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add reboot command

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This commit is contained in:
legop3
2026-02-18 15:09:36 -05:00
parent eb52c8c6ac
commit 40e21d4ac5
11 changed files with 211 additions and 129 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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@@ -31,6 +31,7 @@ type inboundMessage struct {
Horn *hornPayload `json:"horn,omitempty"` Horn *hornPayload `json:"horn,omitempty"`
NightVision *nightVisionPayload `json:"nightVision,omitempty"` NightVision *nightVisionPayload `json:"nightVision,omitempty"`
Song *songPayload `json:"song,omitempty"` Song *songPayload `json:"song,omitempty"`
Reboot *rebootPayload `json:"reboot,omitempty"`
} }
type driveDirectPayload struct { type driveDirectPayload struct {
@@ -87,6 +88,10 @@ type songNote struct {
Duration int `json:"duration"` Duration int `json:"duration"`
} }
type rebootPayload struct {
DelayMs int `json:"delayMs,omitempty"`
}
type ackMessage struct { type ackMessage struct {
Type string `json:"type"` Type string `json:"type"`
ID string `json:"id"` ID string `json:"id"`
pi/roverd/wsclient.go
+43
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@@ -217,11 +217,54 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
slot = clampInt(*msg.Song.Slot, 0, 4) slot = clampInt(*msg.Song.Slot, 0, 4)
} }
return c.adapter.PlaySong(slot, msg.Song.Notes) return c.adapter.PlaySong(slot, msg.Song.Notes)
case msg.Reboot != nil || msg.Type == "reboot":
return c.handleRebootCommand(msg.Reboot)
default: default:
return fmt.Errorf("unsupported command type: %s", msg.Type) return fmt.Errorf("unsupported command type: %s", msg.Type)
} }
} }
func (c *WSClient) handleRebootCommand(payload *rebootPayload) error {
if err := c.adapter.DriveDirect(0, 0); err != nil {
return fmt.Errorf("stop drive before reboot: %w", err)
}
if err := c.adapter.MotorPWM(0, 0, 0); err != nil {
return fmt.Errorf("stop aux motors before reboot: %w", err)
}
if err := c.adapter.StartOI(); err != nil {
return fmt.Errorf("enter passive mode before reboot: %w", err)
}
delay := 300 * time.Millisecond
if payload != nil && payload.DelayMs > 0 {
delay = time.Duration(clampInt(payload.DelayMs, 50, 5000)) * time.Millisecond
}
c.connMu.Lock()
if c.rebootIssued {
c.connMu.Unlock()
return fmt.Errorf("reboot already pending")
}
c.rebootIssued = true
c.connMu.Unlock()
c.emitEvent("system.rebooting", map[string]any{
"source": "remoteCommand",
"delayMs": delay.Milliseconds(),
})
go func() {
time.Sleep(delay)
c.log.Printf("rebooting pi after remote reboot command")
cmd := exec.Command("systemctl", "reboot")
if err := cmd.Start(); err != nil {
c.log.Printf("reboot command failed: %v", err)
}
}()
return nil
}
func (c *WSClient) applyAutoSideBrush(left, right int) { func (c *WSClient) applyAutoSideBrush(left, right int) {
if c.cfg == nil || !c.cfg.AutoSideBrush.Enabled { if c.cfg == nil || !c.cfg.AutoSideBrush.Enabled {
if c.autoSideOn { if c.autoSideOn {
server/public/assets/index-BIUOTGXU.js
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server/public/assets/index-DCtb7Ryh.js
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server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-DCtb7Ryh.js"></script> <script type="module" crossorigin src="/assets/index-BIUOTGXU.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-Bz1ixYh7.css"> <link rel="stylesheet" crossorigin href="/assets/index-Bz1ixYh7.css">
</head> </head>
<body> <body>
server/src/services/commandService.js
+9 -2
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@@ -64,12 +64,19 @@ io.on('connection', (socket) => {
if (!roverId) { if (!roverId) {
throw new Error('roverId required'); throw new Error('roverId required');
} }
if (!type) {
throw new Error('type required');
}
const payload = data ? { ...data } : {}; const payload = data ? { ...data } : {};
const isRebootCommand = type === 'reboot';
const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload)); const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
