laser locking and idle

2026-09-16 09:31:20 -04:00 · 2026-06-27 18:06:24 -04:00
parent 0cfc16528b
commit 4ee4f7d06e
9 changed files with 256 additions and 152 deletions
@@ -78,7 +78,7 @@
 <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
 <script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
    <title>Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-BoLmfZBk.js"></script>
+    <script type="module" crossorigin src="/assets/index-C_cLKG0x.js"></script>
    <link rel="stylesheet" crossorigin href="/assets/index-CKlOAshP.css">
  </head>
  <body>
@@ -8,10 +8,53 @@ const { isAdmin, isLockdownAdmin } = require('../roleService');
 const { isDeterred } = require('../verificationService');
 const logger = require('../../globals/logger').child('commandService');
 const { isHeadlightBlocked } = require('../../rewards/definitions/darkness');
+const homeAssistantService = require('../homeAssistantService');

 const pendingCommands = new Map(); // id -> { roverId }
 const lastDriveActivity = new Map(); // roverId -> { ts, socketId, direction, speed, isAdmin }
 const driveCooldowns = new Map(); // roverId -> blockedUntil
+let roomLightsWereLockedOn = Boolean(homeAssistantService.getLightPolicyState?.()?.lockedOn);
+
+function isRoomLightsLockedOn() {
+  return Boolean(homeAssistantService.getLightPolicyState?.()?.lockedOn);
+}
+
+function getLaserAction(payload = {}) {
+  return String(payload?.laser?.action || 'toggle').trim().toLowerCase() || 'toggle';
+}
+
+function isLaserCommandBlockedByRoomLightLock(payload = {}) {
+  if (!isRoomLightsLockedOn()) return false;
+  // A locked-on room-light policy means the laser must not emit. Explicit off
+  // commands are still allowed so cleanup paths can force a safe state.
+  return getLaserAction(payload) !== 'off';
+}
+
+function forceAllRoverLasersOff(reason) {
+  const attempted = [];
+  const failed = [];
+  roverManager.rovers.forEach((record) => {
+    if (!record?.ws || !record?.meta?.laser?.enabled) return;
+    const roverId = String(record.id);
+    try {
+      issueCommand(roverId, {
+        type: 'laser',
+        laser: { action: 'off' },
+      });
+      attempted.push(roverId);
+    } catch (err) {
+      failed.push({ roverId, error: err.message });
+    }
+  });
+  if (attempted.length || failed.length) {
+    logger.info('Forced rover lasers off', { reason, attempted, failed });
+  }
+}
+
+function enforceLaserRoomLightLock(reason) {
+  if (!isRoomLightsLockedOn()) return;
+  forceAllRoverLasersOff(reason);
+}

 function normalizeOutboundCommandPayload(payload = {}) {
  if (payload?.type !== 'tts') return payload;
@@ -38,6 +81,9 @@ function issueCommand(roverId, payload) {
  if (!record || !record.ws) {
    throw new Error('Rover offline');
  }
+  if (payload?.type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
+    throw new Error('Laser disabled while room lights are locked on');
+  }
  const id = uuidv4();
  const normalizedPayload = normalizeOutboundCommandPayload(payload);
  const message = { ...normalizedPayload, id };
@@ -158,12 +204,21 @@ io.on('connection', (socket) => {
      if (type === 'audioLevels') {
        throw new Error('audioLevels command is service-managed');
      }
+      const payload = data ? { ...data } : {};
      if (type === 'headlight' && isHeadlightBlocked()) {
        logger.info('Ignoring headlight command while darkness lock is active', { socketId: socket.id, roverId });
        reply({ ignored: true, reason: 'darknessActive' });
        return;
      }
-      const payload = data ? { ...data } : {};
+      if (type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
+        logger.info('Ignoring laser command while room lights are locked on', {
+          socketId: socket.id,
+          roverId,
+          action: getLaserAction(payload),
+        });
+        reply({ ignored: true, reason: 'roomLightsLockedOn' });
+        return;
+      }
      const isRebootCommand = type === 'reboot';
      const isUpdateCommand = type === 'update';
      const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
@@ -235,6 +290,23 @@ io.on('connection', (socket) => {
  socket.on('command:issue', handleCommand);
 });

+homeAssistantService.homeAssistantEvents.on('update', () => {
+  const lockedOn = isRoomLightsLockedOn();
+  if (lockedOn && !roomLightsWereLockedOn) {
+    enforceLaserRoomLightLock('roomLightsLockedOn');
+  }
+  roomLightsWereLockedOn = lockedOn;
+});
+
+roverManager.managerEvents.on('rover', (event = {}) => {
+  // A rover can reconnect with laser.initialOn enabled or stale hardware state.
+  // When room lights are locked on, every newly upserted rover gets an explicit
+  // off command so the lock policy is true even across reconnects.
+  if (event.action === 'upsert') {
+    enforceLaserRoomLightLock('roverUpsertWhileRoomLightsLockedOn');
+  }
+});
+
 function isSongRawPayload(payload) {
  if (!payload) return false;
  const raw = payload.raw;
@@ -9,6 +9,7 @@ const neatoService = require('../neatoService');
 const liftService = require('../liftService');
 const {
  HEADLIGHT_DISABLE_ACTION,
+  LASER_DISABLE_ACTION,
  DOCK_COMMAND_BASE64,
 } = require('./constants');

@@ -79,6 +80,29 @@ async function disableAllRoverHeadlights() {
  return { action: 'disableRoverHeadlights', attempted, failed };
 }

+async function disableAllRoverLasers() {
+  const attempted = [];
+  const failed = [];
+  roverManager.rovers.forEach((record) => {
+    if (!record?.ws || !record?.meta?.laser?.enabled) return;
+    const roverId = String(record.id);
+    try {
+      // Idle cleanup is allowed to send an explicit off command even when
+      // other laser commands are policy-blocked. The point of this action is
+      // to leave the rover in a non-emitting state when nobody is actively
+      // driving it.
+      issueCommand(roverId, {
+        type: 'laser',
+        laser: { action: LASER_DISABLE_ACTION },
+      });
+      attempted.push(roverId);
+    } catch (err) {
+      failed.push({ roverId, error: err.message });
+    }
+  });
+  return { action: 'disableRoverLasers', attempted, failed };
+}
+
 async function sendNeatoHome() {
  try {
    await neatoService.sendHome();
@@ -101,6 +125,7 @@ const idleActions = [
  turnOffRoomControls,
  // dockAllRovers,
  disableAllRoverHeadlights,
+  disableAllRoverLasers,
  sendNeatoHome,
  raiseLift,
 ];
@@ -3,10 +3,12 @@
 // Scope: Centralizes immutable configuration for trigger windows and rover command payloads.
 const IDLE_TIMEOUT_MS = 2 * 60 * 1000;
 const HEADLIGHT_DISABLE_ACTION = 'off';
+const LASER_DISABLE_ACTION = 'off';
 const DOCK_COMMAND_BASE64 = Buffer.from([143]).toString('base64');

 module.exports = {
  IDLE_TIMEOUT_MS,
  HEADLIGHT_DISABLE_ACTION,
+  LASER_DISABLE_ACTION,
  DOCK_COMMAND_BASE64,
 };