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legop3
2025-11-13 22:17:29 -05:00
parent d601e9aa82
commit 8c79c70520
26 changed files with 386 additions and 62 deletions
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server/index.js
+1
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@@ -13,4 +13,5 @@ require('./src/services/lockdownGuard');
require('./src/services/roverManager');
require('./src/services/commandService');
require('./src/services/roverConnectionService');
require('./src/services/assignmentService');
require('./src/services/httpServer');
server/public/index.html
+14 -4
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@@ -24,17 +24,25 @@
<input id="username" placeholder="Username" />
<input id="password" type="password" placeholder="Password" />
<button id="loginBtn">Admin Login</button>
<button id="spectatorBtn">Spectate</button>
<span id="roleStatus">Role: user</span>
</div>
<div id="layout">
<div id="roverList">
<label for="roverSelect">Rovers</label>
<select id="roverSelect" size="10" style="width: 100%"></select>
<div class="row">
<button id="requestControl">Request Control</button>
<div class="row" id="adminControls">
<label><input type="checkbox" id="forceControl" /> Force control</label>
<button id="lockToggle">Lock/Unlock</button>
</div>
<div class="row" id="modeControls" style="display:none">
<label for="modeSelect">Server mode</label>
<select id="modeSelect">
<option value="open">Open</option>
<option value="turns">Turns</option>
<option value="admin">Admin</option>
<option value="lockdown">Lockdown</option>
</select>
</div>
<div class="row">
<button data-oi="start">Start OI</button>
<button data-oi="safe">Safe</button>
@@ -51,7 +59,8 @@
</div>
<div style="flex: 1">
<h3>Sensor Frames</h3>
<div id="activeDriver">Active driver: --</div>
<div id="currentRover">Active rover: --</div>
<div id="activeDriver">Driver: --</div>
<pre id="sensorOutput"></pre>
<p>Use WASD keys to drive the selected rover. Shift increases speed.</p>
<div id="alerts"></div>
@@ -67,5 +76,6 @@
<script src="src/services/roverUI.js"></script>
<script src="src/services/driveControls.js"></script>
<script src="src/main.js"></script>
<p><a href="/spectate/">Open spectator view</a></p>
</body>
</html>
server/public/spectate/index.html
+29
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@@ -0,0 +1,29 @@
<!doctype html>
<html>
<head>
<meta charset="utf-8" />
<title>Rover Spectator</title>
<style>
body { font-family: sans-serif; margin: 16px; }
#status { margin-bottom: 12px; }
#grid { display: grid; grid-template-columns: repeat(auto-fill, minmax(280px, 1fr)); gap: 12px; }
.rover-card { border: 1px solid #ccc; padding: 12px; border-radius: 6px; background: #fdfdfd; }
.rover-card h3 { margin: 0 0 8px 0; }
.sensor { font-family: monospace; white-space: pre-wrap; word-break: break-word; }
.meta { font-size: 0.9rem; color: #555; margin-bottom: 8px; }
</style>
</head>
<body>
<h1>Rover Spectator</h1>
<div id="status">Connecting…</div>
<div id="grid"></div>
<script src="/socket.io/socket.io.js"></script>
<script>
window.__desiredRole = 'spectator';
</script>
<script src="../loader.js"></script>
<script src="../src/globals/socket.js"></script>
<script src="spectator.js"></script>
</body>
</html>
server/public/spectate/spectator.js
+63
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@@ -0,0 +1,63 @@
registerModule('spectator/main', (require, exports) => {
const { socket } = require('globals/socket');
const statusEl = document.getElementById('status');
const grid = document.getElementById('grid');
const cards = new Map();
socket.on('connect', () => {
statusEl.textContent = 'Connected';
});
socket.on('disconnect', () => {
statusEl.textContent = 'Disconnected';
});
socket.on('lockdown', ({ message }) => {
statusEl.textContent = message || 'Spectator mode disabled';
});
socket.on('rovers', (list) => {
const seen = new Set();
list.forEach((rover) => {
const card = ensureCard(rover.id);
