set default tab to help. add beep keys.

pi/roverd/command.go

@@ -28,6 +28,7 @@ type inboundMessage struct {
 	Servo        *servoPayload        `json:"servo,omitempty"`
 	TTS          *ttsPayload          `json:"tts,omitempty"`
 	NightVision  *nightVisionPayload  `json:"nightVision,omitempty"`
+	Song         *songPayload         `json:"song,omitempty"`
 }
 
 type driveDirectPayload struct {
@@ -67,6 +68,17 @@ type nightVisionPayload struct {
 	Action string `json:"action"`
 }
 
+type songPayload struct {
+	Slot  *int       `json:"slot,omitempty"`
+	Notes []songNote `json:"notes"`
+	Loop  bool       `json:"loop,omitempty"`
+}
+
+type songNote struct {
+	Note     int `json:"note"`
+	Duration int `json:"duration"`
+}
+
 type ackMessage struct {
 	Type   string `json:"type"`
 	ID     string `json:"id"`

pi/roverd/serial.go

@@ -95,3 +95,26 @@ func (s *SerialAdapter) SendRaw(raw []byte) error {
 func (s *SerialAdapter) SeekDock() error {
 	return s.write([]byte{143})
 }
+
+func (s *SerialAdapter) PlaySong(slot int, notes []songNote) error {
+	if len(notes) == 0 {
+		return fmt.Errorf("song requires at least one note")
+	}
+	if len(notes) > 16 {
+		return fmt.Errorf("song supports up to 16 notes, got %d", len(notes))
+	}
+	if slot < 0 || slot > 4 {
+		return fmt.Errorf("song slot must be 0-4")
+	}
+
+	payload := []byte{140, byte(slot), byte(len(notes))}
+	for _, n := range notes {
+		note := clampInt(n.Note, 31, 127)
+		duration := clampInt(n.Duration, 1, 255)
+		payload = append(payload, byte(note), byte(duration))
+	}
+	if err := s.write(payload); err != nil {
+		return err
+	}
+	return s.write([]byte{141, byte(slot)})
+}

pi/roverd/serial_dummy.go

@@ -56,3 +56,8 @@ func (s *SerialAdapter) SeekDock() error {
 	s.log.Printf("[dummy] seek dock")
 	return nil
 }
+
+func (s *SerialAdapter) PlaySong(slot int, notes []songNote) error {
+	s.log.Printf("[dummy] play song slot=%d notes=%v", slot, notes)
+	return nil
+}

pi/roverd/wsclient.go

@@ -161,6 +161,12 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
 			return fmt.Errorf("night vision disabled")
 		}
 		return c.nightVision.HandleAction(msg.NightVision.Action)
+	case msg.Song != nil:
+		slot := 0
+		if msg.Song.Slot != nil {
+			slot = clampInt(*msg.Song.Slot, 0, 4)
+		}
+		return c.adapter.PlaySong(slot, msg.Song.Notes)
 	default:
 		return fmt.Errorf("unsupported command type: %s", msg.Type)
 	}