headlight rework and laser addition

webui/src/controls/ControlContext.jsx

@@ -53,8 +53,10 @@ const CONTROL_ACTION_NAMES = [
   'stopAllMotion',
   'sendOiCommand',
   'setSensorStream',
-  'setNightVision',
-  'toggleNightVision',
+  'setHeadlight',
+  'toggleHeadlight',
+  'setLaser',
+  'toggleLaser',
   'updateKeyBinding',
   'resetKeyBindings',
   'registerInputState',
@@ -469,28 +471,38 @@ export function ControlSystemProvider({ children }) {
     [pipeline],
   );
 
-  const setNightVision = useCallback(
-    (nightVisionOn) => {
-      if (!pipeline.nightVision) return;
-      if (typeof nightVisionOn === 'boolean') {
-        /*
-          Rover daemon command names describe the IR LED, while the UI state
-          describes camera visibility. LED "off" means nightVisionOn=true, and
-          LED "on" means nightVisionOn=false.
-        */
-        const action = nightVisionOn ? 'off' : 'on';
-        pipeline.sendNightVision(action);
-      } else {
-        pipeline.sendNightVision('toggle');
-      }
+  const setHeadlight = useCallback(
+    (headlightOn) => {
+      if (!pipeline.headlight) return;
+      // Web controls now speak in logical device state. Any electrical
+      // inversion needed by the actual GPIO driver is handled by roverd's
+      // activeLow config, so this command stays readable and direct.
+      const action = typeof headlightOn === 'boolean' ? (headlightOn ? 'on' : 'off') : 'toggle';
+      pipeline.sendHeadlight(action);
       recordControlIntent();
     },
     [pipeline, recordControlIntent],
   );
 
-  const toggleNightVision = useCallback(() => {
-    setNightVision();
-  }, [setNightVision]);
+  const toggleHeadlight = useCallback(() => {
+    setHeadlight();
+  }, [setHeadlight]);
+
+  const setLaser = useCallback(
+    (laserOn) => {
+      if (!pipeline.laser) return;
+      // The laser shares the same logical toggle contract as the headlight; it
+      // is separate only because it has its own GPIO pin, UI control, and keybind.
+      const action = typeof laserOn === 'boolean' ? (laserOn ? 'on' : 'off') : 'toggle';
+      pipeline.sendLaser(action);
+      recordControlIntent();
+    },
+    [pipeline, recordControlIntent],
+  );
+
+  const toggleLaser = useCallback(() => {
+    setLaser();
+  }, [setLaser]);
 
   const setSongNote = useCallback(
     (note) => {
@@ -665,8 +677,10 @@ export function ControlSystemProvider({ children }) {
       stopAllMotion,
       sendOiCommand,
       setSensorStream,
-      setNightVision,
-      toggleNightVision,
+      setHeadlight,
+      toggleHeadlight,
+      setLaser,
+      toggleLaser,
       updateKeyBinding,
       resetKeyBindings,
       registerInputState,
@@ -689,8 +703,10 @@ export function ControlSystemProvider({ children }) {
       stopAllMotion,
       sendOiCommand,
       setSensorStream,
-      setNightVision,
-      toggleNightVision,
+      setHeadlight,
+      toggleHeadlight,
+      setLaser,
+      toggleLaser,
       updateKeyBinding,
       resetKeyBindings,
       registerInputState,

webui/src/controls/commandPipeline.js

@@ -29,9 +29,14 @@ export function useCommandPipeline(options = {}) {
     return rosterEntry.cameraServo;
   }, [rosterEntry]);
 
-  const nightVision = useMemo(() => {
-    if (!rosterEntry?.nightVision || !rosterEntry.nightVision.enabled) return null;
-    return rosterEntry.nightVision;
+  const headlight = useMemo(() => {
+    if (!rosterEntry?.headlight || !rosterEntry.headlight.enabled) return null;
+    return rosterEntry.headlight;
+  }, [rosterEntry]);
+
+  const laser = useMemo(() => {
+    if (!rosterEntry?.laser || !rosterEntry.laser.enabled) return null;
+    return rosterEntry.laser;
   }, [rosterEntry]);
 
   const horn = useMemo(() => {
@@ -39,7 +44,8 @@ export function useCommandPipeline(options = {}) {
     return rosterEntry.horn;
   }, [rosterEntry]);
 
-  const nightVisionState = useMemo(() => rosterEntry?.nightVision?.state ?? null, [rosterEntry]);
+  const headlightState = useMemo(() => rosterEntry?.headlight?.state ?? null, [rosterEntry]);
+  const laserState = useMemo(() => rosterEntry?.laser?.state ?? null, [rosterEntry]);
 
   const emitCommand = useCallback(
     (payload, cb) => {
@@ -167,16 +173,28 @@ export function useCommandPipeline(options = {}) {
     [roverId, sendOiCommand, sendDriveDirect, sendAuxMotors, sendServoAngle],
   );
 
