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headlight rework and laser addition

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This commit is contained in:
legop3
2026-06-27 15:57:47 -04:00
parent 3c1b1dab6e
commit 8e322ed57b
45 changed files with 596 additions and 373 deletions
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pi/roverd/wsclient.go
+27 -15
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@@ -21,7 +21,8 @@ type WSClient struct {
media *MediaSupervisor
servo *CameraServo
horn *HornSynth
nightVision *NightVisionLight
headlight *GPIOToggle
laser *GPIOToggle
log *log.Logger
recoverMu sync.Mutex
recovering bool
@@ -40,7 +41,7 @@ type WSClient struct {
audioMu sync.RWMutex
}
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo *CameraServo, nightVision *NightVisionLight, logger *log.Logger) *WSClient {
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events chan RoverEvent, media *MediaSupervisor, servo *CameraServo, headlight *GPIOToggle, laser *GPIOToggle, logger *log.Logger) *WSClient {
var ttsQueue chan *ttsPayload
if cfg.Audio.TTSEnabled {
ttsQueue = make(chan *ttsPayload, 2)
@@ -61,7 +62,8 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
media: media,
servo: servo,
horn: horn,
nightVision: nightVision,
headlight: headlight,
laser: laser,
log: logger,
ttsQueue: ttsQueue,
chromeTTS: chromeTTS,
@@ -133,7 +135,8 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
CameraServo: c.cfg.CameraServo,
Audio: c.cfg.Audio,
Horn: c.cfg.Horn,
NightVision: c.cfg.NightVision,
Headlight: c.cfg.Headlight,
Laser: c.cfg.Laser,
Private: c.cfg.Private,
}
c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
@@ -226,17 +229,10 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
return c.horn.HandlePayload(msg.Horn)
case msg.AudioLevels != nil:
return c.handleAudioLevels(msg.AudioLevels)
case msg.NightVision != nil:
if c.nightVision == nil {
return fmt.Errorf("night vision disabled")
}
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.Headlight != nil:
return c.handleToggleCommand("headlight", c.headlight, msg.Headlight)
case msg.Laser != nil:
return c.handleToggleCommand("laser", c.laser, msg.Laser)
case msg.Song != nil:
slot := 0
if msg.Song.Slot != nil {
@@ -252,6 +248,22 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
}
}
func (c *WSClient) handleToggleCommand(name string, toggle *GPIOToggle, payload *togglePayload) error {
if toggle == nil {
return fmt.Errorf("%s disabled", name)
}
if err := toggle.HandleAction(payload.Action); err != nil {
return err
}
// Event names and payload keys use logical device names. GPIO polarity has
// already been handled inside GPIOToggle, so the server only sees whether
// the headlight or laser should be considered on.
c.emitEvent(fmt.Sprintf("%s.state", name), map[string]any{
fmt.Sprintf("%sOn", name): toggle.On(),
})
return nil
}
func (c *WSClient) stopMotionForSystemCommand(reason string) error {
// System-level commands can restart the process or the whole Pi. Stopping
// both wheel and auxiliary motors first leaves the Roomba in a predictable