horn beep help thing yay

2026-09-16 01:21:20 -04:00 · 2026-09-12 17:17:18 -04:00
parent 02a32e2524
commit 3b7b2ac21e
3 changed files with 201 additions and 2 deletions
@@ -0,0 +1,110 @@
+// Rover Help Horn Notifier
+// Purpose: Repeats a short, disruptive locator chirp while a rover needs help.
+// Scope: Uses the existing server-to-roverd horn start/stop protocol without changing roverd.
+const HELP_HORN_FREQUENCY_HZ = 2000;
+const HELP_HORN_DURATION_MS = 250;
+const HELP_HORN_INTERVAL_MS = 5 * 1000;
+
+function createHelpHornNotifier({
+  getRover,
+  issueCommand,
+  logger,
+  setIntervalFn = setInterval,
+  clearIntervalFn = clearInterval,
+  setTimeoutFn = setTimeout,
+  clearTimeoutFn = clearTimeout,
+} = {}) {
+  const intervals = new Map();
+  const stopTimers = new Map();
+
+  function stopPendingHorn(roverId) {
+    const id = String(roverId);
+    const stopTimer = stopTimers.get(id);
+    if (stopTimer != null) clearTimeoutFn(stopTimer);
+    stopTimers.delete(id);
+
+    // Always send a final stop during cleanup. This ensures HELP clearing in
+    // the middle of a 250 ms chirp silences it immediately instead of waiting
+    // for a timeout that was just cancelled.
+    const record = getRover?.(id);
+    if (!record?.ws) return;
+    try {
+      issueCommand(id, { type: 'horn', horn: { action: 'stop' } });
+    } catch (err) {
+      logger?.warn?.('Failed to stop rover help horn', { roverId: id, error: err.message });
+    }
+  }
+
+  function chirp(roverId) {
+    const id = String(roverId);
+    const record = getRover?.(id);
+    if (!record?.ws || !record?.meta?.horn?.enabled) return false;
+
+    try {
+      issueCommand(id, {
+        type: 'horn',
+        horn: {
+          action: 'start',
+          waveform: 'saw',
+          freqs: [HELP_HORN_FREQUENCY_HZ],
+        },
+      });
+    } catch (err) {
+      logger?.warn?.('Failed to start rover help horn', { roverId: id, error: err.message });
+      return false;
+    }
+
+    // There can be only one pending automatic stop for a rover. Replacing an
+    // unexpected stale timer keeps the pulse duration bounded even if chirp is
+    // called manually in addition to its normal five-second interval.
+    const previousStop = stopTimers.get(id);
+    if (previousStop != null) clearTimeoutFn(previousStop);
+    stopTimers.set(
+      id,
+      setTimeoutFn(() => {
+        stopTimers.delete(id);
+        const current = getRover?.(id);
+        if (!current?.ws) return;
+        try {
+          issueCommand(id, { type: 'horn', horn: { action: 'stop' } });
+        } catch (err) {
+          logger?.warn?.('Failed to finish rover help chirp', { roverId: id, error: err.message });
+        }
+      }, HELP_HORN_DURATION_MS),
+    );
+    return true;
+  }
+
+  function start(roverId) {
+    const id = String(roverId);
+    if (intervals.has(id)) return;
+    const record = getRover?.(id);
+    if (!record?.ws || !record?.meta?.horn?.enabled) return;
+
+    // Sound immediately so a newly detected rover can be located without
+    // waiting through the first five-second interval.
+    chirp(id);
+    intervals.set(id, setIntervalFn(() => chirp(id), HELP_HORN_INTERVAL_MS));
+  }
+
+  function stop(roverId) {
+    const id = String(roverId);
+    const interval = intervals.get(id);
+    if (interval != null) clearIntervalFn(interval);
+    intervals.delete(id);
+    stopPendingHorn(id);
+  }
+
+  return {
+    chirp,
+    start,
+    stop,
+  };
+}
+
+module.exports = {
+  HELP_HORN_DURATION_MS,
+  HELP_HORN_FREQUENCY_HZ,
+  HELP_HORN_INTERVAL_MS,
+  createHelpHornNotifier,
+};