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legop3
2026-03-24 02:48:16 -04:00
parent e0167939d7
commit 3af21846c8
32 changed files with 1178 additions and 202 deletions
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dist/hornverifier
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dist/roverd
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dist/servoverifier
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pi/roverd/command.go
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@@ -11,6 +11,7 @@ type helloMessage struct {
Audio AudioConfig `json:"audio"`
Horn HornConfig `json:"horn"`
NightVision NightVisionConfig `json:"nightVision"`
Private PrivateConfig `json:"private"`
}
type sensorMessage struct {
pi/roverd/config.go
+36
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@@ -123,6 +123,25 @@ type AutoSideBrushConfig struct {
Speed int `yaml:"speed"`
}
type PrivateConfig struct {
Enabled bool `yaml:"enabled" json:"enabled"`
Safety PrivateSafetyConfig `yaml:"safety" json:"safety"`
}
type PrivateSafetyConfig struct {
SpeedLimitEnabled bool `yaml:"speedLimitEnabled" json:"speedLimitEnabled"`
SpeedLimitMaxWheelMMs int `yaml:"speedLimitMaxWheelSpeed" json:"speedLimitMaxWheelSpeed"`
HardOvercurrentEnabled bool `yaml:"hardOvercurrentEnabled" json:"hardOvercurrentEnabled"`
OvercurrentStopMs int `yaml:"overcurrentStopMs" json:"overcurrentStopMs"`
HardBumpEnabled bool `yaml:"hardBumpEnabled" json:"hardBumpEnabled"`
BumpBackoffSpeed int `yaml:"bumpBackoffSpeed" json:"bumpBackoffSpeed"`
BumpBackoffMs int `yaml:"bumpBackoffMs" json:"bumpBackoffMs"`
CliffEnabled bool `yaml:"cliffEnabled" json:"cliffEnabled"`
CliffBackoffSpeed int `yaml:"cliffBackoffSpeed" json:"cliffBackoffSpeed"`
CliffBackoffMs int `yaml:"cliffBackoffMs" json:"cliffBackoffMs"`
TriggerCooldownMs int `yaml:"triggerCooldownMs" json:"triggerCooldownMs"`
}
type Config struct {
Name string `yaml:"name"`
Color string `yaml:"color" json:"color,omitempty"`
@@ -137,6 +156,7 @@ type Config struct {
Horn HornConfig `yaml:"horn"`
NightVision NightVisionConfig `yaml:"nightVision" json:"nightVision"`
AutoSideBrush AutoSideBrushConfig `yaml:"autoSideBrush"`
Private PrivateConfig `yaml:"private" json:"private"`
}
func LoadConfig(path string) (*Config, error) {
@@ -203,6 +223,22 @@ func LoadConfig(path string) (*Config, error) {
Enabled: true,
Speed: 20,
},
Private: PrivateConfig{
Enabled: false,
Safety: PrivateSafetyConfig{
SpeedLimitEnabled: false,
SpeedLimitMaxWheelMMs: 250,
HardOvercurrentEnabled: false,
OvercurrentStopMs: 300,
HardBumpEnabled: false,
BumpBackoffSpeed: 250,
BumpBackoffMs: 350,
CliffEnabled: false,
CliffBackoffSpeed: 250,
CliffBackoffMs: 500,
TriggerCooldownMs: 800,
},
},
}
if err := yaml.Unmarshal(data, &cfg); err != nil {
return nil, err
pi/roverd/roverd
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pi/roverd/roverd.sample.yaml
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@@ -64,3 +64,17 @@ nightVision:
autoSideBrush:
enabled: true
speed: 20
private:
enabled: false
safety:
speedLimitEnabled: false
speedLimitMaxWheelSpeed: 250
hardOvercurrentEnabled: false
overcurrentStopMs: 300
hardBumpEnabled: false
bumpBackoffSpeed: 250
bumpBackoffMs: 350
cliffEnabled: false
cliffBackoffSpeed: 250
cliffBackoffMs: 500
triggerCooldownMs: 800
pi/roverd/roverd.yaml
+14
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@@ -34,3 +34,17 @@ cameraServo:
autoSideBrush:
enabled: true
speed: 20
private:
enabled: false
safety:
speedLimitEnabled: false
speedLimitMaxWheelSpeed: 250
hardOvercurrentEnabled: false
overcurrentStopMs: 300
hardBumpEnabled: false
bumpBackoffSpeed: 250
bumpBackoffMs: 350
cliffEnabled: false
cliffBackoffSpeed: 250
cliffBackoffMs: 500
triggerCooldownMs: 800
pi/roverd/wsclient.go
+1
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@@ -121,6 +121,7 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
Audio: c.cfg.Audio,
Horn: c.cfg.Horn,
NightVision: c.cfg.NightVision,
Private: c.cfg.Private,
}
c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
return writeJSON(ctx, conn, msg)
server/public/assets/index-BoGitFQI.js
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server/public/assets/index-Bzl2VfGU.css
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server/public/assets/index-CwUXm7Ls.css
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server/public/assets/index-DNMLDCtc.js
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server/public/index.html
+2 -2
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@@ -11,8 +11,8 @@
<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-BoGitFQI.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-Bzl2VfGU.css">
<script type="module" crossorigin src="/assets/index-DNMLDCtc.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-CwUXm7Ls.css">
</head>
<body>
<div id="root"></div>
server/src/services/assignmentService.js
+12 -2
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@@ -54,6 +54,14 @@ roverManager.managerEvents.on('lock', ({ roverId, locked }) => {
}
});
roverManager.managerEvents.on('private', ({ roverId, open }) => {
if (open) {
reassignWaiting();
} else {
reassignFromRover(roverId);
}
});
roverManager.managerEvents.on('rover', ({ action }) => {
if (action === 'removed' || action === 'upsert') {
reassignWaiting();
@@ -77,7 +85,7 @@ function assignSocket(socket) {
if (assignments.has(socket.id)) {
return;
}
const target = pickRover();
const target = pickRover(socket);
if (!target) {
waiting.add(socket.id);
logger.info('No rover available, user waiting', socket.id);
@@ -159,13 +167,15 @@ function forceRelease(roverId, socketId) {
assignmentEvents.emit('update', socketId);
}
function pickRover() {
function pickRover(socket) {
const mode = getMode();
if (mode === MODES.ADMIN || mode === MODES.LOCKDOWN) {
return null;
}
const candidates = Array.from(roverManager.rovers.values()).filter((rover) => {
if (!rover || rover.locked) return false;
const access = roverManager.canRequestControl(rover.id, socket, { allowUser: true });
if (!access.ok) return false;
return true;
});
if (candidates.length === 0) {
server/src/services/chatService.js
+24
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@@ -89,6 +89,11 @@ function resolveRoverColor(roverId) {
return record?.meta?.color || null;
}
function isPrivateClosedRoverId(roverId) {
if (!roverId) return false;
return roverManager.canReplayRoverId(roverId) !== true;
}
function normalizeUserText(raw) {
if (typeof raw !== 'string') return '';
return raw.replace(/\\n/g, '\n');
@@ -406,6 +411,13 @@ function handleIncoming({ text, tts } = {}, socket, cb = () => {}) {
});
logger.info('Chat message', { socket: socket.id, roverId: message.roverId });
playTypingNote(roverId, TYPING_SEND_NOTE, socket?.id);
const privateClosed = isPrivateClosedRoverId(message.roverId);
if (privateClosed) {
const forcedTts = ttsOptions || { speak: true, engine: 'flite' };
maybeSpeak(socket, message, forcedTts);
cb({ success: true, privateOnly: true });
return;
}
broadcastMessage(message);
maybeSendAccessNotice(message);
maybeSpeak(socket, message, ttsOptions);
@@ -466,6 +478,9 @@ function sendExternalMessage({
if (isKeymash(clean)) {
throw new Error('Message looks like spam');
}
if (isPrivateClosedRoverId(roverId)) {
throw new Error('Private rover chat is closed');
}
const message = buildMessage(null, clean, {
