From 6d001b5263a0c50cdf00b3fc29b6e029e7d6e660 Mon Sep 17 00:00:00 2001 From: legop3 Date: Sun, 9 Nov 2025 02:51:44 -0500 Subject: [PATCH] might ditch the esp32, this is the best ive gotten with it. --- .gitignore | 2 + README.md | 54 +- include/config.example.h | 18 + include/protocol.h | 85 ++ platformio.ini | 3 +- server/package-lock.json | 1462 ++++++++++++++++++++++++++++++++ server/package.json | 18 + server/public/app.js | 193 +++++ server/public/index.html | 37 + server/robots.example.json | 7 + server/src/checksum.js | 7 + server/src/constants.js | 34 + server/src/robotRegistry.js | 61 ++ server/src/server.js | 197 +++++ server/src/telemetryDecoder.js | 179 ++++ server/src/udpPackets.js | 18 + src/main.cpp | 369 ++++++++ 17 files changed, 2739 insertions(+), 5 deletions(-) create mode 100644 include/config.example.h create mode 100644 include/protocol.h create mode 100644 server/package-lock.json create mode 100644 server/package.json create mode 100644 server/public/app.js create mode 100644 server/public/index.html create mode 100644 server/robots.example.json create mode 100644 server/src/checksum.js create mode 100644 server/src/constants.js create mode 100644 server/src/robotRegistry.js create mode 100644 server/src/server.js create mode 100644 server/src/telemetryDecoder.js create mode 100644 server/src/udpPackets.js create mode 100644 src/main.cpp diff --git a/.gitignore b/.gitignore index 04ee8a1b..f4abee69 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,5 @@ logs node_modules/ .pio .vscode/ +include/config.h +server/robots.json diff --git a/README.md b/README.md index 482ac961..bcdb048d 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,9 @@ a remake of my RoombaRover project with a decentralized and embedded approach -on each roomba: +## Hardware stack + +On each roomba: - an esp32 - a level shifter - DONT FORGET THE BRC PIN PULSE @@ -13,6 +15,50 @@ on each roomba: - speaker - MAYBE a master relay which can be turned off programatically to save the roomba from discharging. based on battery voltage plus urgent battery #? -UDP: -one control stream out to the esp32 -one raw data sensor stream in form the esp32 \ No newline at end of file +## Current software layout + +``` +. +├── include/ +│ ├── config.example.h // copy to config.h with your Wi-Fi + server settings +│ └── protocol.h // shared packet layout (control + telemetry) +├── src/main.cpp // ESP32 firmware entrypoint (PlatformIO) +└── server/ + ├── package.json // Node.js server + Socket.IO web UI + ├── robots.example.json // copy/edit to robots.json for your fleet + ├── src/ // UDP relay + telemetry decoder + └── public/ // barebones HTML/JS UI +``` + +### Firmware quickstart + +1. `cp include/config.example.h include/config.h` and fill in: + - `WIFI_SSID` / `WIFI_PASSWORD` + - `CONTROL_SERVER_IP` (Node server host) + - `ROOMBA_ID` (unique per robot; must match the server entry) + - tweak ports only if you have a reason. +2. Flash with PlatformIO: `pio run -t upload` (env `esp32s3`). +3. The firmware spawns three FreeRTOS tasks: + - control loop (5 ms cadence) – consumes UDP control packets and drives the Create 2 via UART pins 16/17. Wheel commands decay to zero if no packets arrive for 250 ms. + - telemetry loop (500 ms cadence) – polls sensor group 100, appends Wi-Fi/LRU stats, and streams UDP telemetry to the server. + - BRC maintenance – pulses GPIO5 low for 1 s every minute to keep the robot awake. + +### Server + web UI quickstart + +1. `cd server` +2. `cp robots.example.json robots.json` and add one entry per robot. Only the `id` is required (must match `ROOMBA_ID` in the firmware); override `controlPort`/`maxWheelSpeed` if you deviate from defaults. +3. Install deps: `npm install` +4. Run in dev mode: `npm run dev` + - HTTP + Socket.IO on `http://localhost:8080` + - UDP control bind port `62000`, telemetry bind port `62001` (override with env vars). +5. Open the web UI: + - select a robot + - drive with WASD (left/right wheel mm/s shown in telemetry summary) + - buttons issue Safe/Full/Enable-OI/Dock commands + - sensor list renders the decoded Create 2 group-100 payload plus ESP stats + +Each ESP32 announces itself as soon as it streams telemetry, so the server automatically learns the robot’s current IP address (no static DHCP entries required). If you do know a static IP, you can still set `deviceHost` in `robots.json` and the server will use it immediately. + +UDP streams stay simple: +- server -> ESP32: fixed 12-byte control packet blasted at 50 Hz per robot +- ESP32 -> server: framed telemetry header + raw sensor group 100 + trailer (CRC-8) diff --git a/include/config.example.h b/include/config.example.h new file mode 100644 index 00000000..e9214c3f --- /dev/null +++ b/include/config.example.h @@ -0,0 +1,18 @@ +#pragma once + +// Copy this file to include/config.h and fill in your network + server settings. + +#define WIFI_SSID "YourNetworkName" +#define WIFI_PASSWORD "YourNetworkPassword" + +// UDP server that issues control packets and receives telemetry. +#define CONTROL_SERVER_IP "192.168.1.50" +#define CONTROL_SERVER_PORT 62000 +#define TELEMETRY_SERVER_PORT 62001 + +// Local ports on the ESP32. Keeping