card.querySelector('.meta').textContent = `Locked: ${rover.locked ? 'yes' : 'no'} | Last seen: ${new Date(rover.lastSeen).toLocaleTimeString()}`;
});
cards.forEach((_, id) => {
if (!list.find((r) => r.id === id)) {
removeCard(id);
}
});
});
socket.on('sensorFrame', ({ roverId, sensors }) => {
const card = ensureCard(roverId);
card.querySelector('.sensor').textContent = sensors ? JSON.stringify(sensors, null, 2) : 'No data';
});
function ensureCard(roverId) {
if (cards.has(roverId)) {
return cards.get(roverId);
}
const card = document.createElement('div');
card.className = 'rover-card';
card.innerHTML = `
<h3>${roverId}</h3>
<div class="meta"></div>
<pre class="sensor">Waiting for data...</pre>
`;
grid.appendChild(card);
cards.set(roverId, card);
return card;
}
function removeCard(roverId) {
const card = cards.get(roverId);
if (card) {
card.remove();
cards.delete(roverId);
}
}
});
requireModule('spectator/main');
server/public/src/globals/socket.js
+5 -1
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@@ -1,4 +1,8 @@
registerModule('globals/socket', (require, exports) => {
const socket = io();
const query = {};
if (window.__desiredRole) {
query.role = window.__desiredRole;
}
const socket = io(query.role ? { query } : undefined);
exports.socket = socket;
});
server/public/src/services/authControls.js
-6
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@@ -6,7 +6,6 @@ registerModule('services/authControls', (require, exports) => {
const passwordInput = document.getElementById('password');
const loginBtn = document.getElementById('loginBtn');
const roleStatus = document.getElementById('roleStatus');
const spectatorBtn = document.getElementById('spectatorBtn');
function updateRole(role) {
if (roleStatus) {
@@ -33,9 +32,4 @@ registerModule('services/authControls', (require, exports) => {
});
// initialize from default role
updateRole(state.getRole());
spectatorBtn?.addEventListener('click', () => {
socket.emit('role:set', { role: 'spectator' });
updateRole('spectator');
});
});
server/public/src/services/roverUI.js
+53 -10
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@@ -6,16 +6,28 @@ registerModule('services/roverUI', (require, exports) => {
const statusEl = document.getElementById('status');
const roverSelect = document.getElementById('roverSelect');
const sensorOutput = document.getElementById('sensorOutput');
const requestBtn = document.getElementById('requestControl');
const lockBtn = document.getElementById('lockToggle');
const forceCheckbox = document.getElementById('forceControl');
const adminControls = document.getElementById('adminControls');
const modeControls = document.getElementById('modeControls');
const modeSelect = document.getElementById('modeSelect');
const activeDriverEl = document.getElementById('activeDriver');
const currentRoverEl = document.getElementById('currentRover');
let roster = [];
let lastSelection = null;
state.onRoleChange((role) => {
const isAdmin = role === 'admin' || role === 'lockdown';
if (requestBtn) requestBtn.disabled = !isAdmin;
if (lockBtn) lockBtn.disabled = !isAdmin;
if (roverSelect) roverSelect.disabled = !isAdmin;
if (adminControls) {
adminControls.style.display = isAdmin ? 'flex' : 'none';
}
if (modeControls) {
modeControls.style.display = isAdmin ? 'block' : 'none';
if (modeSelect) modeSelect.disabled = !isAdmin;
}
});
socket.on('rovers', (list) => {
@@ -27,19 +39,28 @@ registerModule('services/roverUI', (require, exports) => {
option.textContent = `${rover.name}${rover.locked ? ' (locked)' : ''}`;
roverSelect.appendChild(option);
});
if (!state.getSelected() && list.length) {
const selected = state.getSelected();
if ((!selected || !list.find((r) => r.id === selected)) && list.length) {
state.setSelected(list[0].id);
roverSelect.value = list[0].id;
} else if (!list.length) {
state.setSelected(null);
}
renderSelection();
});
roverSelect.addEventListener('change', () => {
state.setSelected(roverSelect.value);
const roverId = roverSelect.value;
const role = state.getRole();
state.setSelected(roverId);
renderSelection(true);
if (role === 'admin' || role === 'lockdown') {
