auuuhm

dist/dummy1.yml

@@ -14,9 +14,8 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: https://mediaserver.local/whep/roomba-alpha
+  publishUrl: https://control-server.local/whip/roomba-alpha
-  streamKey: roomba-alpha
   manage: false
   service: mediamtx.service
-  healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam
+  healthUrl: http://127.0.0.1:9997/v3/paths/list
-  healthInterval: 30s
+  healthInterval: 30s

dist/dummy2.yml

@@ -14,9 +14,8 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: https://mediaserver.local/whep/roomba-alpha
+  publishUrl: https://control-server.local/whip/roomba-alpha
-  streamKey: roomba-alpha
   manage: false
   service: mediamtx.service
-  healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam
+  healthUrl: http://127.0.0.1:9997/v3/paths/list
-  healthInterval: 30s
+  healthInterval: 30s

docs/pi-deployment.md

@@ -55,7 +55,7 @@ Flags:
 | `--mediamtx` | download/install mediaMTX plus the provided config + unit |
 | `--mediamtx-version X.Y.Z` | override the mediaMTX release tag (default `1.15.3`) |
 
-If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the WHEP URL that the central server should expose.
+If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and the `media.publishUrl` that points at your central mediaMTX WHIP endpoint (for example `https://control-server.local/whip/roomba-alpha`).
 
 ## Manual installation
 
@@ -65,7 +65,7 @@ If the script installs the sample config, it will remind you to edit `/etc/rover
    sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
    sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
    ```
-   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media WHEP URL that points at the central distribution server.
+   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and the media `publishUrl` that points at the central media server’s WHIP endpoint for that rover.
 
 2. Install the systemd unit:
    ```bash
@@ -92,8 +92,9 @@ If you set `media.manage: true` in `/etc/roverd.yaml`, make sure the `roverd` se
    sudo systemctl enable --now mediamtx.service
    ```
 
-The sample config uses the Raspberry Pi camera module as the source and exposes a WHEP endpoint at `http://<pi-host>:8889/whep/rovercam`. Point `media.whepUrl` in `roverd.yaml` at this URL so the central server can list it.  
+The sample config uses the Raspberry Pi camera module as the source and enables the local mediaMTX HTTP API so `roverd` can health-check the service. Edit `/etc/mediamtx/mediamtx.yml` to point its WHIP client at your central media server (see `mediamtx_server_integration.md` for details).  
-Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).
+Expose the mediaMTX HTTP API locally (default `http://127.0.0.1:9997`) and set `media.healthUrl` so `roverd` can monitor the pipeline; `media.service` should match the systemd unit name (default `mediamtx.service`).  
+Finally, edit `/etc/mediamtx/mediamtx.yml` so the Pi publishes the camera feed to your central control server via WHIP (for example by pointing it at `https://control.example.com/whip/<roverName>`). The Pi never serves viewers directly—drivers and spectators always watch through the control server.
 
 ## Server + UI
 

mediamtx_server_integration.md

@@ -0,0 +1,19 @@
+# mediaMTX Integration
+
+Each rover runs mediaMTX locally to capture the Pi camera and publish it upstream, while the control server hosts a central mediaMTX instance that fans video out to drivers and spectators.
+
+## Pi (publisher)
+
+- mediaMTX samples the Pi camera (`paths.rovercam.source: rpiCamera`) and exposes the HTTP API on `http://127.0.0.1:9997`.
+- `/etc/roverd.yaml` contains `media.publishUrl`, pointing at the control server’s WHIP endpoint for that rover (e.g. `https://control.example.com/whip/roomba-alpha`). No auth is required when the Pi network is trusted.
+- The `media.manage` flag keeps the local service alive via `systemctl` and hits the API for health checks (`media.healthUrl`, defaults to `http://127.0.0.1:9997/v3/paths/list`).
+
+## Control server (viewer)
+
+- The central mediaMTX instance accepts WHIP ingest at `/whip/<roverId>` and serves WHEP playback at `/whep/<roverId>`.
+- The Node server issues viewer sessions (one per socket) and mediamtx calls back into the Node server to authorize new WHEP connections. Lockdown mode simply stops minting sessions for non-lockdown admins.
+
+## Driver / spectator UIs
+
+- When a user requests video the browser asks the Node server for a session token, and if the current mode/role allows it, the server returns the WHEP URL plus the session id.
+- Spectator mode and lockdown are enforced purely on the Node server: no direct Pi URLs are ever exposed, and once a user has a session it remains valid until they disconnect or lockdown revokes it.

pi/mediamtx/mediamtx.yml

@@ -1,4 +1,7 @@
 logLevel: info
+api: yes
+apiAddress: 127.0.0.1:9997
+apiEncryption: no
 webrtc: yes
 webrtcLocalUDPAddress: :8189
 webrtcLocalTCPAddress: :8189

pi/roverd/config.go

@@ -53,8 +53,7 @@ type BatteryConfig struct {
 }
 
 type MediaConfig struct {
-	WhepURL        string   `yaml:"whepUrl"`
+	PublishURL     string   `yaml:"publishUrl"`
-	StreamKey      string   `yaml:"streamKey"`
 	Manage         bool     `yaml:"manage"`
 	Service        string   `yaml:"service"`
 	HealthURL      string   `yaml:"healthUrl"`

pi/roverd/media_supervisor.go

@@ -22,6 +22,9 @@ func NewMediaSupervisor(cfg MediaConfig, logger *log.Logger) *MediaSupervisor {
 	if !cfg.Manage || cfg.Service == "" {
 		return nil
 	}
+	if cfg.HealthURL == "" {
+		cfg.HealthURL = "http://127.0.0.1:9997/v3/paths/list"
+	}
 	interval := cfg.HealthInterval.Duration
 	if interval <= 0 {
 		interval = 30 * time.Second

pi/roverd/roverd.sample.yaml

@@ -15,9 +15,8 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: https://mediaserver.local/whep/roomba-alpha
+  publishUrl: https://control-server.local/whip/roomba-alpha
-  streamKey: roomba-alpha
   manage: false
   service: mediamtx.service
-  healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam
+  healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s

pi/roverd/roverd.yaml

@@ -15,9 +15,8 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  whepUrl: https://mediaserver.local/whep/roomba-alpha
+  publishUrl: https://control-server.local/whip/roomba-alpha
-  streamKey: roomba-alpha
   manage: false
   service: mediamtx.service
-  healthUrl: http://127.0.0.1:9997/v3/paths/list/rovercam
+  healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s

server/index.js

@@ -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

@@ -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">
+        <div class="row" id="adminControls">
-          <button id="requestControl">Request Control</button>
+          <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

@@ -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

@@ -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

@@ -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

@@ -6,7 +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

@@ -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

@@ -1,9 +1,20 @@
-function stamp(level, args) {
+function stamp(level, label, args) {
-  return [new Date().toISOString(), `[${level}]`, ...args];
+  const fields = [new Date().toISOString(), `[${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)),
+  ...baseLogger(),
-  warn: (...args) => console.warn(...stamp('WARN', args)),
+  child: (label) => baseLogger(label),
-  error: (...args) => console.error(...stamp('ERROR', args)),
 };

server/src/services/assignmentService.js

@@ -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

@@ -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');
+  const requestedRole = socket.handshake?.query?.role;
-  socket.emit('auth:role', { role: 'user' });
+  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

@@ -1,6 +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

@@ -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

@@ -1,5 +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

@@ -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

@@ -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);