nickname,
role,
@@ -499,6 +514,9 @@ function sendExternalTyping({
discordUserAvatarUrl = null,
isTyping = true,
}) {
if (isPrivateClosedRoverId(roverId)) {
return null;
}
const payload = buildTypingPayload(null, {
nickname,
role,
@@ -533,6 +551,9 @@ io.on('connection', (socket) => {
typingBySocket.delete(socket.id);
}
const roverId = resolveRoverId(socket?.id);
if (isPrivateClosedRoverId(roverId)) {
return;
}
const typingPayload = buildTypingPayload(socket, { roverId, fromDiscord: false, isTyping });
broadcastTyping(typingPayload);
});
@@ -540,6 +561,9 @@ io.on('connection', (socket) => {
if (!typingBySocket.has(socket.id)) return;
typingBySocket.delete(socket.id);
const roverId = resolveRoverId(socket?.id);
if (isPrivateClosedRoverId(roverId)) {
return;
}
const typingPayload = buildTypingPayload(socket, { roverId, fromDiscord: false, isTyping: false });
broadcastTyping(typingPayload);
});
server/src/services/commandService.js
+11 -4
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@@ -1,7 +1,7 @@
const { v4: uuidv4 } = require('uuid');
const io = require('../globals/io');
const roverManager = require('./roverManager');
const { isAdmin } = require('./roleService');
const { isAdmin, isLockdownAdmin } = require('./roleService');
const logger = require('../globals/logger').child('commandService');
const pendingCommands = new Map(); // id -> { roverId }
@@ -82,12 +82,19 @@ io.on('connection', (socket) => {
}
const driveDirect = payload?.driveDirect;
if (type === 'drive' && driveDirect && !isAdminSocket) {
const left = Number(driveDirect.left);
const right = Number(driveDirect.right);
const safeDrive = roverManager.applyPrivateDriveSafety(roverId, socket, driveDirect);
if (safeDrive) {
payload.driveDirect = safeDrive;
}
const left = Number(payload?.driveDirect?.left);
const right = Number(payload?.driveDirect?.right);
const speed = Math.max(Math.abs(left), Math.abs(right));
const blockedUntil = driveCooldowns.get(roverId);
if (blockedUntil && Date.now() < blockedUntil && speed > 0) {
throw new Error('Drive blocked: dock protection cooldown');
const reason = isLockdownAdmin(socket)
? 'Drive blocked: cooldown'
: 'Drive blocked: safety cooldown';
throw new Error(reason);
}
if (speed > 0) {
let direction = 'turn';
server/src/services/discordBotService.js
+30 -6
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@@ -13,7 +13,8 @@ const logger = require('../globals/logger').child('discordBot');
const io = require('../globals/io');
const { loadConfig } = require('../helpers/configLoader');
const { subscribe } = require('./eventBus');
const { getRoster, lockRover, rovers } = require('./roverManager');
const roverManager = require('./roverManager');
const { getRoster, lockRover, rovers } = roverManager;
const { MODES, getMode, setMode } = require('./modeManager');
const { sendExternalMessage, sendExternalTyping } = require('./chatService');
const { buildReplayVideo } = require('./replayBuildService');
@@ -158,6 +159,7 @@ function isCharging(sensors) {
function buildRoverStatusSnapshot(record) {
if (!record) return null;
if (!roverManager.canReplayRoverId(record.id)) return null;
const sensors = record.lastSensor?.decoded || record.lastSensor?.sensors || null;
const docked = Boolean(sensors?.chargingSources?.homeBase);
const charging = isCharging(sensors);
@@ -179,7 +181,7 @@ function buildRoverStatusSnapshot(record) {
}
function countReady() {
const roster = getRoster();
const roster = getRoster().filter((entry) => roverManager.canReplayRoverId(entry.id));
const total = roster.length;
const ready = roster.filter((r) => !r.locked).length;
return { ready, total };
@@ -1097,7 +1099,9 @@ async function handleTimeStatusCommand(message) {
function buildBatteryStatusEmbed(color, records = null) {
const embed = buildEmbed({ title: 'Rover Battery Status', color: color || 0x2196f3 });
const baseRecords = records || Array.from(rovers.values());
const baseRecords = (records || Array.from(rovers.values())).filter((entry) =>
roverManager.canReplayRoverId(entry?.id),
);
const snapshots = baseRecords.map(buildRoverStatusSnapshot).filter(Boolean);
if (snapshots.length === 0) {
embed.setDescription('No rovers online.');
@@ -1135,7 +1139,9 @@ function buildBatteryStatusEmbed(color, records = null) {
function buildAllUnlockedEmbed(color, records = null) {
const embed = buildEmbed({ title: 'All Rovers Unlocked', color: color || 0x4caf50 });
const baseRecords = records || Array.from(rovers.values());
const baseRecords = (records || Array.from(rovers.values())).filter((entry) =>
roverManager.canReplayRoverId(entry?.id),
);
const snapshots = baseRecords.map(buildRoverStatusSnapshot).filter(Boolean);
if (snapshots.length === 0) {
embed.setDescription('No rovers online.');
@@ -1158,8 +1164,9 @@ function buildAllUnlockedCaption(records = null) {
}
function buildAccessModeEmbed(mode, color) {
const total = rovers.size;
const unlocked = Array.from(rovers.values()).filter((entry) => !entry.locked).length;
const visible = Array.from(rovers.values()).filter((entry) => roverManager.canReplayRoverId(entry?.id));
const total = visible.length;
const unlocked = visible.filter((entry) => !entry.locked).length;
const embed = buildEmbed({
title: 'Access Mode Updated',
description: `Access mode set to **${mode}**\nUnlocked rovers: **${unlocked}/${total}**`,
@@ -1170,6 +1177,9 @@ function buildAccessModeEmbed(mode, color) {
function buildBatteryCaption(type, payload) {
const roverId = payload?.roverId || 'unknown';
if (!roverManager.canReplayRoverId(roverId)) {
return null;
}
const record = rovers.get(roverId) || findRoverRecord(roverId);
const snapshot = buildRoverStatusSnapshot(record);
const base = snapshot?.name || roverId;
@@ -1258,6 +1268,10 @@ function handleBusEvent(event) {
const { type, payload } = event || {};
const channels = discordConfig.channels || {};
const roles = discordConfig.roles || {};
const roverId = payload?.roverId || null;
if (roverId && !roverManager.canReplayRoverId(roverId)) {
return;
}
switch (type) {
case 'mode.changed':
if (!skippedFirstModeAnnouncement) {
@@ -1342,6 +1356,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.warn':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
pingRoleId: roles.adminPing || null,
@@ -1353,6 +1368,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.urgent':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
pingRoleId: roles.adminPing || null,
@@ -1364,6 +1380,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.docked':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0x2196f3,
@@ -1374,6 +1391,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.undocked':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0x2196f3,
@@ -1384,6 +1402,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.charging.start':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0x2196f3,
@@ -1394,6 +1413,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.charging.stop':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0xf0b651,
@@ -1404,6 +1424,7 @@ function handleBusEvent(event) {
});
break;
case 'battery.locked':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0xf0b651,
@@ -1415,6 +1436,7 @@ function handleBusEvent(event) {
schedulePresenceRotation();
break;
case 'battery.unlocked':
if (!buildBatteryCaption(type, payload)) break;
announce({