them distinct simplifies sniffing. +#define ESP32_CONTROL_PORT 50010 +#define ESP32_TELEMETRY_PORT 50011 + +// Friendly name to embed in telemetry. +#define ROOMBA_ID "roomba-alpha" diff --git a/include/protocol.h b/include/protocol.h new file mode 100644 index 00000000..f2f8bbbc --- /dev/null +++ b/include/protocol.h @@ -0,0 +1,85 @@ +#pragma once + +#include +#include + +#include + +namespace mrr { + +constexpr uint8_t kControlMagic = 0xAA; +constexpr uint8_t kTelemetryMagic = 0x55; +constexpr uint8_t kProtocolVersion = 1; +constexpr size_t kSensorGroup100Length = 80; +constexpr size_t kMaxRobotIdLength = 16; + +enum class OiModeRequest : uint8_t { + kNoChange = 0, + kPassive = 1, + kSafe = 2, + kFull = 3, +}; + +enum ActionBits : uint8_t { + kActionSeekDock = 0x01, + kActionPlaySong = 0x02, + kActionLoadSong = 0x04, + kActionEnableOi = 0x08, +}; + +struct __attribute__((packed)) ControlPacket { + uint8_t magic{kControlMagic}; + uint8_t version{kProtocolVersion}; + uint16_t seq{}; + int16_t left_mmps{}; + int16_t right_mmps{}; + uint8_t oi_mode{}; + uint8_t actions{}; + uint8_t song_slot{}; + uint8_t checksum{}; +}; + +static_assert(sizeof(ControlPacket) == 12, "ControlPacket must remain packed"); + +struct __attribute__((packed)) TelemetryPacketHeader { + uint8_t magic{kTelemetryMagic}; + uint8_t version{kProtocolVersion}; + uint16_t seq{}; + uint32_t uptime_ms{}; + uint32_t last_control_age_ms{}; + int8_t wifi_rssi_dbm{}; + uint8_t status_bits{}; + uint8_t sensor_bytes{}; + uint8_t robot_id_length{}; + char robot_id[kMaxRobotIdLength]{}; +}; + +struct __attribute__((packed)) TelemetryPacketTrailer { + int16_t applied_left_mmps{}; + int16_t applied_right_mmps{}; + uint16_t last_control_seq{}; + uint16_t dropped_control_packets{}; + uint8_t checksum{}; +}; + +inline uint8_t checksum8(const uint8_t* data, size_t len) { + uint32_t sum = 0; + for (size_t i = 0; i < len; ++i) { + sum += data[i]; + } + return static_cast(sum & 0xFF); +} + +template +inline uint8_t checksumPayload(const T& pod) { + static_assert(std::is_trivially_copyable::value, "checksum payload must be POD"); + return checksum8(reinterpret_cast(&pod), sizeof(T)); +} + +template +inline uint8_t checksumExcludingLastByte(const T& pod) { + static_assert(std::is_trivially_copyable::value, "checksum payload must be POD"); + return checksum8(reinterpret_cast(&pod), sizeof(T) - 1); +} + +} // namespace mrr diff --git a/platformio.ini b/platformio.ini index 6576c2c2..4194fc72 100644 --- a/platformio.ini +++ b/platformio.ini @@ -1,4 +1,5 @@ [env:esp32s3] platform = espressif32 board = esp32-s3-devkitc-1 -monitor_speed = 115200 \ No newline at end of file +monitor_speed = 115200 +framework = arduino \ No newline at end of file diff --git a/server/package-lock.json b/server/package-lock.json new file mode 100644 index 00000000..cfedd691 --- /dev/null +++ b/server/package-lock.json @@ -0,0 +1,1462 @@ +{ + "name": "multi-roomba-rover-server", + "version": "0.1.0", + 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"utf-8-validate": { + "optional": true + } + } + } + } +} diff --git a/server/package.json b/server/package.json new file mode 100644 index 00000000..5a0338e2 --- /dev/null +++ b/server/package.json @@ -0,0 +1,18 @@ +{ + "name": "multi-roomba-rover-server", + "version": "0.1.0", + "type": "module", + "description": "UDP relay and web UI for MultiRoombaRover", + "main": "src/server.js", + "scripts": { + "start": "node src/server.js", + "dev": "nodemon src/server.js" + }, + "dependencies": { + "express": "^4.19.2", + "socket.io": "^4.7.5" + }, + "devDependencies": { + "nodemon": "^3.0.3" + } +} diff --git a/server/public/app.js b/server/public/app.js new file mode 100644 index 00000000..af1f70c8 --- /dev/null +++ b/server/public/app.js @@ -0,0 +1,193 @@ +const socket = io(); + +const DRIVE_SPEED = 250; +const TURN_SPEED = 200; +const STATUS_FLAGS = [ + { bit: 0x01, label: 'wifi' }, + { bit: 0x02, label: 'oi-ready' }, + { bit: 0x04, label: 'sensors' }, +]; + +const state = { + robots: [], + selectedRobotId: null, + telemetry: {}, + activeKeys: new Set(), +}; + +const robotSelect = document.getElementById('robotSelect'); +const telemetrySummary = document.getElementById('telemetrySummary'); +const sensorList = document.getElementById('sensorList'); +const safeModeBtn = document.getElementById('safeModeBtn'); +const fullModeBtn = document.getElementById('fullModeBtn'); +const enableOiBtn = document.getElementById('enableOiBtn'); +const seekDockBtn = document.getElementById('seekDockBtn'); +const playSongBtn = document.getElementById('playSongBtn'); +const songSlotInput = document.getElementById('songSlot'); + +function flattenSensors(obj, prefix = '') { + const result = {}; + Object.entries(obj || {}).forEach(([key, value]) => { + const path = prefix ? `${prefix}.