if (!isSongCommand && !roverManager.canDrive(roverId, socket)) { const isAdminSocket = isAdmin(socket);
if (isRebootCommand && !isAdminSocket) {
throw new Error('Not authorized');
}
if (!isSongCommand && !isRebootCommand && !roverManager.canDrive(roverId, socket)) {
throw new Error('Not your turn or no control'); throw new Error('Not your turn or no control');
} }
const isAdminSocket = isAdmin(socket);
const driveDirect = payload?.driveDirect; const driveDirect = payload?.driveDirect;
if (type === 'drive' && driveDirect && !isAdminSocket) { if (type === 'drive' && driveDirect && !isAdminSocket) {
const left = Number(driveDirect.left); const left = Number(driveDirect.left);
webui/src/components/AdminPanel.jsx
+25 -1
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@@ -10,9 +10,11 @@ const MODES = [
]; ];
export default function AdminPanel() { export default function AdminPanel() {
const { session, lockRover, setMode, requestControl, setCommunityGoal, setAdminReason, adminLogs } = useSession(); const { session, lockRover, setMode, requestControl, setCommunityGoal, setAdminReason, rebootRover, adminLogs } =
useSession();
const roster = useMemo(() => session?.roster ?? [], [session?.roster]); const roster = useMemo(() => session?.roster ?? [], [session?.roster]);
const [lockStates, setLockStates] = useState({}); const [lockStates, setLockStates] = useState({});
const [rebootStates, setRebootStates] = useState({});
const health = session?.health || null; const health = session?.health || null;
const currentGoal = session?.communityGoal?.text || ''; const currentGoal = session?.communityGoal?.text || '';
const goalUpdatedAt = session?.communityGoal?.updatedAt || null; const goalUpdatedAt = session?.communityGoal?.updatedAt || null;
@@ -54,6 +56,20 @@ export default function AdminPanel() {
} }
}; };
const handleReboot = async (rover) => {
if (!rover?.id) return;
const ok = window.confirm(`Reboot rover "${rover.name || rover.id}" now?`);
if (!ok) return;
setRebootStates((prev) => ({ ...prev, [rover.id]: true }));
try {
await rebootRover(rover.id);
} catch (err) {
alert(err.message);
} finally {
setRebootStates((prev) => ({ ...prev, [rover.id]: false }));
}
};
const handleGoalSave = async () => { const handleGoalSave = async () => {
try { try {
await setCommunityGoal(goalDraft); await setCommunityGoal(goalDraft);
@@ -176,6 +192,14 @@ export default function AdminPanel() {
<button type="button" onClick={() => handleForceControl(rover.id)} className="button-dark"> <button type="button" onClick={() => handleForceControl(rover.id)} className="button-dark">
Force Force
</button> </button>
<button
type="button"
onClick={() => handleReboot(rover)}
disabled={Boolean(rebootStates[rover.id])}
className="button-danger disabled:cursor-not-allowed disabled:opacity-60"
>
{rebootStates[rover.id] ? 'Rebooting...' : 'Reboot'}
</button>
</div> </div>
)} )}
/> />
webui/src/context/SessionContext.jsx
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@@ -20,6 +20,7 @@ const SessionContext = createContext({
triggerReplay: async () => {}, triggerReplay: async () => {},
setCommunityGoal: async () => {}, setCommunityGoal: async () => {},
setAdminReason: async () => {}, setAdminReason: async () => {},
rebootRover: async () => {},
}); });
function useAckEmitter(socket) { function useAckEmitter(socket) {
@@ -117,6 +118,8 @@ export function SessionProvider({ children }) {
triggerReplay: (sources = []) => emitWithAck('replay:trigger', { sources }), triggerReplay: (sources = []) => emitWithAck('replay:trigger', { sources }),
setCommunityGoal: (text) => emitWithAck('communityGoal:set', { text }), setCommunityGoal: (text) => emitWithAck('communityGoal:set', { text }),
setAdminReason: (text) => emitWithAck('adminReason:set', { text }), setAdminReason: (text) => emitWithAck('adminReason:set', { text }),
rebootRover: (roverId) =>
emitWithAck('command', { roverId, type: 'reboot', data: { reboot: {} } }),
pushAlert: (alert) => pushAlert: (alert) =>
setAlerts((prev) => [ setAlerts((prev) => [
...prev.slice(-49), ...prev.slice(-49),