socket.emit('requestControl', { roverId, force: !!forceCheckbox?.checked });
}
});
socket.on('controlGranted', ({ roverId }) => {
state.setSelected(roverId);
roverSelect.value = roverId;
renderSelection(true);
statusEl.textContent = `Driving ${roverId}`;
});
@@ -62,10 +83,6 @@ registerModule('services/roverUI', (require, exports) => {
}
});
requestBtn?.addEventListener('click', () => {
socket.emit('requestControl', { roverId: state.getSelected() });
});
lockBtn?.addEventListener('click', () => {
const roverId = state.getSelected();
const rover = roster.find((r) => r.id === roverId);
@@ -73,10 +90,36 @@ registerModule('services/roverUI', (require, exports) => {
socket.emit('lockRover', { roverId, locked: !rover.locked });
});
modeSelect?.addEventListener('change', () => {
socket.emit('setMode', { mode: modeSelect.value });
});
socket.on('mode', ({ mode }) => {
if (modeSelect) {
modeSelect.value = mode;
}
});
socket.on('connect', () => {
statusEl.textContent = 'Connected';
});
socket.on('disconnect', () => {
statusEl.textContent = 'Disconnected';
});
function renderSelection(clearOutput) {
const roverId = state.getSelected();
if (roverSelect && roverId) {
roverSelect.value = roverId;
} else if (roverSelect && !roverId) {
roverSelect.value = '';
}
if (currentRoverEl) {
currentRoverEl.textContent = `Active rover: ${roverId || '--'}`;
}
if (sensorOutput && (clearOutput || roverId !== lastSelection)) {
sensorOutput.textContent = roverId ? 'Waiting for sensor data...' : '';
}
lastSelection = roverId;
}
});
server/src/globals/logger.js
+16 -5
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@@ -1,9 +1,20 @@
function stamp(level, args) {
return [new Date().toISOString(), `[${level}]`, ...args];
function stamp(level, label, args) {
const fields = [new Date().toISOString(), `[${level}]`];
if (label) {
fields.push(`[${label}]`);
}
return [...fields, ...args];
}
function baseLogger(label) {
return {
info: (...args) => console.log(...stamp('INFO', label, args)),
warn: (...args) => console.warn(...stamp('WARN', label, args)),
error: (...args) => console.error(...stamp('ERROR', label, args)),
};
}
module.exports = {
info: (...args) => console.log(...stamp('INFO', args)),
warn: (...args) => console.warn(...stamp('WARN', args)),
error: (...args) => console.error(...stamp('ERROR', args)),
...baseLogger(),
child: (label) => baseLogger(label),
};
server/src/services/assignmentService.js
+135
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@@ -0,0 +1,135 @@
const io = require('../globals/io');
const logger = require('../globals/logger').child('assignment');
const { MODES, getMode, modeEvents } = require('./modeManager');
const { roleEvents, getRole, isAdmin } = require('./roleService');
const roverManager = require('./roverManager');
const socketRefs = new Map(); // socketId -> socket
const assignments = new Map(); // socketId -> roverId
const waiting = new Set(); // socketIds waiting for placement
io.on('connection', (socket) => {
socketRefs.set(socket.id, socket);
socket.on('disconnect', () => {
socketRefs.delete(socket.id);
unassignSocket(socket);
});
});
roleEvents.on('change', ({ socket, role }) => {
if (!socket || !socket.id) return;
if (role === 'user') {
assignSocket(socket);
} else {
unassignSocket(socket);
}
});
modeEvents.on('change', (mode) => {
if (mode === MODES.ADMIN || mode === MODES.LOCKDOWN) {
// release non-admin drivers
for (const [socketId, roverId] of assignments.entries()) {
const socket = socketRefs.get(socketId);
if (socket && !isAdmin(socket)) {
releaseAssignment(socket, roverId);
}
}
}
reassignWaiting();
});
roverManager.managerEvents.on('lock', ({ roverId, locked }) => {
if (locked) {
reassignFromRover(roverId);
} else {
reassignWaiting();
}
});
roverManager.managerEvents.on('rover', ({ action }) => {
if (action === 'removed' || action === 'upsert') {
reassignWaiting();
}
});
function assignSocket(socket) {
if (!socket || isAdmin(socket) || getRole(socket) !== 'user') {
return;
}
// avoid double assignment
if (assignments.has(socket.id)) {