${key}` : key; + if (value && typeof value === 'object' && !Array.isArray(value)) { + Object.assign(result, flattenSensors(value, path)); + } else { + result[path] = value; + } + }); + return result; +} + +function renderRobots() { + robotSelect.innerHTML = ''; + state.robots.forEach((robot) => { + const option = document.createElement('option'); + option.value = robot.id; + option.textContent = robot.id; + if (robot.id === state.selectedRobotId) { + option.selected = true; + } + robotSelect.appendChild(option); + }); +} + +function renderTelemetry() { + const telemetry = state.telemetry[state.selectedRobotId]; + if (!telemetry) { + telemetrySummary.textContent = 'No telemetry'; + sensorList.textContent = ''; + return; + } + const { header, trailer, sensors } = telemetry; + const flags = STATUS_FLAGS + .filter((flag) => header.statusBits & flag.bit) + .map((flag) => flag.label) + .join(', '); + const summaryLines = [ + `Seq: ${header.seq}`, + `Uptime: ${header.uptimeMs} ms`, + `Last Control Age: ${header.lastControlAgeMs} ms`, + `WiFi RSSI: ${header.wifiRssiDbm} dBm`, + `Status: ${flags || 'none'}`, + `Applied mm/s: L ${trailer.appliedLeftMmps} | R ${trailer.appliedRightMmps}`, + `Dropped control packets: ${trailer.droppedControlPackets}`, + ]; + telemetrySummary.textContent = summaryLines.join('\n'); + + if (sensors) { + const flat = flattenSensors(sensors); + sensorList.textContent = Object.entries(flat) + .map(([key, value]) => `${key}: ${value}`) + .join('\n'); + } else { + sensorList.textContent = 'Sensor block missing'; + } +} + +function broadcastDrive() { + if (!state.selectedRobotId) { + return; + } + const vectors = { w: 0, a: 0, s: 0, d: 0 }; + state.activeKeys.forEach((key) => { + if (vectors[key] !== undefined) { + vectors[key] = 1; + } + }); + + let left = 0; + let right = 0; + if (vectors.w) { + left += DRIVE_SPEED; + right += DRIVE_SPEED; + } + if (vectors.s) { + left -= DRIVE_SPEED; + right -= DRIVE_SPEED; + } + if (vectors.a) { + left -= TURN_SPEED; + right += TURN_SPEED; + } + if (vectors.d) { + left += TURN_SPEED; + right -= TURN_SPEED; + } + + socket.emit('drive', { + robotId: state.selectedRobotId, + left, + right, + }); +} + +function handleKey(event, isDown) { + const key = event.key.toLowerCase(); + if (!['w', 'a', 's', 'd'].includes(key)) { + return; + } + event.preventDefault(); + if (isDown) { + state.activeKeys.add(key); + } else { + state.activeKeys.delete(key); + } + broadcastDrive(); +} + +document.addEventListener('keydown', (event) => handleKey(event, true)); +document.addEventListener('keyup', (event) => handleKey(event, false)); + +robotSelect.addEventListener('change', (event) => { + state.selectedRobotId = event.target.value; + renderTelemetry(); +}); + +safeModeBtn.addEventListener('click', () => { + if (!state.selectedRobotId) return; + socket.emit('mode', { robotId: state.selectedRobotId, mode: 'SAFE' }); +}); + +fullModeBtn.addEventListener('click', () => { + if (!state.selectedRobotId) return; + socket.emit('mode', { robotId: state.selectedRobotId, mode: 'FULL' }); +}); + +enableOiBtn.addEventListener('click', () => { + if (!state.selectedRobotId) return; + socket.emit('enableOi', { robotId: state.selectedRobotId }); +}); + +seekDockBtn.addEventListener('click', () => { + if (!state.selectedRobotId) return; + socket.emit('seekDock', { robotId: state.selectedRobotId }); +}); + +playSongBtn.addEventListener('click', () => { + if (!state.selectedRobotId) return; + const slot = Number(songSlotInput.value) || 0; + socket.emit('playSong', { robotId: state.selectedRobotId, slot }); +}); + +socket.on('robots', (robots) => { + state.robots = robots; + if (!state.selectedRobotId && robots.length > 0) { + state.selectedRobotId = robots[0].id; + } + renderRobots(); + renderTelemetry(); +}); + +socket.on('telemetrySnapshot', (entries) => { + entries.forEach(({ robotId, telemetry }) => { + state.telemetry[robotId] = telemetry; + }); + renderTelemetry(); +}); + +socket.on('telemetry', ({ robotId, telemetry }) => { + state.telemetry[robotId] = telemetry; + if (robotId === state.selectedRobotId) { + renderTelemetry(); + } +}); diff --git a/server/public/index.html b/server/public/index.html new file mode 100644 index 00000000..20cce65f --- /dev/null +++ b/server/public/index.html @@ -0,0 +1,37 @@ + + + + + MultiRoombaRover + + +
+

MultiRoombaRover

+
+ + +
+
+

Use WASD for drive control. Release keys to stop.

+
+ + + + +
+
+
+ + + +
+
+

Telemetry

+ 

+        

+      

+    

+    
+    
+  
+
diff --git a/server/robots.example.json b/server/robots.example.json
new file mode 100644
index 00000000..09073dd6
--- /dev/null
+++ b/server/robots.example.json
@@ -0,0 +1,7 @@
+[
+  {
+    "id": "roomba-alpha",
+    "controlPort": 50010,
+    "maxWheelSpeed": 350
+  }
+]
diff --git a/server/src/checksum.js b/server/src/checksum.js
new file mode 100644
index 00000000..9e20c010
--- /dev/null
+++ b/server/src/checksum.js
@@ -0,0 +1,7 @@
+export function checksum8(buffer, length = buffer.length) {
+  let sum = 0;
+  for (let i = 0; i < length; i += 1) {
+    sum = (sum + buffer[i]) & 0xff;
+  }
+  return sum;
+}
diff --git a/server/src/constants.js b/server/src/constants.js
new file mode 100644
index 00000000..d5b4e266
--- /dev/null
+++ b/server/src/constants.js
@@ -0,0 +1,34 @@
+export const CONTROL_STREAM_HZ = 50;
+export const CONTROL_BIND_PORT = parseInt(process.env.CONTROL_BIND_PORT || '62000', 10);
+export const TELEMETRY_BIND_PORT = parseInt(process.env.TELEMETRY_BIND_PORT || '62001', 10);
+export const DEFAULT_DEVICE_CONTROL_PORT = parseInt(