channelId: channels.adminAlerts,
color: 0x4caf50,
@@ -1528,6 +1550,7 @@ async function handleVerificationReaction(reaction, user) {
function handleChatBridgeOutbound(event) {
const payload = event?.payload;
if (!payload) return;
if (payload?.roverId && !roverManager.canReplayRoverId(payload.roverId)) return;
const guildConfigs = listGuildConfigs();
if (!guildConfigs.length) return;
const text = payload.text?.length > 1900 ? `${payload.text.slice(0, 1897)}...` : payload.text;
@@ -1566,6 +1589,7 @@ function handleChatBridgeOutbound(event) {
function handleChatTypingOutbound(event) {
const payload = event?.payload;
if (!payload || payload.fromDiscord) return;
if (payload?.roverId && !roverManager.canReplayRoverId(payload.roverId)) return;
const guildConfigs = listGuildConfigs();
if (!guildConfigs.length) return;
guildConfigs.forEach((entry) => {
server/src/services/embedService.js
+13 -3
View File
@@ -62,9 +62,19 @@ function sumQueueCounts(turnQueues = {}) {
}, 0);
}
function getPublicRovers() {
return roverManager
.getRoster()
.filter((rover) => roverManager.canReplayRoverId(rover.id));
}
function buildEmbedCopy(state, camera) {
const roversOnline = state?.rovers?.length || 0;
const driverCount = Object.keys(state?.activeDrivers || {}).length;
const visibleRoverIds = new Set((state?.rovers || []).map((rover) => String(rover.id)));
const driverCount = Object.entries(state?.activeDrivers || {}).reduce((count, [roverId, socketId]) => {
if (!socketId) return count;
return visibleRoverIds.has(String(roverId)) ? count + 1 : count;
}, 0);
const mode = state?.mode || 'open';
const modeLabel = {
open: 'open drive',
@@ -148,7 +158,7 @@ async function renderIndexHtml(req) {
const baseUrl = getBaseUrl(req);
const state = {
mode: getMode(),
rovers: roverManager.getRoster(),
rovers: getPublicRovers(),
activeDrivers: getActiveDrivers(),
turnQueues: getTurnQueues(),
};
@@ -216,7 +226,7 @@ function buildOverlaySvg({ title, subtitle, stats, cameraLabel, hasFrame }) {
async function renderOgImage() {
const state = {
mode: getMode(),
rovers: roverManager.getRoster(),
rovers: getPublicRovers(),
activeDrivers: getActiveDrivers(),
turnQueues: getTurnQueues(),
};
server/src/services/llmCommentaryService.js
+16 -3
View File
@@ -278,6 +278,7 @@ function upsertActivityState(roverId) {
function onSensorEvent({ roverId, sensors, batteryState } = {}) {
if (!roverId || !sensors) return;
if (!roverManager.canReplayRoverId(roverId)) return;
const nowMs = Date.now();
const dockedNow = Boolean(sensors?.chargingSources?.homeBase);
const bucketTs = Math.floor(nowMs / ACTIVITY_BUCKET_MS) * ACTIVITY_BUCKET_MS;
@@ -603,7 +604,10 @@ function deriveMobilityState(sensors = {}, wheelsOffGround = false) {
function buildRoversNow(nowMs = Date.now()) {
const activeDrivers = getActiveDrivers();
const roster = roverManager.getRoster().slice(0, MAX_ROVERS);
const roster = roverManager
.getRoster()
.filter((entry) => roverManager.canReplayRoverId(entry.id))
.slice(0, MAX_ROVERS);
const nextRoverStateById = new Map();
const rovers = roster.map((entry) => {
const roverId = String(entry.id);
@@ -693,7 +697,12 @@ function buildSnapshot() {
const { rovers } = buildRoversNow(nowMs);
const roverById = new Map(rovers.map((rover) => [String(rover.id), rover]));
const allRecentMessages = getRecentMessages(300, { includeSystem: true })
.filter((entry) => Number(entry?.ts) >= contextResetAt);
.filter((entry) => Number(entry?.ts) >= contextResetAt)
.filter((entry) => {
const roverId = entry?.roverId ? String(entry.roverId) : null;
if (!roverId) return true;
return roverManager.canReplayRoverId(roverId);
});
const chatRecent = allRecentMessages
.filter((entry) => !entry?.system)
.slice(-MAX_CHAT_MESSAGES)
@@ -710,7 +719,11 @@ function buildSnapshot() {
(entry) => nowMs - Number(entry?.ts || 0) <= SELF_TALK_WINDOW_MS,
);
const roverEvents = roverMajorEvents.filter((entry) => Number(entry?.ts) >= contextResetAt);
const roverEvents = roverMajorEvents.filter(
(entry) =>
Number(entry?.ts) >= contextResetAt &&
roverManager.canReplayRoverId(entry?.rover_id || ''),
);
const timelineEntries = [
...allRecentMessages.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'chat', entry })),
...roverEvents.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'event', entry })),
server/src/services/replaySegmentManager.js
+22 -1
View File
@@ -210,11 +210,26 @@ function stopRecorder(key) {
recorders.delete(key);
}
async function removeSourceArtifacts(key, source) {
try {
await fsp.rm(path.join(SEGMENT_DIR, key), { recursive: true, force: true });
} catch (err) {
logger.warn('Failed to clear replay segments', { key, error: err.message });
}
if (source?.type === 'rover' && source?.id) {
try {
await fsp.rm(path.join(ROVER_SNAPSHOT_DIR, `${source.id}.jpg`), { force: true });
} catch (err) {
logger.warn('Failed to clear rover snapshot artifact', { roverId: source.id, error: err.message });
}
}
}
function shouldRecord(source) {
if (source.type === 'room') {
return Boolean(source.streamUrl);
}
return true;
return roverManager.canReplayRoverId(source.id);
}
function syncRecorders() {
@@ -230,7 +245,9 @@ function syncRecorders() {
});
Array.from(recorders.keys()).forEach((key) => {
if (!desiredKeys.has(key)) {
const entry = recorders.get(key);
stopRecorder(key);
removeSourceArtifacts(key, entry?.source).catch(() => {});
}
});
}
@@ -295,6 +312,10 @@ roverManager.managerEvents.on('rover', () => {
syncRecorders();
});
roverManager.managerEvents.on('private', () => {
syncRecorders();
});
start();
module.exports = {
server/src/services/replaySocketService.js
+2 -2
View File
@@ -27,10 +27,10 @@ io.on('connection', (socket) => {
return;
}
const requestedSources = Array.isArray(payload?.sources) ? payload.sources : null;
let sources = requestedSources ? validateSources(requestedSources) : [];
let sources = requestedSources ? validateSources(requestedSources, socket) : [];
if (!sources.length) {
const assignment = assignmentService.describeAssignment(socket.id);
sources = getDefaultWebSources(assignment);
sources = getDefaultWebSources(assignment, socket);
}
if (!sources.length) {
cb({ error: 'No replay sources selected', state: null });
server/src/services/replaySourceService.js
+16 -12
View File
@@ -1,13 +1,16 @@
const roverManager = require('./roverManager');
const { getRoomCameras } = require('./roomCameraService');
function getReplaySources() {
const roverSources = roverManager.getRoster().map((rover) => ({
type: 'rover',
id: String(rover.id),
label: rover.name || rover.id,
color: rover.color || null,
}));
function getReplaySources(socket = null) {
const roster = socket ? roverManager.getRosterForSocket(socket) : roverManager.getRoster();
const roverSources = roster
.filter((rover) => roverManager.canReplayRoverId(rover.id))
.map((rover) => ({
type: 'rover',
id: String(rover.id),
label: rover.name || rover.id,
color: rover.color || null,
}));
const roomSources = getRoomCameras().map((camera) => ({
type: 'room',
id: String(camera.id),
@@ -31,9 +34,9 @@ function normalizeSource(entry) {
return null;
}
function validateSources(list = []) {
function validateSources(list = [], socket = null) {
const allowed = new Map();
getReplaySources().forEach((source) => {
getReplaySources(socket).forEach((source) => {
allowed.set(`${source.type}:${source.id}`, source);
});
const unique = new Map();
