add some automation to pi side

pi/roverd/auto_charge.go

@@ -0,0 +1,109 @@
+package roverd
+
+import (
+	"context"
+	"log"
+	"time"
+)
+
+const (
+	autoChargeTimeout  = 10 * time.Second
+	autoChargeCooldown = 2 * time.Minute
+	sourceHomeBase     = 1 << 1
+)
+
+type AutoChargeController struct {
+	adapter       *SerialAdapter
+	events        chan<- RoverEvent
+	logger        *log.Logger
+	timerStart    time.Time
+	cooldownUntil time.Time
+	lastState     byte
+	lastSources   byte
+}
+
+func NewAutoChargeController(adapter *SerialAdapter, events chan<- RoverEvent, logger *log.Logger) *AutoChargeController {
+	return &AutoChargeController{
+		adapter: adapter,
+		events:  events,
+		logger:  logger,
+	}
+}
+
+func (a *AutoChargeController) Run(ctx context.Context, samples <-chan SensorSample) {
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		case sample := <-samples:
+			a.processSample(sample)
+		}
+	}
+}
+
+func (a *AutoChargeController) processSample(sample SensorSample) {
+	now := time.Now()
+	docked := sample.ChargeSources&sourceHomeBase != 0
+	charging := isCharging(sample.ChargingState)
+
+	if !docked || charging {
+		if !a.timerStart.IsZero() {
+			a.emitEvent("autoCharge.timerCleared", map[string]any{
+				"durationMs": time.Since(a.timerStart).Milliseconds(),
+			})
+		}
+		a.timerStart = time.Time{}
+		a.lastState = sample.ChargingState
+		a.lastSources = sample.ChargeSources
+		return
+	}
+
+	// docked but not charging
+	if a.cooldownUntil.After(now) {
+		return
+	}
+
+	if a.timerStart.IsZero() {
+		a.timerStart = now
+		a.emitEvent("autoCharge.timerStarted", map[string]any{
+			"chargingState": sample.ChargingState,
+		})
+		return
+	}
+
+	if now.Sub(a.timerStart) >= autoChargeTimeout {
+		if err := a.adapter.SeekDock(); err != nil {
+			a.emitEvent("autoCharge.seekDockError", map[string]any{"error": err.Error()})
+		} else {
+			a.emitEvent("autoCharge.seekDockIssued", map[string]any{
+				"waitingMs": autoChargeTimeout.Milliseconds(),
+			})
+		}
+		a.timerStart = time.Time{}
+		a.cooldownUntil = now.Add(autoChargeCooldown)
+	}
+}
+
+func isCharging(state byte) bool {
+	switch state {
+	case 1, 2, 3, 4:
+		return true
+	default:
+		return false
+	}
+}
+
+func (a *AutoChargeController) emitEvent(event string, data map[string]any) {
+	if a.events == nil {
+		return
+	}
+	select {
+	case a.events <- RoverEvent{
+		Type:   "event",
+		Event:  event,
+		Ts:     time.Now().UnixMilli(),
+		Data:   data,
+	}:
+	default:
+	}
+}

pi/roverd/cmd/roverd/main.go

@@ -44,7 +44,10 @@ func main() {
 	}
 
 	sensorFrames := make(chan []byte, 8)
-	streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, logger)
+	sensorSamples := make(chan roverd.SensorSample, 8)
+	eventStream := make(chan roverd.RoverEvent, 16)
+
+	streamer := roverd.NewSensorStreamer(serialPort, sensorFrames, sensorSamples, logger)
 	go streamer.Run(ctx)
 
 	adapter := roverd.NewSerialAdapter(serialPort, logger)
@@ -54,7 +57,10 @@ func main() {
 		mediaSupervisor.Start(ctx)
 	}
 
-	client := roverd.NewWSClient(cfg, adapter, sensorFrames, mediaSupervisor, logger)
+	autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
+	go autoCharge.Run(ctx, sensorSamples)
+
+	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, logger)
 
 	retryDelay := time.Second
 	for ctx.Err() == nil {

pi/roverd/events.go

@@ -0,0 +1,8 @@
+package roverd
+
+type RoverEvent struct {
+	Type  string                 `json:"type"`
+	Event string                 `json:"event"`
+	Ts    int64                  `json:"ts"`
+	Data  map[string]any         `json:"data,omitempty"`
+}

pi/roverd/sensor_defs.go

@@ -0,0 +1,23 @@
+package roverd
+
+var (
+	defaultStreamPackets = []byte{100, 21, 34}
+	packetSizes          = map[byte]int{
+		100: 80,
+		21:  1,
+		34:  1,
+	}
+	expectedPayloadLength = func() int {
+		sum := 0
+		for _, id := range defaultStreamPackets {
+			sum += 1 + packetSizes[id]
+		}
+		return sum
+	}()
+)
+
+type SensorSample struct {
+	Timestamp     int64
+	ChargingState byte
+	ChargeSources byte
+}

pi/roverd/sensor_stream.go

@@ -12,17 +12,17 @@ import (
 const (
 	sensorHeader      = 19
 	sensorReadTimeout = 150 * time.Millisecond
-	streamGroupDefault = 100
 )
 
 type SensorStreamer struct {
 	r       io.Reader
-	out    chan<- []byte
+	rawOut  chan<- []byte
+	parsed  chan<- SensorSample
 	logger  *log.Logger
 }
 