+  process.env.DEVICE_CONTROL_PORT || '50010',
+  10,
+);
+
+export const CONTROL_CONSTANTS = {
+  MAGIC: 0xAA,
+  VERSION: 1,
+  ACTIONS: {
+    SEEK_DOCK: 0x01,
+    PLAY_SONG: 0x02,
+    LOAD_SONG: 0x04,
+    ENABLE_OI: 0x08,
+  },
+  MODES: {
+    NO_CHANGE: 0,
+    PASSIVE: 1,
+    SAFE: 2,
+    FULL: 3,
+  },
+  MAX_SPEED_MMPS: 500,
+};
+
+export const TELEMETRY_CONSTANTS = {
+  MAGIC: 0x55,
+  VERSION: 1,
+  HEADER_SIZE: 32,
+  TRAILER_SIZE: 9,
+  SENSOR_BLOB_BYTES: 80,
+  MAX_ROBOT_ID_LEN: 16,
+};
diff --git a/server/src/robotRegistry.js b/server/src/robotRegistry.js
new file mode 100644
index 00000000..5aebe851
--- /dev/null
+++ b/server/src/robotRegistry.js
@@ -0,0 +1,61 @@
+import fs from 'fs';
+import path from 'path';
+import { fileURLToPath } from 'url';
+
+import { DEFAULT_DEVICE_CONTROL_PORT } from './constants.js';
+
+const REQUIRED_FIELDS = ['id'];
+
+const moduleDir = path.dirname(fileURLToPath(import.meta.url));
+const serverRoot = path.resolve(moduleDir, '..');
+
+function readJson(filePath) {
+  if (!fs.existsSync(filePath)) {
+    return null;
+  }
+  const content = fs.readFileSync(filePath, 'utf8');
+  return JSON.parse(content);
+}
+
+function resolveConfig() {
+  const candidates = [
+    path.join(serverRoot, 'robots.json'),
+    path.join(serverRoot, 'robots.example.json'),
+    path.join(process.cwd(), 'server', 'robots.json'),
+    path.join(process.cwd(), 'server', 'robots.example.json'),
+  ];
+
+  for (const candidate of candidates) {
+    const data = readJson(candidate);
+    if (data) {
+      if (candidate.endsWith('robots.example.json')) {
+        console.warn('[robots] robots.json missing, using example configuration');
+      }
+      return data;
+    }
+  }
+  return null;
+}
+
+export function loadRobots() {
+  const payload = resolveConfig();
+  if (!payload) {
+    throw new Error('robots configuration file not found');
+  }
+  if (!Array.isArray(payload)) {
+    throw new Error('robots configuration must be an array');
+  }
+  return payload.map((entry) => {
+    for (const field of REQUIRED_FIELDS) {
+      if (!entry[field]) {
+        throw new Error(`robot entry missing field ${field}`);
+      }
+    }
+    return {
+      id: entry.id,
+      host: entry.deviceHost || entry.host || null,
+      controlPort: Number(entry.deviceControlPort || entry.controlPort || DEFAULT_DEVICE_CONTROL_PORT),
+      maxWheelSpeed: Number(entry.maxWheelSpeed || 500),
+    };
+  });
+}
diff --git a/server/src/server.js b/server/src/server.js
new file mode 100644
index 00000000..15235cd0
--- /dev/null
+++ b/server/src/server.js
@@ -0,0 +1,197 @@
+import path from 'path';
+import http from 'http';
+import dgram from 'dgram';
+import express from 'express';
+import { Server as SocketIo } from 'socket.io';
+import { fileURLToPath } from 'url';
+
+import {
+  CONTROL_BIND_PORT,
+  CONTROL_CONSTANTS,
+  CONTROL_STREAM_HZ,
+  TELEMETRY_BIND_PORT,
+} from './constants.js';
+import { loadRobots } from './robotRegistry.js';
+import { buildControlPacket } from './udpPackets.js';
+import { decodeTelemetry } from './telemetryDecoder.js';
+
+const __filename = fileURLToPath(import.meta.url);
+const __dirname = path.dirname(__filename);
+
+const app = express();
+const server = http.createServer(app);
+const io = new SocketIo(server, {
+  cors: {
+    origin: '*',
+  },
+});
+
+const robots = loadRobots();
+if (robots.length === 0) {
+  throw new Error('No robots configured. Add at least one entry to server/robots.json');
+}
+
+const robotState = new Map();
+const telemetryState = new Map();
+
+robots.forEach((robot) => {
+  robotState.set(robot.id, {
+    config: robot,
+    seq: 0,
+    leftMmps: 0,
+    rightMmps: 0,
+    pendingMode: CONTROL_CONSTANTS.MODES.NO_CHANGE,
+    pendingActions: 0,
+    songSlot: 0,
+    lastKnownHost: robot.host || null,
+    lastKnownPort: robot.controlPort,
+  });
+});
+
+const controlSocket = dgram.createSocket('udp4');
+controlSocket.on('error', (err) => {
+  console.error('[control] socket error', err);
+});
+controlSocket.bind(CONTROL_BIND_PORT, () => {
+  console.log(`[control] bound on port ${CONTROL_BIND_PORT}`);
+});
+
+const telemetrySocket = dgram.createSocket('udp4');
+telemetrySocket.on('message', (msg, rinfo) => {
+  try {
+    const telemetry = decodeTelemetry(msg);
+    const robotId = telemetry.header.robotId || rinfo.address;
+    telemetryState.set(robotId, telemetry);
+    const state = robotState.get(robotId);
+    if (state) {
+      state.lastKnownHost = rinfo.address;
+      state.lastKnownPort = state.config.controlPort;
+    } else {
+      console.warn(`[telemetry] received frame from unknown robot ${robotId} (${rinfo.address})`);
+    }
+    io.emit('telemetry', { robotId, telemetry });
+  } catch (err) {
+    console.warn('[telemetry] failed to decode packet', err.message);
+  }
+});
+telemetrySocket.bind(TELEMETRY_BIND_PORT, () => {
+  console.log(`[telemetry] listening on port ${TELEMETRY_BIND_PORT}`);
+});
+
+app.use(express.static(path.join(__dirname, '..', 'public')));
+
+function clamp(value, min, max) {
+  return Math.min(max, Math.max(min, value));
+}
+
+function updateDrive(robotId, left, right) {
+  const state = robotState.get(robotId);
