInfo, label, forceMute = false }) {
          controls={false}
          className="h-full w-full object-contain"
        />
+        <HudOverlay frame={telemetryFrame} />
+        <OvercurrentOverlay active={overcurrentActive} />
      </div>
-      <div className="text-xs text-slate-400">
-        <span className="font-semibold text-slate-200">{label}</span>{' '}
-        <span>{renderedStatus}</span>
+      <BatteryBar
+        charge={batteryCharge}
+        capacity={batteryCapacity}
+        config={batteryConfig}
+      />
+      <div className="text-[0.65rem] uppercase tracking-[0.3em] text-slate-500">
+        <span className="text-slate-200">{label}</span> · {renderedStatus}
+      </div>
+    </div>
+  );
+}
+
+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 (
+    <div className="rounded border border-slate-900 bg-slate-950/80 p-1">
+      <div className="flex items-center justify-between text-[0.65rem] text-slate-300">
+        <span>Battery</span>
+        <span>{capText} mAh</span>
+      </div>
+      <div className="mt-1 h-2 w-full rounded-full bg-slate-800">
+        <div
+          className={`h-full rounded-full transition-[width] ${barClass}`}
+          style={{ width: `${percentDisplay}%` }}
+        />
+      </div>
+    </div>
+  );
+}
+
+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 (
+    <div className="pointer-events-none absolute inset-0 flex flex-col justify-between p-2 text-[0.6rem] uppercase tracking-[0.3em] text-slate-200">
+      <div className="flex items-center justify-between gap-2">
+        <div className="flex items-center gap-2">
+          <span
+            className={`h-2 w-2 rounded-full ${
+              pulse ? 'bg-emerald-300 shadow-[0_0_6px_rgba(16,185,129,0.9)]' : 'bg-slate-700'
+            }`}
+          ></span>
+          <span className="text-slate-400">SENSORS</span>
+        </div>
+        <div className="flex gap-1">
+          {bumperBadges.map((badge) => (
+            <HudBadge key={badge.label} label={badge.label} active={badge.active} />
+          ))}
+        </div>
+      </div>
+      <div className="flex justify-end gap-1">
+        {wheelBadges.map((badge) => (
+          <HudBadge key={badge.label} label={badge.label} active={badge.active} />
+        ))}
+      </div>
+    </div>
+  );
+}
+
+function HudBadge({ label, active }) {
+  return (
+    <span
+      className={`rounded-sm border px-1 py-0.5 text-[0.55rem] ${
+        active
+          ? 'border-emerald-400 bg-emerald-500/10 text-emerald-200'
+          : 'border-slate-700 bg-black/40 text-slate-500'
+      }`}
+    >
+      {label}
+    </span>
+  );
+}
+
+function OvercurrentOverlay({ active }) {
+  if (!active) return null;
+  return (
+    <div className="pointer-events-none absolute inset-0 flex items-center justify-center bg-red-900/60">
+      <div className="text-center text-lg font-black uppercase tracking-[0.6em] text-red-100 animate-pulse">
+        Overcurrent
      </div>
    </div>
  );
@@ -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 <DriveControlContext.Provider value={controls}>{children}</DriveControlContext.Provider>;
+}
+
+export function useDriveControl() {
+  const context = useContext(DriveControlContext);
+  if (!context) {
+    throw new Error('useDriveControl must be used within DriveControlProvider');
+  }
+  return context;
+}
@@ -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);
@@ -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";
@@ -1,3 +1,5 @@
+/* eslint-disable react-refresh/only-export-components */
+
 import { createContext, useContext, useMemo, useState, useEffect } from 'react';
 import { useSocket } from './SocketContext.jsx';

@@ -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,
  };
 }
@@ -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;
 }
@@ -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;
      }
    };