-func NewSensorStreamer(r io.Reader, out chan<- []byte, logger *log.Logger) *SensorStreamer {
+func NewSensorStreamer(r io.Reader, rawOut chan<- []byte, parsed chan<- SensorSample, logger *log.Logger) *SensorStreamer {
-	return &SensorStreamer{r: r, out: out, logger: logger}
+	return &SensorStreamer{r: r, rawOut: rawOut, parsed: parsed, logger: logger}
 }
 
 func (s *SensorStreamer) Run(ctx context.Context) {
@@ -34,14 +34,14 @@ func (s *SensorStreamer) Run(ctx context.Context) {
 		default:
 		}
 
-		b, err := reader.ReadByte()
+		header, err := reader.ReadByte()
 		if err != nil {
 			if ctx.Err() != nil {
 				return
 			}
 			continue
 		}
-		if b != sensorHeader {
+		if header != sensorHeader {
 			continue
 		}
 		nBytes, err := reader.ReadByte()
@@ -61,9 +61,18 @@ func (s *SensorStreamer) Run(ctx context.Context) {
 		}
 
 		select {
-		case s.out <- frame:
+		case s.rawOut <- frame:
 		default:
 		}
+
+		if s.parsed != nil {
+			if sample, ok := decodeSensorSample(frame); ok {
+				select {
+				case s.parsed <- sample:
+				default:
+				}
+			}
+		}
 	}
 }
 
@@ -74,3 +83,44 @@ func validateChecksum(buf []byte) bool {
 	}
 	return byte(sum&0xFF) == 0
 }
+
+func decodeSensorSample(frame []byte) (SensorSample, bool) {
+	if len(frame) < 3 {
+		return SensorSample{}, false
+	}
+	nBytes := int(frame[1])
+	if nBytes+3 != len(frame) {
+		return SensorSample{}, false
+	}
+	payload := frame[2 : 2+nBytes]
+	if len(payload) != expectedPayloadLength {
+		return SensorSample{}, false
+	}
+
+	idx := 0
+	var sample SensorSample
+	var seen byte
+	for idx < len(payload) {
+		id := payload[idx]
+		idx++
+		size, ok := packetSizes[id]
+		if !ok {
+			return SensorSample{}, false
+		}
+		if idx+size > len(payload) {
+			return SensorSample{}, false
+		}
+		segment := payload[idx : idx+size]
+		switch id {
+		case 21:
+			sample.ChargingState = segment[0]
+			seen |= 1
+		case 34:
+			sample.ChargeSources = segment[0]
+			seen |= 2
+		}
+		idx += size
+	}
+	sample.Timestamp = time.Now().UnixMilli()
+	return sample, seen&3 == 3
+}

pi/roverd/serial.go

@@ -2,6 +2,7 @@ package roverd
 
 import (
 	"encoding/base64"
+	"errors"
 	"fmt"
 	"io"
 	"log"
@@ -68,8 +69,12 @@ func (s *SerialAdapter) MotorPWM(main, side, vacuum int) error {
 	return s.write(payload)
 }
 
-func (s *SerialAdapter) StartSensorStream(group byte) error {
+func (s *SerialAdapter) StartSensorStream(packets []byte) error {
-	payload := []byte{148, 1, group}
+	if len(packets) == 0 {
+		return errors.New("sensor stream requires packets")
+	}
+	payload := []byte{148, byte(len(packets))}
+	payload = append(payload, packets...)
 	return s.write(payload)
 }
 
@@ -84,3 +89,7 @@ func (s *SerialAdapter) PauseSensorStream(pause bool) error {
 func (s *SerialAdapter) SendRaw(raw []byte) error {
 	return s.write(raw)
 }
+
+func (s *SerialAdapter) SeekDock() error {
+	return s.write([]byte{143})
+}

pi/roverd/wsclient.go

@@ -15,15 +15,17 @@ type WSClient struct {
 	cfg          *Config
 	adapter      *SerialAdapter
 	sensorFrames <-chan []byte
+	events       <-chan RoverEvent
 	media        *MediaSupervisor
 	log          *log.Logger
 }
 