+  if (!state) {
+    return;
+  }
+  const limit = state.config.maxWheelSpeed || CONTROL_CONSTANTS.MAX_SPEED_MMPS;
+  const parsedLeft = Number(left) || 0;
+  const parsedRight = Number(right) || 0;
+  state.leftMmps = clamp(parsedLeft, -limit, limit);
+  state.rightMmps = clamp(parsedRight, -limit, limit);
+}
+
+function requestMode(robotId, mode) {
+  const state = robotState.get(robotId);
+  if (!state) {
+    return;
+  }
+  state.pendingMode = mode;
+}
+
+function triggerAction(robotId, actionBit, songSlot = 0) {
+  const state = robotState.get(robotId);
+  if (!state) {
+    return;
+  }
+  state.pendingActions |= actionBit;
+  state.songSlot = songSlot;
+}
+
+function sendControlFrame(robotId) {
+  const state = robotState.get(robotId);
+  if (!state) {
+    return;
+  }
+  if (!state.lastKnownHost) {
+    return; // have not yet received telemetry -> cannot address robot
+  }
+  const packet = buildControlPacket({
+    seq: state.seq++,
+    leftMmps: state.leftMmps,
+    rightMmps: state.rightMmps,
+    mode: state.pendingMode,
+    actions: state.pendingActions,
+    songSlot: state.songSlot,
+  });
+  controlSocket.send(
+    packet,
+    0,
+    packet.length,
+    state.lastKnownPort,
+    state.lastKnownHost,
+    (err) => {
+      if (err) {
+        console.warn(`[control] failed to send to ${state.lastKnownHost}`, err.message);
+      }
+    },
+  );
+  state.pendingMode = CONTROL_CONSTANTS.MODES.NO_CHANGE;
+  state.pendingActions = 0;
+}
+
+setInterval(() => {
+  for (const robot of robots) {
+    sendControlFrame(robot.id);
+  }
+}, Math.round(1000 / CONTROL_STREAM_HZ));
+
+io.on('connection', (socket) => {
+  console.log('[socket] client connected');
+  socket.emit('robots', robots);
+  socket.emit(
+    'telemetrySnapshot',
+    Array.from(telemetryState.entries()).map(([robotId, telemetry]) => ({
+      robotId,
+      telemetry,
+    })),
+  );
+
+  socket.on('drive', ({ robotId, left = 0, right = 0 } = {}) => {
+    updateDrive(robotId, left, right);
+  });
+
+  socket.on('mode', ({ robotId, mode }) => {
+    const modes = CONTROL_CONSTANTS.MODES;
+    const requested = mode
+      ? modes[mode.toUpperCase()] ?? modes.NO_CHANGE
+      : modes.NO_CHANGE;
+    requestMode(robotId, requested);
+  });
+
+  socket.on('seekDock', ({ robotId }) => {
+    triggerAction(robotId, CONTROL_CONSTANTS.ACTIONS.SEEK_DOCK);
+  });
+
+  socket.on('enableOi', ({ robotId }) => {
+    triggerAction(robotId, CONTROL_CONSTANTS.ACTIONS.ENABLE_OI);
+  });
+
+  socket.on('playSong', ({ robotId, slot = 0 }) => {
+    triggerAction(robotId, CONTROL_CONSTANTS.ACTIONS.PLAY_SONG, slot);
+  });
+
+  socket.on('disconnect', () => {
+    console.log('[socket] client disconnected');
+  });
+});
+
+const PORT = process.env.PORT || 8080;
+server.listen(PORT, () => {
+  console.log(`[server] listening on http://localhost:${PORT}`);
+});
diff --git a/server/src/telemetryDecoder.js b/server/src/telemetryDecoder.js
new file mode 100644
index 00000000..1c3edf1c
--- /dev/null
+++ b/server/src/telemetryDecoder.js
@@ -0,0 +1,179 @@
+import { TELEMETRY_CONSTANTS } from './constants.js';
+import { checksum8 } from './checksum.js';
+
+const BUTTON_BITS = {
+  clean: 0x01,
+  spot: 0x02,
+  dock: 0x04,
+  minute: 0x08,
+  hour: 0x10,
+  day: 0x20,
+  schedule: 0x40,
+  clock: 0x80,
+};
+
+const BUMP_BITS = {
+  bumpRight: 0x01,
+  bumpLeft: 0x02,
+  wheelDropRight: 0x04,
+  wheelDropLeft: 0x08,
+};
+
+const WHEEL_OVERCURRENT_BITS = {
+  sideBrush: 0x01,
+  mainBrush: 0x02,
+  rightWheel: 0x04,
+  leftWheel: 0x08,
+};
+
+const CHARGE_SOURCE_BITS = {
+  internalCharger: 0x01,
+  homeBase: 0x02,
+};
+
+const LIGHT_BUMPER_BITS = {
+  left: 0x01,
+  frontLeft: 0x02,
+  centerLeft: 0x04,
+  centerRight: 0x08,
+  frontRight: 0x10,
+  right: 0x20,
+};
+
+const STASIS_BITS = {
+  toggling: 0x01,
+  disabled: 0x02,
+};
+
+const boolField = (value, bits) => {
+  const result = {};
+  for (const [name, mask] of Object.entries(bits)) {
+    result[name] = Boolean(value & mask);
+  }
+  return result;
+};
+
+const readUInt16BE = (buf, offset) => buf.readUInt16BE(offset);
+const readInt16BE = (buf, offset) => buf.readInt16BE(offset);
+
+function decodeSensorGroup100(buf) {
+  if (!buf || buf.length === 0) {
+    return null;
+  }
+  return {
+    bumps: boolField(buf.readUInt8(0), BUMP_BITS),
+    wall: Boolean(buf.readUInt8(1)),
+    cliffLeft: Boolean(buf.readUInt8(2)),
+    cliffFrontLeft: Boolean(buf.readUInt8(3)),
+    cliffFrontRight: Boolean(buf.readUInt8(4)),
+    cliffRight: Boolean(buf.readUInt8(5)),
+    virtualWall: Boolean(buf.readUInt8(6)),
+    wheelOvercurrents: boolField(buf.readUInt8(7), WHEEL_OVERCURRENT_BITS),
+    dirtDetect: buf.readUInt8(8),
+    irOpcode: buf.readUInt8(10),
+    buttons: boolField(buf.readUInt8(11), BUTTON_BITS),
+    distance: readInt16BE(buf, 12),
+    angle: readInt16BE(buf, 14),
+    chargingState: buf.readUInt8(16),
+    voltageMv: readUInt16BE(buf, 17),
+    currentMa: readInt16BE(buf, 19),
+    temperatureC: buf.readInt8(21),
+    batteryChargeMah: readUInt16BE(buf, 22),
+    batteryCapacityMah: readUInt16BE(buf, 24),
+    wallSignal: readUInt16BE(buf, 26),
+    cliffSignals: {