return;
}
const target = pickRover();
if (!target) {
waiting.add(socket.id);
logger.info('No rover available, user waiting', socket.id);
return;
}
try {
roverManager.requestControl(target.id, socket, { allowUser: true });
assignments.set(socket.id, target.id);
waiting.delete(socket.id);
logger.info('Assigned user to rover', socket.id, target.id);
} catch (err) {
logger.warn('Failed to assign user', err.message);
waiting.add(socket.id);
}
}
function unassignSocket(socket) {
if (!socket) return;
waiting.delete(socket.id);
const roverId = assignments.get(socket.id);
if (roverId) {
roverManager.releaseControl(roverId, socket);
assignments.delete(socket.id);
}
}
function reassignFromRover(roverId) {
for (const [socketId, rid] of assignments.entries()) {
if (rid !== roverId) continue;
const socket = socketRefs.get(socketId);
if (!socket) {
assignments.delete(socketId);
continue;
}
roverManager.releaseControl(rid, socket);
assignments.delete(socketId);
assignSocket(socket);
}
}
function reassignWaiting() {
for (const socketId of Array.from(waiting)) {
const socket = socketRefs.get(socketId);
if (socket) {
assignSocket(socket);
} else {
waiting.delete(socketId);
}
}
}
function releaseAssignment(socket, roverId) {
roverManager.releaseControl(roverId, socket);
assignments.delete(socket.id);
waiting.add(socket.id);
}
function pickRover() {
const mode = getMode();
if (mode === MODES.ADMIN || mode === MODES.LOCKDOWN) {
return null;
}
const candidates = Array.from(roverManager.rovers.values()).filter((rover) => {
if (!rover || rover.locked) return false;
return true;
});
if (candidates.length === 0) {
return null;
}
candidates.sort((a, b) => a.drivers.size - b.drivers.size);
return candidates[0];
}
server/src/services/authService.js
+6 -3
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@@ -1,8 +1,9 @@
const bcrypt = require('bcrypt');
const io = require('../globals/io');
const logger = require('../globals/logger').child('authService');
const { loadConfig } = require('../helpers/configLoader');
const { clearLockdownTimer } = require('./lockdownGuard');
const { setRole, roleEvents } = require('./roleService');
const { setRole } = require('./roleService');
const config = loadConfig();
const admins = config.admins || [];
@@ -32,8 +33,10 @@ function isLockdownAdmin(socket) {
}
io.on('connection', (socket) => {
setRole(socket, 'user');
socket.emit('auth:role', { role: 'user' });
const requestedRole = socket.handshake?.query?.role;
const initialRole = requestedRole === 'spectator' ? 'spectator' : 'user';
setRole(socket, initialRole);
socket.emit('auth:role', { role: initialRole });
socket.on('auth:login', async ({ username, password }, cb = () => {}) => {
try {
const admin = await authenticate(username, password);
server/src/services/httpServer.js
+1 -1
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@@ -1,6 +1,6 @@
const { httpServer } = require('../globals/http');
const config = require('../globals/config');
const logger = require('../globals/logger');
const logger = require('../globals/logger').child('httpServer');
httpServer.listen(config.port, () => {
logger.info(`Server listening on :${config.port}`);
server/src/services/modeManager.js
+2
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@@ -37,6 +37,7 @@ function setMode(nextMode, socket) {
message: `Server mode set to ${nextMode}`,
});
modeEvents.emit('change', currentMode);
io.emit('mode', { mode: currentMode });
return currentMode;
}
@@ -52,6 +53,7 @@ module.exports = {
};
io.on('connection', (socket) => {
socket.emit('mode', { mode: currentMode });
socket.on('setMode', ({ mode }) => {
try {
setMode(mode, socket);
server/src/services/roverConnectionService.js
+1 -1
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@@ -1,5 +1,5 @@
const roverWSS = require('../globals/ws');
const logger = require('../globals/logger');
const logger = require('../globals/logger').child('roverConnection');
const roverManager = require('./roverManager');
const { sendAlert, COLORS } = require('./alertService');
