deeper pass

webui/src/controls/ControlContext.jsx

@@ -73,9 +73,9 @@ export function ControlSystemProvider({ children }) {
     typeof pageSettings?.driveMacroBackoffEnabled === 'boolean'
       ? pageSettings.driveMacroBackoffEnabled
       : true;
-  const session = useSessionSelector((state) => state.session);
+  const roverId = useSessionSelector((state) => state.session?.assignment?.roverId ?? null);
+  const homeAssistantEntities = useSessionSelector((state) => state.session?.homeAssistant?.entities ?? []);
   const { homeAssistantSetState } = useSessionActions();
-  const roverId = session?.assignment?.roverId ?? null;
   const overcurrentLimiter = useOvercurrentLimiter(roverId);
   const driveTransform = useCallback(
     (speeds) => applyDriveOvercurrentScale(speeds, overcurrentLimiter.scales, overcurrentLimiter.adminImmune),
@@ -88,7 +88,7 @@ export function ControlSystemProvider({ children }) {
   const pipeline = useCommandPipeline({ driveTransform, auxTransform });
 
   const turnOnAllLights = useCallback(() => {
-    const entities = session?.homeAssistant?.entities || [];
+    const entities = homeAssistantEntities || [];
     const targets = entities.filter(
       (ent) =>
         (ent.type === 'light' || ent.type === 'switch') &&
@@ -105,7 +105,7 @@ export function ControlSystemProvider({ children }) {
     });
     // Give the loop a chance; clear pending after issuing commands.
     pendingLightsRef.current = false;
-  }, [session?.homeAssistant?.entities, homeAssistantSetState]);
+  }, [homeAssistantEntities, homeAssistantSetState]);
 
   useEffect(() => {
     dispatch({ type: 'control/set-rover', payload: pipeline.roverId });
@@ -114,18 +114,18 @@ export function ControlSystemProvider({ children }) {
   useEffect(() => {
     const prevMode = prevModeRef.current;
     prevModeRef.current = state.mode;
-    if (prevMode !== 'drive' && state.mode === 'drive' && session?.homeAssistant?.entities) {
+    if (prevMode !== 'drive' && state.mode === 'drive' && homeAssistantEntities?.length) {
       turnOnAllLights();
     } else if (prevMode !== 'drive' && state.mode === 'drive') {
       pendingLightsRef.current = true;
     }
-  }, [state.mode, session?.homeAssistant?.entities, turnOnAllLights]);
+  }, [state.mode, homeAssistantEntities, turnOnAllLights]);
 
   useEffect(() => {
-    if (pendingLightsRef.current && session?.homeAssistant?.entities) {
+    if (pendingLightsRef.current && homeAssistantEntities?.length) {
       turnOnAllLights();
     }
-  }, [session?.homeAssistant?.entities, turnOnAllLights]);
+  }, [homeAssistantEntities, turnOnAllLights]);
 
   useEffect(() => {
     const mergedKeymap = { ...DEFAULT_KEYMAP, ...(controlSettings?.keymap || {}) };
@@ -308,7 +308,7 @@ export function ControlSystemProvider({ children }) {
       let macroToRun = macro;
       if (macroId === 'drive-sequence') {
         turnOnAllLights();
-        if (!session?.homeAssistant?.entities) {
+        if (!homeAssistantEntities?.length) {
           pendingLightsRef.current = true;
         }
         recordControlIntent();
@@ -327,7 +327,7 @@ export function ControlSystemProvider({ children }) {
       driveMacroBackoffEnabled,
       pipeline,
       recordControlIntent,
-      session?.homeAssistant?.entities,
+      homeAssistantEntities,
       state.macros,
       turnOnAllLights,
     ],

webui/src/controls/commandPipeline.js

@@ -16,13 +16,13 @@ import { bytesToBase64, clampRange, sleep } from './controlMath.js';
 export function useCommandPipeline(options = {}) {
   const { driveTransform, auxTransform } = options;
   const socket = useSocket();
-  const session = useSessionSelector((state) => state.session);
-  const roverId = session?.assignment?.roverId;
+  const roverId = useSessionSelector((state) => state.session?.assignment?.roverId ?? null);
+  const roster = useSessionSelector((state) => state.session?.roster ?? []);
 
   const rosterEntry = useMemo(() => {
-    if (!roverId || !Array.isArray(session?.roster)) return null;
-    return session.roster.find((entry) => String(entry.id) === String(roverId)) || null;
-  }, [roverId, session?.roster]);
+    if (!roverId || !Array.isArray(roster)) return null;
+    return roster.find((entry) => String(entry.id) === String(roverId)) || null;
+  }, [roverId, roster]);
 
   const servoConfig = useMemo(() => {
     if (!rosterEntry?.cameraServo || !rosterEntry.cameraServo.enabled) return null;

webui/src/controls/inputs/KeyboardInputManager.jsx

@@ -136,7 +136,7 @@ export default function KeyboardInputManager() {
       sendSong,
     },
   } = useControlSystem();
-  const session = useSessionSelector((state) => state.session);
+  const homeAssistant = useSessionSelector((state) => state.session?.homeAssistant || null);
   const { homeAssistantSetState } = useSessionActions();
   const { focusChat, blurChat, isChatFocused } = useChat();
   const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
@@ -318,7 +318,7 @@ export default function KeyboardInputManager() {
 
   const triggerHomeAssistantCycle = useCallback(
     (targetState) => {
-      const ha = session?.homeAssistant;
+      const ha = homeAssistant;
       if (!ha?.enabled || !ha?.connected) return;
       if (ha?.lightPolicy?.locked || ha?.lightPolicy?.lockedOn) return;
       const entities = ha.entities || [];
@@ -346,7 +346,7 @@ export default function KeyboardInputManager() {
         }
       }
     },
-    [homeAssistantSetState, session?.homeAssistant],
+    [homeAssistantSetState, homeAssistant],
   );
 
   useEffect(() => {

webui/src/controls/overcurrentLimiter.js

@@ -29,7 +29,7 @@ function clampUnit(value) {
 }
 
 export function useOvercurrentLimiter(roverId, options = {}) {
-  const session = useSessionSelector((state) => state.session);
+  const role = useSessionSelector((state) => state.session?.role || null);
   const frame = useTelemetryFrame(roverId);
   const sensors = frame?.sensors || {};
   const overcurrentFlags = sensors?.wheelOvercurrents || {};
@@ -131,10 +131,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
     return { motors, groups };
   }, [overcurrentFlags]);
 
-  const adminImmune =
-    session?.role === 'admin' ||
-    session?.role === 'lockdown' ||
-    session?.role === 'lockdown-admin';
+  const adminImmune = role === 'admin' || role === 'lockdown' || role === 'lockdown-admin';
 
   return useMemo(
     () => ({