+      left: readUInt16BE(buf, 28),
+      frontLeft: readUInt16BE(buf, 30),
+      frontRight: readUInt16BE(buf, 32),
+      right: readUInt16BE(buf, 34),
+    },
+    chargingSources: boolField(buf.readUInt8(39), CHARGE_SOURCE_BITS),
+    oiMode: buf.readUInt8(40),
+    songNumber: buf.readUInt8(41),
+    songPlaying: Boolean(buf.readUInt8(42)),
+    oiStreamPackets: buf.readUInt8(43),
+    velocity: readInt16BE(buf, 44),
+    radius: readInt16BE(buf, 46),
+    velocityRight: readInt16BE(buf, 48),
+    velocityLeft: readInt16BE(buf, 50),
+    encoderCounts: {
+      left: readUInt16BE(buf, 52),
+      right: readUInt16BE(buf, 54),
+    },
+    lightBumper: boolField(buf.readUInt8(56), LIGHT_BUMPER_BITS),
+    lightBumpSignals: {
+      left: readUInt16BE(buf, 57),
+      frontLeft: readUInt16BE(buf, 59),
+      centerLeft: readUInt16BE(buf, 61),
+      centerRight: readUInt16BE(buf, 63),
+      frontRight: readUInt16BE(buf, 65),
+      right: readUInt16BE(buf, 67),
+    },
+    irLeft: buf.readUInt8(69),
+    irRight: buf.readUInt8(70),
+    motorCurrents: {
+      left: readInt16BE(buf, 71),
+      right: readInt16BE(buf, 73),
+      mainBrush: readInt16BE(buf, 75),
+      sideBrush: readInt16BE(buf, 77),
+    },
+    stasis: boolField(buf.readUInt8(79), STASIS_BITS),
+  };
+}
+
+export function decodeTelemetry(message) {
+  if (message.length < TELEMETRY_CONSTANTS.HEADER_SIZE + TELEMETRY_CONSTANTS.TRAILER_SIZE) {
+    throw new Error('telemetry frame too small');
+  }
+  const expected = checksum8(message, message.length - 1);
+  if (expected !== message.readUInt8(message.length - 1)) {
+    throw new Error('telemetry checksum mismatch');
+  }
+
+  const robotIdLength = Math.min(
+    message.readUInt8(15),
+    TELEMETRY_CONSTANTS.MAX_ROBOT_ID_LEN,
+  );
+  const rawRobotId = message.toString(
+    'utf8',
+    16,
+    16 + TELEMETRY_CONSTANTS.MAX_ROBOT_ID_LEN,
+  );
+  const header = {
+    magic: message.readUInt8(0),
+    version: message.readUInt8(1),
+    seq: message.readUInt16LE(2),
+    uptimeMs: message.readUInt32LE(4),
+    lastControlAgeMs: message.readUInt32LE(8),
+    wifiRssiDbm: message.readInt8(12),
+    statusBits: message.readUInt8(13),
+    sensorBytes: message.readUInt8(14),
+    robotIdLength,
+    robotId: rawRobotId.slice(0, robotIdLength),
+  };
+
+  if (header.magic !== TELEMETRY_CONSTANTS.MAGIC) {
+    throw new Error(`unexpected telemetry magic ${header.magic}`);
+  }
+  if (header.version !== TELEMETRY_CONSTANTS.VERSION) {
+    throw new Error(`unexpected telemetry version ${header.version}`);
+  }
+
+  const sensorOffset = TELEMETRY_CONSTANTS.HEADER_SIZE;
+  const trailerOffset = message.length - TELEMETRY_CONSTANTS.TRAILER_SIZE;
+  if (sensorOffset + header.sensorBytes > trailerOffset) {
+    throw new Error('sensor payload overruns buffer');
+  }
+  const sensorBlob = message.slice(sensorOffset, sensorOffset + header.sensorBytes);
+
+  return {
+    header,
+    sensors: header.sensorBytes ? decodeSensorGroup100(sensorBlob) : null,
+    trailer: {
+      appliedLeftMmps: message.readInt16LE(trailerOffset),
+      appliedRightMmps: message.readInt16LE(trailerOffset + 2),
+      lastControlSeq: message.readUInt16LE(trailerOffset + 4),
+      droppedControlPackets: message.readUInt16LE(trailerOffset + 6),
+    },
+  };
+}
diff --git a/server/src/udpPackets.js b/server/src/udpPackets.js
new file mode 100644
index 00000000..0bd49014
--- /dev/null
+++ b/server/src/udpPackets.js
@@ -0,0 +1,18 @@
+import { CONTROL_CONSTANTS } from './constants.js';
+import { checksum8 } from './checksum.js';
+
+const CONTROL_PACKET_SIZE = 12;
+
+export function buildControlPacket(state) {
+  const buffer = Buffer.allocUnsafe(CONTROL_PACKET_SIZE);
+  buffer.writeUInt8(CONTROL_CONSTANTS.MAGIC, 0);
+  buffer.writeUInt8(CONTROL_CONSTANTS.VERSION, 1);
+  buffer.writeUInt16LE(state.seq & 0xffff, 2);
+  buffer.writeInt16LE(state.leftMmps, 4);
+  buffer.writeInt16LE(state.rightMmps, 6);
+  buffer.writeUInt8(state.mode ?? CONTROL_CONSTANTS.MODES.NO_CHANGE, 8);
+  buffer.writeUInt8(state.actions ?? 0, 9);
+  buffer.writeUInt8(state.songSlot ?? 0, 10);
+  buffer.writeUInt8(checksum8(buffer, CONTROL_PACKET_SIZE - 1), 11);
+  return buffer;
+}
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100644
index 00000000..4549a650
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,369 @@
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "config.h"
+#include "protocol.h"
+
+using namespace mrr;
+
+namespace {
+
+constexpr gpio_num_t kRoombaRxPin = GPIO_NUM_16;
+constexpr gpio_num_t kRoombaTxPin = GPIO_NUM_17;
+constexpr gpio_num_t kRoombaBrcPin = GPIO_NUM_5;
+
+constexpr uint32_t kControlLoopDelayMs = 5;
+constexpr uint32_t kControlTimeoutMs = 250;
+constexpr uint32_t kTelemetryIntervalMs = 500;
+constexpr uint32_t kSensorRequestTimeoutMs = 75;
+constexpr uint32_t kBrcPulseDurationMs = 1000;
+constexpr uint32_t kBrcPulsePeriodMs = 60000;
+
+constexpr size_t kTelemetryBufferSize =
+    sizeof(TelemetryPacketHeader) + kSensorGroup100Length + sizeof(TelemetryPacketTrailer);
+
+HardwareSerial& kRoombaSerial = Serial2;
+WiFiUDP gControlSocket;
+WiFiUDP gTelemetrySocket;
+
+IPAddress gServerIp;
+