@@ -48,11 +51,12 @@ function validateSources(list = []) {
return Array.from(unique.values());
}
function getDefaultWebSources(assignment = {}) {
function getDefaultWebSources(assignment = {}, socket = null) {
if (assignment?.roverId) {
const id = String(assignment.roverId);
const match = getReplaySources().find((entry) => entry.type === 'rover' && entry.id === id);
return [{ type: 'rover', id, label: match?.label || id }];
const match = getReplaySources(socket).find((entry) => entry.type === 'rover' && entry.id === id);
if (!match) return [];
return [{ type: 'rover', id, label: match.label || id }];
}
return [];
}
server/src/services/roverManager.js
+633 -29
View File
@@ -21,8 +21,171 @@ const DOCK_GUARD_RETRY_MS = 10 * 1000;
const DOCK_COMMAND_BASE64 = Buffer.from([143]).toString('base64');
const BACKOFF_MS = 500;
const BACKOFF_SPEED = 300;
const PRIVATE_BUTTON_HOLD_MS = 3000;
const PRIVATE_AUTO_CLOSE_IDLE_MS = 30 * 60 * 1000;
const PRIVATE_AUTO_CLOSE_TICK_MS = 30000;
const SAFETY_BACKOFF_MIN = -500;
const SAFETY_BACKOFF_MAX = 500;
const backoffTimers = new Map(); // roverId -> Timeout
const dockGuardStates = new Map(); // roverId -> guard state
const privateButtonStates = new Map(); // roverId -> { pressedSince:number|null, latched:boolean }
const privateNoUsersSince = new Map(); // roverId -> timestamp|null
const privateSafetyTimers = new Map(); // roverId -> Timeout
const privateSafetyStates = new Map(); // roverId -> state
const DEFAULT_PRIVATE_SAFETY = Object.freeze({
speedLimitEnabled: false,
speedLimitMaxWheelSpeed: 250,
hardOvercurrentEnabled: false,
overcurrentStopMs: 300,
hardBumpEnabled: false,
bumpBackoffSpeed: 250,
bumpBackoffMs: 350,
cliffEnabled: false,
cliffBackoffSpeed: 250,
cliffBackoffMs: 500,
triggerCooldownMs: 800,
});
function parsePrivateMeta(meta = {}) {
const raw = meta?.private;
if (raw === true) {
return { enabled: true, safety: { ...DEFAULT_PRIVATE_SAFETY } };
}
if (!raw || typeof raw !== 'object') {
return { enabled: false, safety: { ...DEFAULT_PRIVATE_SAFETY } };
}
const safety = normalizePrivateSafety(raw.safety || {});
return {
enabled: Boolean(raw.enabled),
safety,
};
}
function clampInt(value, min, max, fallback) {
const num = Number.parseInt(value, 10);
if (!Number.isFinite(num)) return fallback;
return Math.max(min, Math.min(max, num));
}
function normalizePrivateSafety(raw = {}) {
const source = raw && typeof raw === 'object' ? raw : {};
return {
speedLimitEnabled: Boolean(source.speedLimitEnabled),
speedLimitMaxWheelSpeed: clampInt(
source.speedLimitMaxWheelSpeed,
1,
500,
DEFAULT_PRIVATE_SAFETY.speedLimitMaxWheelSpeed,
),
hardOvercurrentEnabled: Boolean(source.hardOvercurrentEnabled),
overcurrentStopMs: clampInt(
source.overcurrentStopMs,
100,
5000,
DEFAULT_PRIVATE_SAFETY.overcurrentStopMs,
),
hardBumpEnabled: Boolean(source.hardBumpEnabled),
bumpBackoffSpeed: clampInt(
source.bumpBackoffSpeed,
1,
500,
DEFAULT_PRIVATE_SAFETY.bumpBackoffSpeed,
),
bumpBackoffMs: clampInt(
source.bumpBackoffMs,
100,
5000,
DEFAULT_PRIVATE_SAFETY.bumpBackoffMs,
),
cliffEnabled: Boolean(source.cliffEnabled),
cliffBackoffSpeed: clampInt(
source.cliffBackoffSpeed,
1,
500,
DEFAULT_PRIVATE_SAFETY.cliffBackoffSpeed,
),
cliffBackoffMs: clampInt(
source.cliffBackoffMs,
100,
5000,
DEFAULT_PRIVATE_SAFETY.cliffBackoffMs,
),
triggerCooldownMs: clampInt(
source.triggerCooldownMs,
100,
10000,
DEFAULT_PRIVATE_SAFETY.triggerCooldownMs,
),
};
}
function isPrivateRecord(record) {
return Boolean(record?.private?.enabled);
}
function isPrivateOpen(record) {
if (!isPrivateRecord(record)) return true;
return Boolean(record?.privateOpen);
}
function getPrivateSafety(record) {
if (!record) return { ...DEFAULT_PRIVATE_SAFETY };
return normalizePrivateSafety(record.privateSafety || record.private?.safety || {});
}
function shouldApplyPrivateSafety(record, socket) {
if (!isPrivateRecord(record) || !isPrivateOpen(record)) return false;
if (isLockdownAdmin(socket)) return false;
return true;
}
function isRoverVisibleToSocket(record, socket) {
if (!record) return false;
if (!isPrivateRecord(record)) return true;
if (isPrivateOpen(record)) return true;
return isLockdownAdmin(socket);
}
function getControlDenialReason(record, socket, options = {}) {
const { allowUser = false } = options;
if (!record) {
return 'Unknown rover';
}
if (!allowUser && !isAdmin(socket)) {
return 'Only admins can request control';
}
if (record.locked && !isAdmin(socket)) {
return 'Rover locked';
}
const mode = getMode();
if (!allowUser && mode === MODES.ADMIN && !isAdmin(socket)) {
return 'Admins only';
}
if (!allowUser && mode === MODES.LOCKDOWN && !isLockdownAdmin(socket)) {
return 'Server in lockdown';
}
if (mode === MODES.LOCKDOWN && !isLockdownAdmin(socket)) {
return 'Server in lockdown';
}
if (!isPrivateRecord(record)) {
return null;
}
if (!isPrivateOpen(record)) {
if (!isLockdownAdmin(socket)) {
return 'Private rover is closed';
}
return null;
}
if (isLockdownAdmin(socket)) {
return null;
}
const { isVerified } = require('./verificationService');
if (!isVerified(socket)) {
return 'Private rover requires verification';
}
return null;
}
function ensureRecord(id) {
if (!rovers.has(id)) {
@@ -41,6 +204,9 @@ function ensureRecord(id) {
room: `rover:${id}`,
lastSeen: Date.now(),
lastMovementAt: Date.now(),
private: { enabled: false },
privateOpen: true,
privateSafety: { ...DEFAULT_PRIVATE_SAFETY },
});
}
return rovers.get(id);
@@ -58,6 +224,17 @@ function upsertRover(meta, ws) {
record.meta = meta;
record.ws = ws;
record.lastSeen = Date.now();
const privateMeta = parsePrivateMeta(meta);
const wasPrivate = isPrivateRecord(record);
record.private = privateMeta;
record.privateSafety = normalizePrivateSafety(privateMeta.safety);
if (privateMeta.enabled) {
if (isNew || !wasPrivate) {
record.privateOpen = false;
}
} else {
record.privateOpen = true;
}
if (record.nightVisionState == null && meta?.nightVision?.enabled) {
const ledOn = Boolean(meta.nightVision.initialOn);
record.nightVisionState = {
@@ -68,7 +245,12 @@ function upsertRover(meta, ws) {
rovers.set(id, record);
spectatorSockets.forEach((socketId) => {
const sock = io.sockets.sockets.get(socketId);
sock?.join(record.room);
if (!sock) return;
if (isRoverVisibleToSocket(record, sock)) {
sock.join(record.room);
} else {
sock.leave(record.room);
}
});
managerEvents.emit('rover', { roverId: id, action: 'upsert', record });
if (isNew) {
@@ -83,6 +265,11 @@ function removeRover(id) {
if (!record) return;
rovers.delete(id);
stopDockGuard(id);
privateButtonStates.delete(id);
privateNoUsersSince.delete(id);
privateSafetyStates.delete(id);
clearTimeout(privateSafetyTimers.get(id));
privateSafetyTimers.delete(id);
turnService.cleanupRover(id);
spectatorSockets.forEach((socketId) => {
const sock = io.sockets.sockets.get(socketId);
@@ -93,6 +280,27 @@ function removeRover(id) {
publishEvent({ source: 'roverManager', type: 'rover.offline', payload: { roverId: id } });
}
function sendPrivateToggleTTS(roverId, open, reason) {
const { issueCommand } = require('./commandService');
let text = open ? 'Private rover is now open.' : 'Private rover is now closed.';
if (!open && reason === 'auto_idle') {
text = 'Private rover closed due to inactivity.';
} else if (reason === 'button_hold') {
text = open ? 'Private rover opened locally.' : 'Private rover closed locally.';
}
try {