const { handleAck } = require('./commandService');
server/src/services/roverManager.js
+17 -9
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@@ -1,5 +1,6 @@
const EventEmitter = require('events');
const io = require('../globals/io');
const logger = require('../globals/logger');
const logger = require('../globals/logger').child('roverManager');
const { sendAlert, COLORS } = require('./alertService');
const { parseSensorFrame } = require('../helpers/sensorDecoder');
const { MODES, getMode } = require('./modeManager');
@@ -9,6 +10,7 @@ const rovers = new Map(); // roverId -> record
const socketToRovers = new Map(); // socketId -> Set(roverId)
const spectatorSockets = new Set();
const turnService = require('./turnService');
const managerEvents = new EventEmitter();
function ensureRecord(id) {
if (!rovers.has(id)) {
@@ -37,6 +39,7 @@ function upsertRover(meta, ws) {
const sock = io.sockets.sockets.get(socketId);
sock?.join(record.room);
});
managerEvents.emit('rover', { roverId: id, action: 'upsert', record });
broadcastRoster();
return record;
}
@@ -51,6 +54,7 @@ function removeRover(id) {
sock?.leave(record.room);
});
broadcastRoster();
managerEvents.emit('rover', { roverId: id, action: 'removed' });
}
function lockRover(id, locked, actorSocket) {
@@ -66,6 +70,7 @@ function lockRover(id, locked, actorSocket) {
sendAlert({ color: COLORS.success, title: 'Rover Unlocked', message: `${id} unlocked.` });
}
broadcastRoster();
managerEvents.emit('lock', { roverId: id, locked: record.locked });
return record.locked;
}
@@ -115,22 +120,23 @@ function removeSocket(socket) {
disableSpectator(socket);
}
function requestControl(roverId, socket) {
function requestControl(roverId, socket, options = {}) {
const { force = false, allowUser = false } = options;
const record = rovers.get(roverId);
if (!record) {
throw new Error('Unknown rover');
}
if (!isAdmin(socket)) {
if (!allowUser && !isAdmin(socket)) {
throw new Error('Only admins can request control');
}
if (record.locked && !isAdmin(socket)) {
if (record.locked && !isAdmin(socket) && !allowUser) {
throw new Error('Rover locked');
}
const mode = getMode();
if (mode === MODES.ADMIN && !isAdmin(socket)) {
if (!allowUser && mode === MODES.ADMIN && !isAdmin(socket)) {
throw new Error('Admins only');
}
if (mode === MODES.LOCKDOWN && !isAdmin(socket)) {
if (!allowUser && mode === MODES.LOCKDOWN && !isAdmin(socket)) {
throw new Error('Server in lockdown');
}
record.drivers.add(socket.id);
@@ -139,7 +145,8 @@ function requestControl(roverId, socket) {
}
socketToRovers.get(socket.id).add(roverId);
socket.join(record.room);
turnService.driverAdded(roverId, socket.id);
turnService.driverAdded(roverId, socket.id, force && isAdmin(socket));
socket.emit('controlGranted', { roverId });
sendAlert({
color: COLORS.success,
title: 'Control Granted',
@@ -188,6 +195,7 @@ module.exports = {
enableSpectator,
disableSpectator,
rovers,
managerEvents,
};
roleEvents.on('change', ({ socket, role }) => {
@@ -204,13 +212,13 @@ io.on('connection', (socket) => {
enableSpectator(socket);
}
socket.on('requestControl', ({ roverId } = {}) => {
socket.on('requestControl', ({ roverId, force } = {}) => {
try {
const targetId = roverId || Array.from(rovers.keys())[0];
if (!targetId) {
throw new Error('No rovers available');
}
requestControl(targetId, socket);
requestControl(targetId, socket, { force: Boolean(force) });
socket.emit('controlGranted', { roverId: targetId });
} catch (err) {
sendAlert({ color: COLORS.warn, title: 'Control denied', message: err.message });
server/src/services/turnService.js
+2 -2
View File
@@ -6,12 +6,12 @@ const driverQueues = new Map(); // roverId -> { queue: [], current: socketId, ti
const activeDrivers = new Map();
const TURN_DURATION_MS = 60 * 1000;
function driverAdded(roverId, socketId) {
function driverAdded(roverId, socketId, force) {
const queue = ensureQueue(roverId);
if (!queue.queue.includes(socketId)) {
queue.queue.push(socketId);
}
if (!queue.current) {
if (!queue.current || force) {
queue.current = socketId;
}
syncState(roverId);