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Code Issues Actions 2 Packages Projects Releases Wiki Activity

stateful night vision rework

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This commit is contained in:
legop3
2026-01-28 13:45:01 -05:00
parent f3cc73f178
commit 7e850dab22
20 changed files with 384 additions and 176 deletions
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dist/roverd
Vendored
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dist/servoverifier
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pi/roverd/nightvision.go
+6
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@@ -81,6 +81,12 @@ func (n *NightVisionLight) HandleAction(action string) error {
}
}
func (n *NightVisionLight) NightVisionOn() bool {
n.mu.Lock()
defer n.mu.Unlock()
return !n.on
}
func (n *NightVisionLight) setLocked(on bool) error {
if err := n.line.SetValue(boolToGPIO(on)); err != nil {
return err
pi/roverd/nightvision_dummy.go
+4
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@@ -18,3 +18,7 @@ func (n *NightVisionLight) Close() {}
func (n *NightVisionLight) HandleAction(action string) error {
return fmt.Errorf("night vision not supported in dummy build")
}
func (n *NightVisionLight) NightVisionOn() bool {
return false
}
pi/roverd/wsclient.go
+7 -1
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@@ -184,7 +184,13 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
if c.nightVision == nil {
return fmt.Errorf("night vision disabled")
}
return c.nightVision.HandleAction(msg.NightVision.Action)
if err := c.nightVision.HandleAction(msg.NightVision.Action); err != nil {
return err
}
c.emitEvent("nightVision.state", map[string]any{
"nightVisionOn": c.nightVision.NightVisionOn(),
})
return nil
case msg.Song != nil:
slot := 0
if msg.Song.Slot != nil {
server/public/assets/index-DCabXYAC.js
+119
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server/public/assets/index-VF8LslAQ.css
-1
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server/public/assets/index-lg9md4T4.css
+1
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server/public/assets/index-sxx9hCHI.js
-119
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server/public/index.html
+2 -2
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@@ -11,8 +11,8 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-sxx9hCHI.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-VF8LslAQ.css">
<script type="module" crossorigin src="/assets/index-DCabXYAC.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-lg9md4T4.css">
</head>
<body>
<div id="root"></div>
server/src/services/roverConnectionService.js
+9 -1
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@@ -17,6 +17,10 @@ function handleMessage(roverId, msg) {
roverManager.handleSensorFrame(roverId, msg);
break;
case 'event':
if (msg.event === 'nightVision.state' && typeof msg.data?.nightVisionOn === 'boolean') {
roverManager.setNightVisionState(roverId, msg.data.nightVisionOn);
break;
}
sendAlert({ color: ALERT_COLOR, title: `${roverId} event`, message: msg.event });
break;
default:
@@ -69,7 +73,11 @@ roverWSS.on('connection', (ws) => {
} else if (msg.type === 'ack') {
handleAck(msg);
} else if (msg.type === 'event') {
sendAlert({ color: ALERT_COLOR, title: `${roverId}`, message: msg.event });
if (msg.event === 'nightVision.state' && typeof msg.data?.nightVisionOn === 'boolean') {
roverManager.setNightVisionState(roverId, msg.data.nightVisionOn);
} else {
sendAlert({ color: ALERT_COLOR, title: `${roverId}`, message: msg.event });
}
}
});
server/src/services/roverManager.js
+24 -1
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@@ -37,6 +37,7 @@ function ensureRecord(id) {
locked: false,
lockReason: null,
batteryState: null,
nightVisionState: null,
room: `rover:${id}`,
lastSeen: Date.now(),
lastMovementAt: Date.now(),
@@ -57,6 +58,13 @@ function upsertRover(meta, ws) {
record.meta = meta;
record.ws = ws;
record.lastSeen = Date.now();
if (record.nightVisionState == null && meta?.nightVision?.enabled) {
const ledOn = Boolean(meta.nightVision.initialOn);
record.nightVisionState = {
nightVisionOn: !ledOn,
updatedAt: Date.now(),
};
}
rovers.set(id, record);
spectatorSockets.forEach((socketId) => {
const sock = io.sockets.sockets.get(socketId);
@@ -143,7 +151,9 @@ function getRoster() {
media: record.meta?.media,
cameraServo: record.meta?.cameraServo,