issueCommand(roverId, {
type: 'tts',
tts: {
text,
speak: true,
},
});
} catch (err) {
logger.warn('Private toggle TTS failed', { roverId, reason, error: err.message });
}
}
function lockRover(id, locked, options = {}) {
const record = rovers.get(id);
if (!record) {
@@ -141,6 +349,69 @@ function lockRover(id, locked, options = {}) {
return record.locked;
}
function setPrivateOpen(id, open, options = {}) {
const record = rovers.get(id);
if (!record) {
throw new Error('Unknown rover');
}
if (!isPrivateRecord(record)) {
throw new Error('Rover is not private');
}
const nextOpen = Boolean(open);
if (record.privateOpen === nextOpen) {
return nextOpen;
}
record.privateOpen = nextOpen;
const reason = options.reason || 'manual';
const silent = Boolean(options.silent);
if (!nextOpen) {
privateNoUsersSince.delete(id);
privateSafetyStates.delete(id);
clearTimeout(privateSafetyTimers.get(id));
privateSafetyTimers.delete(id);
}
if (!silent) {
sendAlert({
color: ALERT_COLOR,
title: nextOpen ? 'Private Rover Opened' : 'Private Rover Closed',
message: nextOpen ? `${id} opened (${reason}).` : `${id} closed (${reason}).`,
});
}
if (options.tts !== false) {
sendPrivateToggleTTS(id, nextOpen, reason);
}
publishEvent({
source: 'roverManager',
type: nextOpen ? 'rover.privateOpened' : 'rover.privateClosed',
payload: { roverId: id, reason },
});
managerEvents.emit('private', { roverId: id, open: nextOpen, reason });
broadcastRoster();
return nextOpen;
}
function setPrivateSafety(id, patch = {}, options = {}) {
const record = rovers.get(id);
if (!record) {
throw new Error('Unknown rover');
}
if (!isPrivateRecord(record)) {
throw new Error('Rover is not private');
}
const current = getPrivateSafety(record);
const next = normalizePrivateSafety({ ...current, ...(patch || {}) });
record.privateSafety = next;
const reason = options.reason || 'manual';
publishEvent({
source: 'roverManager',
type: 'rover.privateSafetyUpdated',
payload: { roverId: id, reason, safety: next },
});
managerEvents.emit('privateSafety', { roverId: id, reason, safety: next });
broadcastRoster();
return next;
}
function getRoster() {
return Array.from(rovers.values()).map((record) => ({
id: record.id,
@@ -156,14 +427,51 @@ function getRoster() {
nightVision: record.meta?.nightVision
? { ...record.meta.nightVision, state: record.nightVisionState }
: record.meta?.nightVision,
locked: record.locked,
lockReason: record.lockReason,
locked: record.locked || (isPrivateRecord(record) && !isPrivateOpen(record)),
lockReason:
record.lockReason || (isPrivateRecord(record) && !isPrivateOpen(record) ? 'private' : null),
lastSeen: record.lastSeen,
private: isPrivateRecord(record)
? {
enabled: true,
open: isPrivateOpen(record),
safety: getPrivateSafety(record),
}
: {
enabled: false,
open: true,
safety: getPrivateSafety(record),
},
}));
}
function getRosterForSocket(socket) {
return getRoster()
.filter((entry) => {
const record = rovers.get(String(entry.id));
return isRoverVisibleToSocket(record, socket);
});
}
function syncSpectatorRooms() {
spectatorSockets.forEach((socketId) => {
const socket = io.sockets.sockets.get(socketId);
if (!socket) return;
for (const record of rovers.values()) {
if (isRoverVisibleToSocket(record, socket)) {
socket.join(record.room);
} else {
socket.leave(record.room);
}
}
});
}
function broadcastRoster() {
io.emit('rovers', getRoster());
syncSpectatorRooms();
io.sockets.sockets.forEach((socket) => {
socket.emit('rovers', getRosterForSocket(socket));
});
}
function setNightVisionState(roverId, nightVisionOn) {
@@ -247,6 +555,192 @@ function computeBatteryDisplayPercent({ charge, full, warn, urgent, percent, cap
return null;
}
function getPrivateSafetyState(roverId) {
if (!privateSafetyStates.has(roverId)) {
privateSafetyStates.set(roverId, {
blockedUntil: 0,
lastOvercurrent: false,
lastBump: false,
lastCliff: false,
});
}
return privateSafetyStates.get(roverId);
}
function stopSafetyBackoffTimer(roverId) {
clearTimeout(privateSafetyTimers.get(roverId));
privateSafetyTimers.delete(roverId);
}
function triggerSafetyAction(record, mode, options = {}) {
if (!record) return;
const roverId = record.id;
const { issueCommand, setDriveCooldown } = require('./commandService');
const now = Date.now();
const cooldownMs = clampInt(options.cooldownMs, 100, 10000, DEFAULT_PRIVATE_SAFETY.triggerCooldownMs);
const backoffMs = clampInt(options.backoffMs, 50, 5000, 0);
const backoffSpeed = clampInt(options.backoffSpeed, 0, 500, 0);
try {
issueCommand(roverId, { type: 'drive', driveDirect: { left: 0, right: 0 } });
issueCommand(roverId, { type: 'motors', motorPwm: { main: 0, side: 0, vacuum: 0 } });
} catch (err) {
logger.warn('Private safety stop failed', { roverId, mode, error: err.message });
}
stopSafetyBackoffTimer(roverId);
if (backoffMs > 0 && backoffSpeed > 0) {
const speed = Math.max(SAFETY_BACKOFF_MIN, Math.min(SAFETY_BACKOFF_MAX, -Math.abs(backoffSpeed)));
try {
issueCommand(roverId, { type: 'drive', driveDirect: { left: speed, right: speed } });
} catch (err) {
logger.warn('Private safety backoff failed', { roverId, mode, error: err.message });
}
privateSafetyTimers.set(
roverId,
setTimeout(() => {
try {
issueCommand(roverId, { type: 'drive', driveDirect: { left: 0, right: 0 } });
} catch (err) {
logger.warn('Private safety backoff stop failed', { roverId, mode, error: err.message });
}
privateSafetyTimers.delete(roverId);
}, backoffMs),
);
}
setDriveCooldown(roverId, Math.max(cooldownMs, backoffMs));
const state = getPrivateSafetyState(roverId);
state.blockedUntil = now + Math.max(cooldownMs, backoffMs);
sendAlert({
color: ALERT_COLOR,
title: 'Private Safety',
message: `${roverId} ${mode} safety triggered.`,
});
publishEvent({
source: 'roverManager',
type: 'rover.privateSafetyTriggered',
payload: { roverId, mode, cooldownMs, backoffMs, backoffSpeed },
});
}
function evaluatePrivateSafety(record, sensors) {
if (!record || !sensors) return;
const roverId = record.id;
const state = getPrivateSafetyState(roverId);
const overcurrent = Boolean(
sensors?.wheelOvercurrents?.leftWheel ||
sensors?.wheelOvercurrents?.rightWheel ||
sensors?.wheelOvercurrents?.mainBrush ||
sensors?.wheelOvercurrents?.sideBrush,
);
const bump = Boolean(sensors?.bumpsAndWheelDrops?.bumpLeft || sensors?.bumpsAndWheelDrops?.bumpRight);
const cliff = Boolean(
sensors?.cliffLeft || sensors?.cliffFrontLeft || sensors?.cliffFrontRight || sensors?.cliffRight,
);
const currentOver = overcurrent;
const currentBump = bump;
const currentCliff = cliff;
if (!isPrivateRecord(record) || !isPrivateOpen(record)) {
state.blockedUntil = 0;
state.lastOvercurrent = currentOver;
state.lastBump = currentBump;
state.lastCliff = currentCliff;
return;
}
const safety = getPrivateSafety(record);
const now = Date.now();
if (now < Number(state.blockedUntil || 0)) {
state.lastOvercurrent = currentOver;
state.lastBump = currentBump;
state.lastCliff = currentCliff;
return;
}
let triggered = false;
if (safety.hardOvercurrentEnabled && currentOver && !state.lastOvercurrent) {
triggerSafetyAction(record, 'overcurrent', {
cooldownMs: safety.triggerCooldownMs,
backoffMs: safety.overcurrentStopMs,
backoffSpeed: 0,
});
triggered = true;
} else if (safety.hardBumpEnabled && currentBump && !state.lastBump) {
triggerSafetyAction(record, 'bump', {
cooldownMs: safety.triggerCooldownMs,
backoffMs: safety.bumpBackoffMs,