+TaskHandle_t gControlTaskHandle = nullptr;
+TaskHandle_t gTelemetryTaskHandle = nullptr;
+TaskHandle_t gBrcTaskHandle = nullptr;
+
+struct ControlState {
+  int16_t left_mmps{0};
+  int16_t right_mmps{0};
+  OiModeRequest requested_mode{OiModeRequest::kNoChange};
+  uint8_t actions{0};
+  uint8_t song_slot{0};
+  uint16_t seq{0};
+  uint32_t last_rx_ms{0};
+};
+
+ControlState gLatestControl{};
+uint16_t gLastAppliedSeq = 0;
+uint16_t gDroppedControlPackets = 0;
+portMUX_TYPE gControlMux = portMUX_INITIALIZER_UNLOCKED;
+
+uint32_t gLastSensorOkMs = 0;
+
+enum StatusBits : uint8_t {
+  kStatusWifiConnected = 0x01,
+  kStatusRoombaReady = 0x02,
+  kStatusSensorHealthy = 0x04,
+};
+
+class RoombaInterface {
+ public:
+  void begin() {
+    serial_ = &kRoombaSerial;
+    serial_->begin(115200, SERIAL_8N1, kRoombaRxPin, kRoombaTxPin);
+    serial_->setTimeout(30);  // shorter timeout to avoid blocking control loop
+  }
+
+  bool ensureStarted() {
+    if (!serial_) {
+      return false;
+    }
+    if (ready_) {
+      return true;
+    }
+    sendOpcode(128);  // Start => Passive
+    delay(20);
+    sendOpcode(131);  // Safe by default
+    ready_ = true;
+    return true;
+  }
+
+  bool setMode(OiModeRequest request) {
+    if (!ensureStarted()) {
+      return false;
+    }
+    switch (request) {
+      case OiModeRequest::kNoChange:
+        return true;
+      case OiModeRequest::kPassive:
+        return sendOpcode(128);
+      case OiModeRequest::kSafe:
+        return sendOpcode(131);
+      case OiModeRequest::kFull:
+        return sendOpcode(132);
+    }
+    return false;
+  }
+
+  bool driveDirect(int16_t left_mmps, int16_t right_mmps) {
+    if (!ensureStarted()) {
+      return false;
+    }
+    uint8_t payload[5];
+    payload[0] = 145;  // Drive Direct opcode
+    payload[1] = static_cast((right_mmps >> 8) & 0xFF);
+    payload[2] = static_cast(right_mmps & 0xFF);
+    payload[3] = static_cast((left_mmps >> 8) & 0xFF);
+    payload[4] = static_cast(left_mmps & 0xFF);
+    return serial_->write(payload, sizeof(payload)) == sizeof(payload);
+  }
+
+  bool seekDock() { return ensureStarted() && sendOpcode(143); }
+  bool playSong(uint8_t slot) {
+    if (!ensureStarted()) {
+      return false;
+    }
+    uint8_t payload[2] = {141, slot};
+    return serial_->write(payload, sizeof(payload)) == sizeof(payload);
+  }
+
+  bool requestSensors(uint8_t packet_id, uint8_t* buffer, size_t expected_bytes) {
+    if (!ensureStarted()) {
+      return false;
+    }
+    serial_->write(142);
+    serial_->write(packet_id);
+    const size_t read = serial_->readBytes(buffer, expected_bytes);
+    return read == expected_bytes;
+  }
+
+  bool isReady() const { return ready_; }
+
+ private:
+  bool sendOpcode(uint8_t opcode) { return serial_ && serial_->write(opcode) == 1; }
+
+  HardwareSerial* serial_{nullptr};
+  bool ready_{false};
+};
+
+RoombaInterface gRoomba;
+
+void disableWifiPowerSave() {
+  WiFi.setSleep(false);
+  esp_wifi_set_ps(WIFI_PS_NONE);
+}
+
+void connectWifi() {
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+  Serial.printf("[wifi] connecting to %s\\n", WIFI_SSID);
+  uint32_t start = millis();
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(250);
+    Serial.print(".");
+    if (millis() - start > 20000) {
+      Serial.println("\\n[wifi] retrying...");
+      WiFi.disconnect();
+      WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
+      start = millis();
+    }
+  }
+  disableWifiPowerSave();
+  Serial.printf("\\n[wifi] connected, ip=%s\\n", WiFi.localIP().toString().c_str());
+}
+
+IPAddress resolveServerIp() {
+  IPAddress ip;
+  if (!ip.fromString(CONTROL_SERVER_IP)) {
+    Serial.printf("[wifi] invalid CONTROL_SERVER_IP: %s\\n", CONTROL_SERVER_IP);
+  }
+  return ip;
+}
+
+ControlState snapshotControl() {
+  portENTER_CRITICAL(&gControlMux);
+  ControlState copy = gLatestControl;
+  portEXIT_CRITICAL(&gControlMux);
+  return copy;
+}
+
+void updateControl(const ControlPacket& pkt) {
+  ControlState state;
+  state.left_mmps = pkt.left_mmps;
+  state.right_mmps = pkt.right_mmps;
+  state.actions = pkt.actions;
+  state.seq = pkt.seq;
+  state.song_slot = pkt.song_slot;
+  state.last_rx_ms = millis();
+  state.requested_mode = static_cast(pkt.oi_mode);
+  portENTER_CRITICAL(&gControlMux);
+  gLatestControl = state;
+  portEXIT_CRITICAL(&gControlMux);
+}
+
+void zeroDrive() {
+  gRoomba.driveDirect(0, 0);
+}
+
+void handleControlApplication(const ControlState& state) {
+  const uint32_t now = millis();
+  int16_t left = state.left_mmps;
+  int16_t right = state.right_mmps;
+  const bool stale = (now - state.last_rx_ms) > kControlTimeoutMs;
+  if (stale) {
+    left = 0;
+    right = 0;
+  }
+
+  if (state.seq != gLastAppliedSeq) {
+    if (state.requested_mode != OiModeRequest::kNoChange) {
+      gRoomba.setMode(state.requested_mode);
+    } else if (state.actions & kActionEnableOi) {
+      gRoomba.ensureStarted();
+    }
+
+    if (state.actions & kActionSeekDock) {
+      gRoomba.seekDock();
+    }
+    if (state.actions & kActionPlaySong) {
+      gRoomba.playSong(state.song_slot);
+    }
+    // kActionLoadSong can be added later when song definitions are ready.