audio: record.meta?.audio,
nightVision: record.meta?.nightVision,
nightVision: record.meta?.nightVision
? { ...record.meta.nightVision, state: record.nightVisionState }
: record.meta?.nightVision,
locked: record.locked,
lockReason: record.lockReason,
lastSeen: record.lastSeen,
@@ -154,6 +164,18 @@ function broadcastRoster() {
io.emit('rovers', getRoster());
}
function setNightVisionState(roverId, nightVisionOn) {
const record = rovers.get(roverId);
if (!record) return;
if (typeof nightVisionOn !== 'boolean') return;
record.nightVisionState = {
nightVisionOn,
updatedAt: Date.now(),
};
broadcastRoster();
managerEvents.emit('rover', { roverId, action: 'nightVision', record });
}
function computeBatteryState(record, sensors) {
if (!record) return null;
if (!sensors) return record.batteryState;
@@ -557,6 +579,7 @@ module.exports = {
lockRover,
getRoster,
broadcastRoster,
setNightVisionState,
handleSensorFrame,
requestControl,
releaseControl,
webui/src/components/CameraServoPanel.jsx
+48 -24
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@@ -1,5 +1,7 @@
import { useEffect, useRef, useState } from 'react';
import { useControlSystem } from '../controls/index.js';
import { formatKeyLabel } from '../controls/keymapUtils.js';
import NightVisionControl from './NightVisionControl.jsx';
const SLIDER_THROTTLE_MS = 150;
@@ -10,11 +12,15 @@ function formatDegrees(value) {
export default function CameraServoPanel() {
const {
state: { roverId, camera },
actions: { setServoAngle, nudgeServo, goServoHome },
state: { roverId, camera, keymap },
pipeline,
actions: { setServoAngle, nudgeServo, goServoHome, setNightVision },
} = useControlSystem();
const config = camera?.config;
const enabled = Boolean(roverId && camera?.enabled && config);
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const nightVisionKey = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
@@ -24,7 +30,7 @@ export default function CameraServoPanel() {
? config.homeAngle
: (min + max) / 2;
if (!enabled) return null;
if (!enabled && !nightVisionAvailable) return null;
const [pendingAngle, setPendingAngle] = useState(value);
const throttleRef = useRef(null);
@@ -80,30 +86,48 @@ export default function CameraServoPanel() {
nudgeServo(delta);
};
const handleNightVisionToggle = (nextOn) => {
if (!nightVisionAvailable) return;
setNightVision(nextOn);
};
return (
<section className="panel-section space-y-0.5 text-base">
<div className="flex items-center justify-between text-sm text-slate-300">
<span>Camera Tilt</span>
<span className="font-mono text-sm text-slate-100">{formatDegrees(value)}</span>
</div>
<div>
<input
type="range"
className="w-full accent-emerald-400"
min={min}
max={max}
step={0.5}
value={pendingAngle}
onChange={handleSlider}
onMouseUp={commitSlider}
onTouchEnd={commitSlider}
onPointerUp={commitSlider}
{enabled && (
<>
<div className="flex items-center justify-between text-sm text-slate-300">
<span>Camera Tilt</span>
<span className="font-mono text-sm text-slate-100">{formatDegrees(value)}</span>
</div>
<div>
<input
type="range"
className="w-full accent-emerald-400"
min={min}
max={max}
step={0.5}
value={pendingAngle}
onChange={handleSlider}
onMouseUp={commitSlider}
onTouchEnd={commitSlider}
onPointerUp={commitSlider}
/>
<div className="mt-0 flex justify-between text-xs text-slate-400">
<span>{formatDegrees(min)}</span>
<span>{formatDegrees(max)}</span>
</div>
</div>
</>
)}
{nightVisionAvailable && (
<NightVisionControl
nightVisionOn={nightVisionState?.nightVisionOn}
disabled={!roverId}
onToggle={handleNightVisionToggle}
keyLabel={nightVisionKey}
className={enabled ? 'mt-1' : ''}
/>
<div className="mt-0 flex justify-between text-xs text-slate-400">
<span>{formatDegrees(min)}</span>
<span>{formatDegrees(max)}</span>
</div>
</div>
)}
{/* <div className="flex gap-0.5 text-sm">
<button type="button" className="flex-1 button-dark" onClick={() => handleNudge(-1)}>
Tilt Down
webui/src/components/MobileControls.jsx
+19 -11
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@@ -2,6 +2,7 @@ import { useCallback, useEffect, useRef, useState } from 'react';
import { useControlSystem } from '../controls/index.js';
import { clampUnit } from '../controls/controlMath.js';
import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
import NightVisionControl from './NightVisionControl.jsx';
const SOURCE = 'mobile-joystick';
const JOYSTICK_RADIUS = 80;