backoffSpeed: safety.bumpBackoffSpeed,
});
triggered = true;
} else if (safety.cliffEnabled && currentCliff && !state.lastCliff) {
triggerSafetyAction(record, 'cliff', {
cooldownMs: safety.triggerCooldownMs,
backoffMs: safety.cliffBackoffMs,
backoffSpeed: safety.cliffBackoffSpeed,
});
triggered = true;
}
if (!triggered) {
state.blockedUntil = 0;
}
state.lastOvercurrent = currentOver;
state.lastBump = currentBump;
state.lastCliff = currentCliff;
}
function applyPrivateDriveSafety(roverId, socket, driveDirect = null) {
const record = rovers.get(String(roverId));
if (!record || !driveDirect || typeof driveDirect !== 'object') {
return driveDirect;
}
if (!shouldApplyPrivateSafety(record, socket)) {
return driveDirect;
}
const safety = getPrivateSafety(record);
if (!safety.speedLimitEnabled) {
return driveDirect;
}
const limit = clampInt(
safety.speedLimitMaxWheelSpeed,
1,
500,
DEFAULT_PRIVATE_SAFETY.speedLimitMaxWheelSpeed,
);
const left = clampInt(driveDirect.left, -500, 500, 0);
const right = clampInt(driveDirect.right, -500, 500, 0);
return {
...driveDirect,
left: Math.max(-limit, Math.min(limit, left)),
right: Math.max(-limit, Math.min(limit, right)),
};
}
function handlePrivateButtonHold(record, sensors) {
if (!record || !isPrivateRecord(record)) return;
const buttons = sensors?.buttons || null;
const pressed = Boolean(buttons?.spot && buttons?.clean && buttons?.dock);
const roverId = record.id;
const now = Date.now();
const state = privateButtonStates.get(roverId) || { pressedSince: null, latched: false };
if (!pressed) {
if (state.pressedSince != null || state.latched) {
privateButtonStates.set(roverId, { pressedSince: null, latched: false });
}
return;
}
if (state.pressedSince == null) {
state.pressedSince = now;
}
if (!state.latched && now - state.pressedSince >= PRIVATE_BUTTON_HOLD_MS) {
const nextOpen = !isPrivateOpen(record);
try {
setPrivateOpen(roverId, nextOpen, { reason: 'button_hold', tts: true });
} catch (err) {
logger.warn('Private button toggle failed', { roverId, error: err.message });
}
state.latched = true;
}
privateButtonStates.set(roverId, state);
}
function handleSensorFrame(roverId, frame) {
const record = rovers.get(roverId);
if (!record) return;
@@ -268,6 +762,8 @@ function handleSensorFrame(roverId, frame) {
if (bumps?.bumpLeft || bumps?.bumpRight) {
record.lastBumpAt = Date.now();
}
handlePrivateButtonHold(record, decoded);
evaluatePrivateSafety(record, decoded);
io.to(record.room).volatile.emit('sensorFrame', {
roverId,
frame,
@@ -489,21 +985,9 @@ function removeSocket(socket) {
function requestControl(roverId, socket, options = {}) {
const { force = false, allowUser = false } = options;
const record = rovers.get(roverId);
if (!record) {
throw new Error('Unknown rover');
}
if (!allowUser && !isAdmin(socket)) {
throw new Error('Only admins can request control');
}
if (record.locked && !isAdmin(socket)) {
throw new Error('Rover locked');
}
const mode = getMode();
if (!allowUser && mode === MODES.ADMIN && !isAdmin(socket)) {
throw new Error('Admins only');
}
if (!allowUser && mode === MODES.LOCKDOWN && !isLockdownAdmin(socket)) {
throw new Error('Server in lockdown');
const denied = getControlDenialReason(record, socket, { allowUser });
if (denied) {
throw new Error(denied);
}
record.drivers.add(socket.id);
if (!socketToRovers.has(socket.id)) {
@@ -545,10 +1029,13 @@ function isDriver(roverId, socket) {
}
function canDrive(roverId, socket) {
const mode = getMode();
if (mode === MODES.LOCKDOWN) {
return isLockdownAdmin(socket);
const record = rovers.get(roverId);
if (!record) return false;
const denied = getControlDenialReason(record, socket, { allowUser: true });
if (denied) {
return false;
}
const mode = getMode();
if (isAdmin(socket)) {
return true;
}
@@ -594,6 +1081,14 @@ function hasOtherDrivers(record, socketId) {
}
function canSwitchRover(socket, targetRoverId) {
const target = rovers.get(targetRoverId);
if (!target) {
return { ok: false, message: 'Unknown rover' };
}
const denied = getControlDenialReason(target, socket, { allowUser: true });
if (denied) {
return { ok: false, message: denied };
}
const currentId = getPrimaryRoverForSocket(socket.id);
if (!currentId || currentId === targetRoverId) {
return { ok: true, currentId };
@@ -611,11 +1106,32 @@ function canSwitchRover(socket, targetRoverId) {
return { ok: false, currentId, message: 'Dock and charge your current rover before switching.' };
}
function canSeeRover(roverId, socket) {
const record = rovers.get(String(roverId));
return isRoverVisibleToSocket(record, socket);
}
function canRequestControl(roverId, socket, options = {}) {
const record = rovers.get(String(roverId));
const denied = getControlDenialReason(record, socket, options);
return { ok: !denied, reason: denied || null };
}
function canReplayRoverId(roverId) {
const record = rovers.get(String(roverId));
if (!record) return false;
if (!isPrivateRecord(record)) return true;
return isPrivateOpen(record);
}
module.exports = {
upsertRover,
removeRover,
lockRover,
setPrivateOpen,
setPrivateSafety,
getRoster,
getRosterForSocket,
broadcastRoster,
setNightVisionState,
handleSensorFrame,
@@ -630,6 +1146,10 @@ module.exports = {
managerEvents,
getRoversForSocket,
getPrimaryRoverForSocket,
canSeeRover,
canRequestControl,
applyPrivateDriveSafety,
canReplayRoverId,
};
roleEvents.on('change', ({ socket, role }) => {
@@ -641,7 +1161,8 @@ roleEvents.on('change', ({ socket, role }) => {
});
io.on('connection', (socket) => {
socket.emit('rovers', getRoster());
tickPrivateAutoClose();
socket.emit('rovers', getRosterForSocket(socket));
if (socket.data?.role === 'spectator') {
enableSpectator(socket);
}
@@ -658,7 +1179,10 @@ io.on('connection', (socket) => {
) {
throw new Error('Admins only');
}
const targetId = roverId || Array.from(rovers.keys())[0];
const fallbackTargetId = Array.from(rovers.keys()).find(
(id) => canRequestControl(id, socket, { allowUser: true }).ok,
);
const targetId = roverId || fallbackTargetId;
if (!targetId) {
throw new Error('No rovers available');
}
@@ -705,13 +1229,29 @@ io.on('connection', (socket) => {
}
function handleLockToggle({ roverId, locked } = {}, cb = () => {}) {
if (!isAdmin(socket)) {
const record = rovers.get(roverId);
if (!record) {
cb({ error: 'Unknown rover' });
return;
}
const isPrivate = isPrivateRecord(record);
if (isPrivate && !isLockdownAdmin(socket)) {
cb({ error: 'Not authorized' });
return;
}
if (!isPrivate && !isAdmin(socket)) {
cb({ error: 'Not authorized' });
return;
}
try {
lockRover(roverId, locked, { reason: 'manual' });
logger.info('Lock state changed', roverId, locked);
if (isPrivate) {
const open = !Boolean(locked);
setPrivateOpen(roverId, open, { reason: 'manual' });
logger.info('Private state changed', roverId, { open });
} else {
lockRover(roverId, locked, { reason: 'manual' });
logger.info('Lock state changed', roverId, locked);
}
cb({ success: true });
} catch (err) {
logger.warn('Lock change failed', roverId, err.message);
@@ -720,6 +1260,28 @@ io.on('connection', (socket) => {
}
}
function handlePrivateSafetySet({ roverId, safety } = {}, cb = () => {}) {
const record = rovers.get(roverId);
if (!record) {
cb({ error: 'Unknown rover' });
return;
}
if (!isPrivateRecord(record)) {
cb({ error: 'Rover is not private' });
return;
}
if (!isLockdownAdmin(socket)) {
cb({ error: 'Not authorized' });