+
+    gLastAppliedSeq = state.seq;
+  }
+
+  gRoomba.driveDirect(left, right);
+}
+
+void controlTask(void*) {
+  uint8_t buffer[sizeof(ControlPacket)] = {0};
+  ControlPacket newest{};
+  bool hasNewest = false;
+  for (;;) {
+    hasNewest = false;
+    while (gControlSocket.parsePacket() >= static_cast(sizeof(ControlPacket))) {
+      const int read = gControlSocket.read(buffer, sizeof(ControlPacket));
+      if (read != sizeof(ControlPacket)) {
+        continue;
+      }
+      ControlPacket pkt;
+      memcpy(&pkt, buffer, sizeof(ControlPacket));
+      const uint8_t computed =
+          checksum8(reinterpret_cast(&pkt), sizeof(ControlPacket) - 1);
+      if (pkt.magic == kControlMagic && pkt.version == kProtocolVersion && computed == pkt.checksum) {
+        newest = pkt;
+        hasNewest = true;
+      } else {
+        ++gDroppedControlPackets;
+      }
+    }
+
+    if (hasNewest) {
+      const uint16_t delta = static_cast(newest.seq - gLastAppliedSeq);
+      if (delta != 0 && delta < 0x8000) {
+        updateControl(newest);
+      }
+    }
+
+    handleControlApplication(snapshotControl());
+    vTaskDelay(pdMS_TO_TICKS(kControlLoopDelayMs));
+  }
+}
+
+void telemetryTask(void*) {
+  uint8_t buffer[kTelemetryBufferSize];
+  uint8_t sensorBlob[kSensorGroup100Length];
+  uint16_t telemetrySeq = 0;
+
+  while (WiFi.status() != WL_CONNECTED) {
+    vTaskDelay(pdMS_TO_TICKS(250));
+  }
+
+  for (;;) {
+    TelemetryPacketHeader header;
+    memset(&header, 0, sizeof(header));
+    header.magic = kTelemetryMagic;
+    header.version = kProtocolVersion;
+    header.seq = telemetrySeq++;
+    header.uptime_ms = millis();
+    const ControlState control = snapshotControl();
+    header.last_control_age_ms = millis() - control.last_rx_ms;
+    header.wifi_rssi_dbm = WiFi.RSSI();
+    header.status_bits = 0;
+    if (WiFi.status() == WL_CONNECTED) {
+      header.status_bits |= kStatusWifiConnected;
+    }
+    if (gRoomba.isReady()) {
+      header.status_bits |= kStatusRoombaReady;
+    }
+
+    size_t sensorLen = 0;
+    if (gRoomba.requestSensors(100, sensorBlob, kSensorGroup100Length)) {
+      sensorLen = kSensorGroup100Length;
+      gLastSensorOkMs = millis();
+    }
+    if (millis() - gLastSensorOkMs < 2000) {
+      header.status_bits |= kStatusSensorHealthy;
+    }
+    header.sensor_bytes = static_cast(sensorLen);
+    const char* robotId = ROOMBA_ID;
+    header.robot_id_length = static_cast(strnlen(robotId, kMaxRobotIdLength));
+    memcpy(header.robot_id, robotId, header.robot_id_length);
+
+    TelemetryPacketTrailer trailer;
+    memset(&trailer, 0, sizeof(trailer));
+    trailer.applied_left_mmps = control.left_mmps;
+    trailer.applied_right_mmps = control.right_mmps;
+    trailer.last_control_seq = control.seq;
+    trailer.dropped_control_packets = gDroppedControlPackets;
+
+    size_t offset = 0;
+    memcpy(buffer + offset, &header, sizeof(header));
+    offset += sizeof(header);
+    if (sensorLen > 0) {
+      memcpy(buffer + offset, sensorBlob, sensorLen);
+      offset += sensorLen;
+    }
+    memcpy(buffer + offset, &trailer, sizeof(trailer));
+    offset += sizeof(trailer);
+
+    const uint8_t checksum = checksum8(buffer, offset - 1);
+    buffer[offset - 1] = checksum;
+
+    if (gServerIp) {
+      gTelemetrySocket.beginPacket(gServerIp, TELEMETRY_SERVER_PORT);
+      gTelemetrySocket.write(buffer, offset);
+      gTelemetrySocket.endPacket();
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(kTelemetryIntervalMs));
+  }
+}
+
+void brcTask(void*) {
+  pinMode(kRoombaBrcPin, OUTPUT);
+  digitalWrite(kRoombaBrcPin, HIGH);
+  for (;;) {
+    digitalWrite(kRoombaBrcPin, LOW);
+    vTaskDelay(pdMS_TO_TICKS(kBrcPulseDurationMs));
+    digitalWrite(kRoombaBrcPin, HIGH);
+    vTaskDelay(pdMS_TO_TICKS(kBrcPulsePeriodMs - kBrcPulseDurationMs));
+  }
+}
+
+}  // namespace
+
+void setup() {
+  Serial.begin(115200);
+  delay(50);
+  Serial.println("[boot] MultiRoombaRover firmware starting");
+
+  gRoomba.begin();
+  connectWifi();
+  gServerIp = resolveServerIp();
+
+  gControlSocket.begin(ESP32_CONTROL_PORT);
+  gTelemetrySocket.begin(ESP32_TELEMETRY_PORT);
+
+  xTaskCreatePinnedToCore(controlTask, "control", 4096, nullptr, 3, &gControlTaskHandle, APP_CPU_NUM);
+  xTaskCreatePinnedToCore(telemetryTask, "telemetry", 4096, nullptr, 2, &gTelemetryTaskHandle, PRO_CPU_NUM);
+  xTaskCreatePinnedToCore(brcTask, "brc", 2048, nullptr, 1, &gBrcTaskHandle, APP_CPU_NUM);
+}
+
+void loop() {
+  // Nothing to do. All work happens inside FreeRTOS tasks.
+  vTaskDelay(pdMS_TO_TICKS(1000));
+}