@@ -134,7 +135,7 @@ function MobileJoystickPanel({ layout }) {
const {
state: { roverId, camera },
pipeline,
actions: { setDriveVector, registerInputState, setServoAngle, toggleNightVision },
actions: { setDriveVector, registerInputState, setServoAngle, setNightVision },
} = useControlSystem();
const driveDockState = useDriveDockState(roverId);
const dockedNotDriving = driveDockState.docked && !driveDockState.driving;
@@ -142,6 +143,7 @@ function MobileJoystickPanel({ layout }) {
const cameraConfig = camera?.config;
const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
const cameraValue =
@@ -198,6 +200,14 @@ function MobileJoystickPanel({ layout }) {
setServoAngle(next);
};
const handleNightVisionToggle = useCallback(
(nextOn) => {
if (!nightVisionAvailable) return;
setNightVision(nextOn);
},
[nightVisionAvailable, setNightVision],
);
const fillClass = dockedNotDriving ? 'max-h-screen self-start' : '';
const containerClass = `flex h-full flex-col gap-0.5 text-slate-100 ${fillClass}`;
@@ -206,16 +216,6 @@ function MobileJoystickPanel({ layout }) {
<DriveDockAction layout="mobile" expand={dockedNotDriving} driveDockState={driveDockState} />
{!dockedNotDriving ? (
<>
{nightVisionAvailable && (
<button
type="button"
onClick={() => toggleNightVision()}
disabled={disabled}
className="bg-amber-600 px-0.5 py-1 text-sm font-semibold text-amber-50 transition hover:bg-amber-500 disabled:opacity-40"
>
Toggle Night Vision
</button>
)}
{cameraEnabled && (
<div className="bg-zinc-950 p-0.5 text-xs">
<div className="flex items-center justify-between text-[0.75rem] text-slate-400">
@@ -233,6 +233,14 @@ function MobileJoystickPanel({ layout }) {
/>
</div>
)}
{nightVisionAvailable && (
<NightVisionControl
nightVisionOn={nightVisionState?.nightVisionOn}
disabled={disabled}
onToggle={handleNightVisionToggle}
className="mt-0.5"
/>
)}
<FloatingJoystick
disabled={disabled}
layout={layout}
webui/src/components/NightVisionControl.jsx
+71
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@@ -0,0 +1,71 @@
import { useEffect, useMemo, useState } from 'react';
function isBoolean(value) {
return typeof value === 'boolean';
}
export default function NightVisionControl({
nightVisionOn,
disabled,
onToggle,
keyLabel,
className = '',
}) {
const [optimistic, setOptimistic] = useState(
isBoolean(nightVisionOn) ? nightVisionOn : null,
);
useEffect(() => {
if (isBoolean(nightVisionOn)) {
setOptimistic(nightVisionOn);
}
}, [nightVisionOn]);
const hasState = isBoolean(optimistic);
const displayOn = hasState ? optimistic : false;
const statusLabel = hasState ? (displayOn ? 'On' : 'Off') : '—';
const statusClasses = displayOn
? 'bg-emerald-600 text-emerald-50'
: 'bg-slate-700 text-slate-200';
const handleToggle = () => {
if (disabled) return;
const next = hasState ? !displayOn : true;
setOptimistic(next);
onToggle?.(next);
};
const buttonClasses = useMemo(
() =>
[
'flex w-full items-center justify-between rounded bg-zinc-950 px-1 py-0.5 text-xs text-slate-300',
'transition hover:bg-zinc-900 disabled:opacity-50',
className,
]
.filter(Boolean)
.join(' '),
[className],
);
return (
<button
type="button"
onClick={handleToggle}
disabled={disabled}
aria-pressed={displayOn}
className={buttonClasses}
>
<span className="text-slate-400">Night Vision</span>
<span className="flex items-center gap-1">
<span className={`rounded px-1 py-0.5 text-[0.65rem] font-semibold ${statusClasses}`}>
{statusLabel}
</span>
{keyLabel ? (
<span className="rounded bg-slate-800 px-1 py-0.5 text-[0.6rem] font-semibold text-slate-200">
{keyLabel}
</span>
) : null}
</span>
</button>
);
}
webui/src/controls/ControlContext.jsx
+18 -3
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@@ -312,10 +312,23 @@ export function ControlSystemProvider({ children }) {
[pipeline],
);
const setNightVision = useCallback(
(nightVisionOn) => {
if (!pipeline.nightVision) return;
if (typeof nightVisionOn === 'boolean') {
const action = nightVisionOn ? 'off' : 'on';
pipeline.sendNightVision(action);
} else {
pipeline.sendNightVision('toggle');
}
recordControlIntent();
},
[pipeline, recordControlIntent],
);
const toggleNightVision = useCallback(() => {
pipeline.sendNightVision('toggle');
recordControlIntent();
}, [pipeline, recordControlIntent]);
setNightVision();
}, [setNightVision]);
const setSongNote = useCallback(
(note) => {
@@ -354,6 +367,7 @@ export function ControlSystemProvider({ children }) {
stopAllMotion,