return;
}
try {
const next = setPrivateSafety(roverId, safety || {}, { reason: 'manual' });
cb({ success: true, safety: next });
} catch (err) {
cb({ error: err.message });
}
}
function handleSubscribeAll(_, cb = () => {}) {
if (socket.data?.role !== 'spectator') {
cb({ error: 'Spectator role required' });
@@ -731,7 +1293,11 @@ io.on('connection', (socket) => {
}
logger.info('Spectator subscribing to all rovers', socket.id);
for (const record of rovers.values()) {
socket.join(record.room);
if (isRoverVisibleToSocket(record, socket)) {
socket.join(record.room);
} else {
socket.leave(record.room);
}
}
cb({ success: true });
}
@@ -742,16 +1308,20 @@ io.on('connection', (socket) => {
socket.on('session:releaseControl', handleReleaseControl);
socket.on('lockRover', handleLockToggle);
socket.on('session:lockRover', handleLockToggle);
socket.on('privateSafety:set', handlePrivateSafetySet);
socket.on('session:privateSafety:set', handlePrivateSafetySet);
socket.on('subscribeAll', handleSubscribeAll);
socket.on('session:subscribeAll', handleSubscribeAll);
socket.on('disconnecting', () => {
logger.info('Socket disconnecting', socket.id);
removeSocket(socket);
tickPrivateAutoClose();
});
socket.on('disconnect', () => {
logger.info('Socket disconnected', socket.id);
removeSocket(socket);
tickPrivateAutoClose();
});
});
@@ -759,7 +1329,11 @@ function enableSpectator(socket) {
if (!socket?.id || spectatorSockets.has(socket.id)) return;
spectatorSockets.add(socket.id);
for (const record of rovers.values()) {
socket.join(record.room);
if (isRoverVisibleToSocket(record, socket)) {
socket.join(record.room);
} else {
socket.leave(record.room);
}
}
}
@@ -770,3 +1344,33 @@ function disableSpectator(socket) {
socket.leave(record.room);
}
}
function tickPrivateAutoClose() {
const now = Date.now();
const onlineCount = io.sockets.sockets.size;
for (const record of rovers.values()) {
if (!isPrivateRecord(record) || !isPrivateOpen(record)) {
privateNoUsersSince.delete(record.id);
continue;
}
if (onlineCount > 0) {
privateNoUsersSince.delete(record.id);
continue;
}
const since = privateNoUsersSince.get(record.id) || now;
if (!privateNoUsersSince.has(record.id)) {
privateNoUsersSince.set(record.id, since);
continue;
}
if (now - since >= PRIVATE_AUTO_CLOSE_IDLE_MS) {
try {
setPrivateOpen(record.id, false, { reason: 'auto_idle', tts: true });
} catch (err) {
logger.warn('Private auto-close failed', { roverId: record.id, error: err.message });
}
privateNoUsersSince.delete(record.id);
}
}
}
setInterval(tickPrivateAutoClose, PRIVATE_AUTO_CLOSE_TICK_MS);
server/src/services/roverSnapshotSocketService.js
+4 -2
View File
@@ -117,11 +117,13 @@ roverSnapshotEvents.on('status', ({ id, error }) => {
io.on('connection', (socket) => {
socket.on('roverSnapshot:subscribe', (payload = {}, cb = () => {}) => {
const visibleRoster = roverManager.getRosterForSocket(socket);
const visibleIds = visibleRoster.map((rover) => String(rover.id));
const list = Array.isArray(payload?.ids)
? payload.ids.map(String)
: payload?.roverId || payload?.id
? [String(payload.roverId || payload.id)]
: roverManager.getRoster().map((rover) => rover.id);
: visibleIds;
const uniqueIds = Array.from(new Set(list));
try {
if (!allowSubscribe(socket.id)) {
@@ -131,7 +133,7 @@ io.on('connection', (socket) => {
if (!canViewSnapshots(socket)) {
throw new Error('Not authorized for rover snapshots');
}
const rosterIds = new Set(roverManager.getRoster().map((entry) => String(entry.id)));
const rosterIds = new Set(visibleIds);
const validIds = uniqueIds.filter((id) => rosterIds.has(String(id)));
validIds.forEach((roverId) => addSubscription(socket, roverId));
validIds.forEach((roverId) => {
server/src/services/sessionService.js
+52 -6
View File
@@ -54,10 +54,42 @@ function buildUserEntry(socket) {
};
}
function filterVisibleRoverId(socket, roverId) {
if (!roverId) return null;
return roverManager.canSeeRover(roverId, socket) ? roverId : null;
}
function filterActiveDriversForSocket(activeDrivers = {}, socket) {
const next = {};
Object.entries(activeDrivers || {}).forEach(([roverId, socketId]) => {
if (!roverManager.canSeeRover(roverId, socket)) return;
next[roverId] = socketId;
});
return next;
}
function filterTurnQueuesForSocket(turnQueues = {}, socket) {
const next = {};
Object.entries(turnQueues || {}).forEach(([roverId, info]) => {
if (!roverManager.canSeeRover(roverId, socket)) return;
next[roverId] = info;
});
return next;
}
function buildSession(socket) {
const users = Array.from(io.sockets.sockets.values())
.map((sock) => buildUserEntry(sock))
.filter(Boolean);
.filter(Boolean)
.map((entry) => ({
...entry,
roverId: filterVisibleRoverId(socket, entry.roverId),
}));
const roster = roverManager.getRosterForSocket(socket);
const assignment = assignmentService.describeAssignment(socket?.id || '');
const assignmentRoverId = filterVisibleRoverId(socket, assignment?.roverId);
const activeDrivers = filterActiveDriversForSocket(getActiveDrivers(), socket);
const turnQueues = filterTurnQueuesForSocket(getTurnQueues(), socket);
const socials =
configuredSocials?.length
? configuredSocials
@@ -70,14 +102,18 @@ function buildSession(socket) {
role: getRole(socket),
mode: getMode(),
isLocalNetwork: isLocalNetwork(getSocketIp(socket)),
roster: roverManager.getRoster(),
assignment: assignmentService.describeAssignment(socket?.id || ''),
activeDrivers: getActiveDrivers(),
turnQueues: getTurnQueues(),
roster,
assignment: {
...assignment,
roverId: assignmentRoverId,
status: assignmentRoverId ? assignment.status : assignment.status === 'waiting' ? 'waiting' : null,
},
activeDrivers,
turnQueues,
roomCameras: getRoomCameras(),
homeAssistant: getHomeAssistantState(),
replay: getReplayState(),
replaySources: getReplaySources(),
replaySources: getReplaySources(socket),
health: getHealthSnapshot(),
communityGoal: getCommunityGoal(),
adminReason: getAdminReason(),
@@ -168,6 +204,16 @@ managerEvents.on('lock', ({ roverId, locked }) => {
syncAll();
});
managerEvents.on('private', ({ roverId, open }) => {
logger.info('Private rover visibility change', roverId, open);
syncAll();
});
managerEvents.on('privateSafety', ({ roverId }) => {
logger.info('Private rover safety config changed', roverId);
syncAll();
});
managerEvents.on('driver', ({ socketId }) => {
if (!socketId) return;
const socket = io.sockets.sockets.get(socketId);
server/src/services/videoAuthService.js
+6
View File
@@ -162,6 +162,12 @@ app.post('/mediamtx/auth', (req, res) => {
if (!canView(socket)) {
return res.status(401).end();
}
if (streamInfo.type === 'rover') {
const roverId = streamInfo.baseId || streamInfo.id;
if (!roverManager.canSeeRover(roverId, socket)) {
return res.status(401).end();
}
}
if (info.sourceType === 'roverMic' && action === 'publish') {
const roverId = streamInfo.baseId || streamInfo.id;
if (!isVerified(socket)) {
server/src/services/videoSocketService.js
+3
View File
@@ -53,6 +53,9 @@ function canViewRover(socket, roverId) {
if (!passesMode(socket)) {
return false;
}
if (!roverManager.canSeeRover(roverId, socket)) {
return false;
}
const role = getRole(socket);
if (role === 'spectator' || isAdmin(socket)) {
return true;
webui/src/components/AdminPanel.jsx
+120
View File
@@ -22,6 +22,7 @@ export default function AdminPanel() {
rebootRover,
rebootServer,
setAudioLevels,
setPrivateSafety,
llmControl,
