the

pi/roverd/command.go

@@ -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

@@ -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.sample.yaml

@@ -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

@@ -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

@@ -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)