-func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, media *MediaSupervisor, logger *log.Logger) *WSClient {
+func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events <-chan RoverEvent, media *MediaSupervisor, logger *log.Logger) *WSClient {
 	return &WSClient{
 		cfg:          cfg,
 		adapter:      adapter,
 		sensorFrames: frames,
+		events:       events,
 		media:        media,
 		log:          logger,
 	}
@@ -45,6 +47,7 @@ func (c *WSClient) Run(ctx context.Context) error {
 		errCh <- c.readLoop(ctx, conn)
 	}()
 	go c.forwardSensors(ctx, conn)
+	go c.forwardEvents(ctx, conn)
 
 	select {
 	case <-ctx.Done():
@@ -112,7 +115,7 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
 		return c.adapter.MotorPWM(main, side, vac)
 	case msg.SensorStream != nil:
 		if msg.SensorStream.Enable {
-			if err := c.adapter.StartSensorStream(streamGroupDefault); err != nil {
+			if err := c.adapter.StartSensorStream(defaultStreamPackets); err != nil {
 				return err
 			}
 			return c.adapter.PauseSensorStream(false)
@@ -153,6 +156,26 @@ func (c *WSClient) forwardSensors(ctx context.Context, conn *websocket.Conn) {
 	}
 }
 
+func (c *WSClient) forwardEvents(ctx context.Context, conn *websocket.Conn) {
+	if c.events == nil {
+		return
+	}
+	for {
+		select {
+		case <-ctx.Done():
+			return
+		case evt := <-c.events:
+			if evt.Type == "" {
+				evt.Type = "event"
+			}
+			if err := writeJSON(ctx, conn, evt); err != nil {
+				c.log.Printf("event send failed: %v", err)
+				return
+			}
+		}
+	}
+}
+
 func writeJSON(ctx context.Context, conn *websocket.Conn, v any) error {
 	data, err := json.Marshal(v)
 	if err != nil {

server/public/app.js

@@ -4,6 +4,7 @@ const roverSelect = document.getElementById('roverSelect');
 const sensorToggleBtn = document.getElementById('sensorToggle');
 const motorsStopBtn = document.getElementById('motorsStop');
 const sensorOutput = document.getElementById('sensorOutput');
+const alertsEl = document.getElementById('alerts');
 const mediaRestartBtn = document.getElementById('mediaRestart');
 let selectedRover = null;
 let sensorEnabled = false;
@@ -53,6 +54,24 @@ socket.on('commandAck', ({ roverId, status, error }) => {
   }
 });
 
+socket.on('roverEvent', ({ roverId, event, ts, data }) => {
+  if (!alertsEl) return;
+  const div = document.createElement('div');
+  div.className = 'alert';
+  const when = ts ? new Date(ts).toLocaleTimeString() : new Date().toLocaleTimeString();
+  const details = data && data.error ? ` (${data.error})` : '';
+  div.textContent = `[${when}] ${roverId}: ${event}${details}`;
+  alertsEl.prepend(div);
+  while (alertsEl.children.length > 5) {
+    alertsEl.removeChild(alertsEl.lastChild);
+  }
+  setTimeout(() => {
+    if (div.parentElement === alertsEl) {
+      alertsEl.removeChild(div);
+    }
+  }, 15000);
+});
+
 roverSelect.addEventListener('change', (e) => {
   selectedRover = e.target.value;
 });

server/public/index.html

@@ -10,6 +10,8 @@
       #sensorOutput { font-family: monospace; height: 320px; overflow: auto; border: 1px solid #999; padding: 8px; }
       button { margin: 4px; }
       .row { margin-bottom: 8px; }
+      #alerts { margin-top: 12px; max-width: 600px; }
+      .alert { background: #fff1d2; border: 1px solid #f0b651; padding: 6px 8px; margin-bottom: 6px; font-size: 0.9rem; }
     </style>
   </head>
   <body>
@@ -38,6 +40,7 @@
         <h3>Sensor Frames</h3>
         <pre id="sensorOutput"></pre>
         <p>Use WASD keys to drive the selected rover. Shift increases speed.</p>
+        <div id="alerts"></div>
       </div>
     </div>
     <script src="/socket.io/socket.io.js"></script>

server/src/index.js

@@ -73,6 +73,17 @@ function handleRoverConnection(ws) {
           io.emit('commandAck', { roverId: pending.roverId, id: msg.id, status: msg.status, error: msg.error });
         }
         break;
+      case 'event':
+        if (!roverId) {
+          return;
+        }
+        io.emit('roverEvent', {
+          roverId,
+          event: msg.event,
+          ts: msg.ts || Date.now(),
+          data: msg.data || {},
+        });
+        break;
       default:
         break;
     }