sendOiCommand,
setSensorStream,
setNightVision,
toggleNightVision,
updateKeyBinding,
resetKeyBindings,
@@ -376,6 +390,7 @@ export function ControlSystemProvider({ children }) {
stopAllMotion,
sendOiCommand,
setSensorStream,
setNightVision,
toggleNightVision,
updateKeyBinding,
resetKeyBindings,
webui/src/controls/commandPipeline.js
+4
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@@ -32,6 +32,8 @@ export function useCommandPipeline(options = {}) {
return rosterEntry.nightVision;
}, [rosterEntry]);
const nightVisionState = useMemo(() => rosterEntry?.nightVision?.state ?? null, [rosterEntry]);
const emitCommand = useCallback(
(payload, cb) => {
if (!roverId) return;
@@ -202,6 +204,7 @@ export function useCommandPipeline(options = {}) {
rosterEntry,
servoConfig,
nightVision,
nightVisionState,
emitCommand,
enableSensorStream,
sendDriveDirect,
@@ -217,6 +220,7 @@ export function useCommandPipeline(options = {}) {
rosterEntry,
servoConfig,
nightVision,
nightVisionState,
emitCommand,
enableSensorStream,
sendDriveDirect,
webui/src/controls/inputs/GamepadInputManager.jsx
+16
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@@ -8,6 +8,7 @@ import {
getPadSignature,
} from './gamepadBindings.js';
import { subscribeGamepadHub } from './gamepadHub.js';
import { isTextEntryActive } from './inputFocusUtils.js';
const SOURCE = 'gamepad';
const ZERO_VECTOR = { x: 0, y: 0, boost: false };
@@ -154,6 +155,21 @@ export default function GamepadInputManager() {
return;
}
if (isTextEntryActive()) {
if (!areVectorsEqual(lastVectorRef.current, ZERO_VECTOR)) {
lastVectorRef.current = ZERO_VECTOR;
setDriveVector(ZERO_VECTOR, { source: SOURCE });
}
if (!areAuxEqual(lastAuxRef.current, ZERO_AUX)) {
lastAuxRef.current = ZERO_AUX;
setAuxMotors(ZERO_AUX);
}
buttonStateRef.current = new Map();
reverseStateRef.current = { main: false, side: false };
registerInputState(SOURCE, { connected: true, blocked: true });
return;
}
ensureProfile(activePad);
const signature = activePad.signature;
const profile =
webui/src/controls/inputs/KeyboardInputManager.jsx
+6 -13
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@@ -3,6 +3,7 @@ import { useControlSystem } from '../ControlContext.jsx';
import { useChat } from '../../context/ChatContext.jsx';
import { useSession } from '../../context/SessionContext.jsx';
import { normalizeKeymapEntries, tokensForEvent } from '../keymapUtils.js';
import { isTextInputElement } from './inputFocusUtils.js';
import { useSettingsNamespace } from '../../settings/index.js';
import { INPUT_SETTINGS_DEFAULTS } from '../../settings/namespaces.js';
import {
@@ -55,15 +56,7 @@ function mapTiltIntervalToSpeed(interval) {
}
function shouldIgnoreEvent(event) {
const target = event.target;
if (!target) return false;
const tag = target.tagName;
return (
tag === 'INPUT' ||
tag === 'TEXTAREA' ||
target.isContentEditable ||
tag === 'SELECT'
);
return isTextInputElement(event?.target);
}
function bindingActive(bindingSet, keys) {
@@ -395,12 +388,12 @@ export default function KeyboardInputManager() {
resetAll();
}
window.addEventListener('keydown', handleKeyDown);
window.addEventListener('keyup', handleKeyUp);
window.addEventListener('keydown', handleKeyDown, { capture: true });
window.addEventListener('keyup', handleKeyUp, { capture: true });
window.addEventListener('blur', handleBlur);
return () => {
window.removeEventListener('keydown', handleKeyDown);
window.removeEventListener('keyup', handleKeyUp);
window.removeEventListener('keydown', handleKeyDown, { capture: true });
window.removeEventListener('keyup', handleKeyUp, { capture: true });
window.removeEventListener('blur', handleBlur);
};
}, [
webui/src/controls/inputs/inputFocusUtils.js
+30
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@@ -0,0 +1,30 @@
const TEXT_INPUT_TYPES = new Set([
'',
'text',
'search',
'email',
'password',
'url',
'tel',
'number',
'date',
'datetime-local',
'month',
'time',
'week',
]);
export function isTextInputElement(target) {
if (!target || target.nodeType !== 1) return false;
const tag = target.tagName;
if (tag === 'TEXTAREA') return true;
if (target.isContentEditable) return true;
if (tag !== 'INPUT') return false;
const type = target.type ? target.type.toLowerCase() : '';
return TEXT_INPUT_TYPES.has(type);
}
export function isTextEntryActive() {
if (typeof document === 'undefined') return false;
return isTextInputElement(document.activeElement);
}