adminLogs,
llmCommentaryState,
@@ -44,11 +45,13 @@ export default function AdminPanel() {
ttsGain: Number.isFinite(currentAudioLevels.ttsGain) ? currentAudioLevels.ttsGain : 1,
forwardGain: Number.isFinite(currentAudioLevels.forwardGain) ? currentAudioLevels.forwardGain : 1,
});
const [privateSafetyDrafts, setPrivateSafetyDrafts] = useState({});
const isAdmin =
session?.role === 'admin' ||
session?.role === 'lockdown' ||
session?.role === 'lockdown-admin';
const isLockdownAdmin = session?.role === 'lockdown' || session?.role === 'lockdown-admin';
const currentMode = session?.mode ?? 'open';
@@ -180,6 +183,41 @@ export default function AdminPanel() {
});
}, [currentAudioLevels.forwardGain, currentAudioLevels.hornGain, currentAudioLevels.ttsGain]);
useEffect(() => {
const next = {};
(roster || []).forEach((rover) => {
if (!rover?.private?.enabled) return;
next[rover.id] = {
speedLimitEnabled: Boolean(rover?.private?.safety?.speedLimitEnabled),
speedLimitMaxWheelSpeed: Number.isFinite(rover?.private?.safety?.speedLimitMaxWheelSpeed)
? rover.private.safety.speedLimitMaxWheelSpeed
: 250,
hardOvercurrentEnabled: Boolean(rover?.private?.safety?.hardOvercurrentEnabled),
overcurrentStopMs: Number.isFinite(rover?.private?.safety?.overcurrentStopMs)
? rover.private.safety.overcurrentStopMs
: 300,
hardBumpEnabled: Boolean(rover?.private?.safety?.hardBumpEnabled),
bumpBackoffSpeed: Number.isFinite(rover?.private?.safety?.bumpBackoffSpeed)
? rover.private.safety.bumpBackoffSpeed
: 250,
bumpBackoffMs: Number.isFinite(rover?.private?.safety?.bumpBackoffMs)
? rover.private.safety.bumpBackoffMs
: 350,
cliffEnabled: Boolean(rover?.private?.safety?.cliffEnabled),
cliffBackoffSpeed: Number.isFinite(rover?.private?.safety?.cliffBackoffSpeed)
? rover.private.safety.cliffBackoffSpeed
: 250,
cliffBackoffMs: Number.isFinite(rover?.private?.safety?.cliffBackoffMs)
? rover.private.safety.cliffBackoffMs
: 500,
triggerCooldownMs: Number.isFinite(rover?.private?.safety?.triggerCooldownMs)
? rover.private.safety.triggerCooldownMs
: 800,
};
});
setPrivateSafetyDrafts(next);
}, [roster]);
const lockMap = useMemo(() => {
const map = {};
roster.forEach((rover) => {
@@ -188,6 +226,23 @@ export default function AdminPanel() {
return map;
}, [roster, lockStates]);
const updatePrivateSafetyDraft = (roverId, patch = {}) => {
setPrivateSafetyDrafts((current) => ({
...(current || {}),
[roverId]: { ...(current?.[roverId] || {}), ...(patch || {}) },
}));
};
const handlePrivateSafetySave = async (roverId) => {
try {
const draft = privateSafetyDrafts?.[roverId];
if (!draft) return;
await setPrivateSafety(roverId, draft);
} catch (err) {
alert(err.message);
}
};
if (!isAdmin) return null;
return (
@@ -338,6 +393,71 @@ export default function AdminPanel() {
>
{rebootStates[rover.id] ? 'Rebooting...' : 'Reboot'}
</button>
{rover?.private?.enabled ? (
<div className="w-full rounded border border-slate-700/70 p-0.5 space-y-0.5 text-[0.7rem]">
<div className="text-slate-300">Private safety</div>
<label className="flex items-center gap-0.5">
<input
type="checkbox"
checked={Boolean(privateSafetyDrafts?.[rover.id]?.speedLimitEnabled)}
disabled={!isLockdownAdmin}
onChange={(event) =>
updatePrivateSafetyDraft(rover.id, { speedLimitEnabled: Boolean(event.target.checked) })}
/>
<span>Speed limit</span>
</label>
<input
type="number"
min="1"
max="500"
className="field-input text-xs w-20"
disabled={!isLockdownAdmin}
value={privateSafetyDrafts?.[rover.id]?.speedLimitMaxWheelSpeed ?? 250}
onChange={(event) =>
updatePrivateSafetyDraft(rover.id, {
speedLimitMaxWheelSpeed: Number(event.target.value) || 250,
})}
/>
<label className="flex items-center gap-0.5">
<input
type="checkbox"
checked={Boolean(privateSafetyDrafts?.[rover.id]?.hardOvercurrentEnabled)}
disabled={!isLockdownAdmin}
onChange={(event) =>
updatePrivateSafetyDraft(rover.id, { hardOvercurrentEnabled: Boolean(event.target.checked) })}
/>
<span>Hard overcurrent</span>
</label>
<label className="flex items-center gap-0.5">
<input
type="checkbox"
checked={Boolean(privateSafetyDrafts?.[rover.id]?.hardBumpEnabled)}
disabled={!isLockdownAdmin}
onChange={(event) =>
updatePrivateSafetyDraft(rover.id, { hardBumpEnabled: Boolean(event.target.checked) })}
/>
<span>Hard bump</span>
</label>
<label className="flex items-center gap-0.5">
<input
type="checkbox"
checked={Boolean(privateSafetyDrafts?.[rover.id]?.cliffEnabled)}
disabled={!isLockdownAdmin}
onChange={(event) =>
updatePrivateSafetyDraft(rover.id, { cliffEnabled: Boolean(event.target.checked) })}
/>
<span>Cliff safety</span>
</label>
<button
type="button"
disabled={!isLockdownAdmin}
onClick={() => handlePrivateSafetySave(rover.id)}
className="button-dark disabled:opacity-50"
>
Apply Safety
</button>
</div>
) : null}
</div>
)}
/>
webui/src/components/RoverQueuesPanel.jsx
+6 -1
View File
@@ -113,6 +113,7 @@ export default function RoverQueuesPanel({ title = 'Rovers' }) {
const isSelfNext = Boolean(selfId && nextId && nextId === selfId);
const showTimer = remainingSeconds != null && (isSelfCurrent || isSelfNext);
const locked = Boolean(rover.locked);
const isPrivateOpen = Boolean(rover?.private?.enabled && rover?.private?.open);
const lockLabel = rover.lockReason ? `locked: ${rover.lockReason}` : 'locked';
const buttonLabel = locked ? lockLabel : pending[roverId] ? '...' : 'request';
const canClickRow = canRequest && !locked && !pending[roverId];
@@ -122,7 +123,11 @@ export default function RoverQueuesPanel({ title = 'Rovers' }) {
className={classNames(
'surface flex flex-wrap items-start justify-between gap-0.5',
canClickRow && 'cursor-pointer',
locked && 'bg-red-900/40',
locked
? 'bg-red-900/40'
: isPrivateOpen
? 'bg-amber-700/35 border border-amber-200/30'
: null,
)}
onClick={() => {
if (!canClickRow) return;
webui/src/components/RoverRoster.jsx
+11 -3
View File
@@ -30,12 +30,19 @@ export default function RoverRoster({
<p className="text-sm text-slate-500">{emptyText}</p>
) : (
<ul className="space-y-0.5 text-sm">
{roster.map((rover) => (
{roster.map((rover) => {
const isPrivateOpen = Boolean(rover?.private?.enabled && rover?.private?.open);
const isLocked = Boolean(rover?.locked);
return (
<li
key={rover.id}
className={classNames(
'surface flex flex-wrap items-center justify-between gap-0.5',
rover.locked && 'bg-red-900/40',
isLocked
? 'bg-red-900/40'
: isPrivateOpen
? 'bg-amber-700/35 border border-amber-200/30'
: null,
)}
>
<div>
@@ -54,7 +61,8 @@ export default function RoverRoster({
</div>
{renderActions ? renderActions(rover) : null}
</li>
))}
);
})}
</ul>
)}
</div>
webui/src/context/SessionContext.jsx
+3
View File
@@ -32,6 +32,7 @@ const SessionContext = createContext({
readyMicWhip: async () => {},
stopMicWhip: async () => {},
setAudioLevels: async () => {},
setPrivateSafety: async () => {},
llmControl: async () => {},
});
@@ -154,6 +155,8 @@ export function SessionProvider({ children }) {
readyMicWhip: (roverId) => emitWithAck('audio:micWhipReady', { roverId }),
stopMicWhip: (roverId) => emitWithAck('audio:micWhipStop', { roverId }),
setAudioLevels: (levels = {}) => emitWithAck('audioLevels:set', levels),
setPrivateSafety: (roverId, safety = {}) =>
emitWithAck('session:privateSafety:set', { roverId, safety }),
llmControl: (action, controls = {}) =>
emitWithAck('llm:control', { controls: { action, ...controls } }),
pushAlert: (alert) =>