-  const sendNightVision = useCallback(
+  const sendHeadlight = useCallback(
     (action = 'toggle') => {
-      if (!roverId || !nightVision) return null;
+      if (!roverId || !headlight) return null;
       emitCommand({
-        type: 'nightVision',
-        data: { nightVision: { action } },
+        type: 'headlight',
+        data: { headlight: { action } },
       });
       return action;
     },
-    [emitCommand, nightVision, roverId],
+    [emitCommand, headlight, roverId],
+  );
+
+  const sendLaser = useCallback(
+    (action = 'toggle') => {
+      if (!roverId || !laser) return null;
+      emitCommand({
+        type: 'laser',
+        data: { laser: { action } },
+      });
+      return action;
+    },
+    [emitCommand, laser, roverId],
   );
 
   const sendHorn = useCallback(
@@ -222,8 +240,10 @@ export function useCommandPipeline(options = {}) {
       roverId,
       rosterEntry,
       servoConfig,
-      nightVision,
-      nightVisionState,
+      headlight,
+      headlightState,
+      laser,
+      laserState,
       horn,
       emitCommand,
       enableSensorStream,
@@ -231,7 +251,8 @@ export function useCommandPipeline(options = {}) {
       sendAuxMotors,
       sendServoAngle,
       sendOiCommand,
-      sendNightVision,
+      sendHeadlight,
+      sendLaser,
       sendHorn,
       sendSong,
       runMacroSteps,
@@ -240,8 +261,10 @@ export function useCommandPipeline(options = {}) {
       roverId,
       rosterEntry,
       servoConfig,
-      nightVision,
-      nightVisionState,
+      headlight,
+      headlightState,
+      laser,
+      laserState,
       horn,
       emitCommand,
       enableSensorStream,
@@ -249,7 +272,8 @@ export function useCommandPipeline(options = {}) {
       sendAuxMotors,
       sendServoAngle,
       sendOiCommand,
-      sendNightVision,
+      sendHeadlight,
+      sendLaser,
       sendHorn,
       runMacroSteps,
     ],

webui/src/controls/constants.js

@@ -51,7 +51,8 @@ export const DEFAULT_KEYMAP = {
   auxAllForward: [","],
   cameraUp: ['u'],
   cameraDown: ['j'],
-  nightVisionToggle: ['e'],
+  headlightToggle: ['e'],
+  laserToggle: ['r'],
   videoFilterCycle: ['2'],
   hornHonk: ['h'],
   micPtt: ['m'],

webui/src/controls/inputs/GamepadInputManager.jsx

@@ -54,7 +54,8 @@ export default function GamepadInputManager() {
     setAuxMotors,
     setServoAngle,
     runMacro,
-    toggleNightVision,
+    toggleHeadlight,
+    toggleLaser,
     registerInputState,
   } = useControlActions();
   const cameraAngle = useControlSelector((control) => control.state.camera?.angle);
@@ -175,7 +176,8 @@ export default function GamepadInputManager() {
       setDriveVector,
       setMode,
       setServoAngle,
-      toggleNightVision,
+      toggleHeadlight,
+      toggleLaser,
     };
   });
 
@@ -286,11 +288,18 @@ export default function GamepadInputManager() {
         handleButtonEdge('dockMacro', false);
       }
 
-      if (outputs.buttons.nightVisionToggle && handleButtonEdge('nightVisionToggle', true)) {
-        trackAnalyticsEvent('night_vision_toggle', { roverId: latest.roverId || '', source: 'gamepad' });
-        latest.toggleNightVision();
-      } else if (!outputs.buttons.nightVisionToggle) {
-        handleButtonEdge('nightVisionToggle', false);
+      if (outputs.buttons.headlightToggle && handleButtonEdge('headlightToggle', true)) {
+        trackAnalyticsEvent('headlight_toggle', { roverId: latest.roverId || '', source: 'gamepad' });
+        latest.toggleHeadlight();
+      } else if (!outputs.buttons.headlightToggle) {
+        handleButtonEdge('headlightToggle', false);
+      }
+
+      if (outputs.buttons.laserToggle && handleButtonEdge('laserToggle', true)) {
+        trackAnalyticsEvent('laser_toggle', { roverId: latest.roverId || '', source: 'gamepad' });
+        latest.toggleLaser();
+      } else if (!outputs.buttons.laserToggle) {
+        handleButtonEdge('laserToggle', false);
       }
 
       if (Math.abs(outputs.cameraAxis) > 0.001) {

webui/src/controls/inputs/KeyboardInputManager.jsx

@@ -91,7 +91,8 @@ export default function KeyboardInputManager() {
     runMacro,
     stopAllMotion,
     registerInputState,
-    toggleNightVision,
+    toggleHeadlight,
+    toggleLaser,
     startHorn,
     stopHorn,
     setMicPttActive,
@@ -376,7 +377,8 @@ export default function KeyboardInputManager() {
       startHorn,
       stopAllMotion,
       stopHorn,
-      toggleNightVision,
+      toggleHeadlight,
+      toggleLaser,
       videoColorFilter,
     };
   });
@@ -413,9 +415,12 @@ export default function KeyboardInputManager() {
         } else if (newlyPressed.some((token) => latest.keymap.dockMacro?.has(token))) {
           trackAnalyticsEvent('dock_assist_toggle', { roverId: latest.roverId || '', source: 'keyboard' });
           latest.dockAssist.toggleAssist();
-        } else if (newlyPressed.some((token) => latest.keymap.nightVisionToggle?.has(token))) {
-          trackAnalyticsEvent('night_vision_toggle', { roverId: latest.roverId || '', source: 'keyboard' });
-          latest.toggleNightVision();
+        } else if (newlyPressed.some((token) => latest.keymap.headlightToggle?.has(token))) {
+          trackAnalyticsEvent('headlight_toggle', { roverId: latest.roverId || '', source: 'keyboard' });
+          latest.toggleHeadlight();
+        } else if (newlyPressed.some((token) => latest.keymap.laserToggle?.has(token))) {
+          trackAnalyticsEvent('laser_toggle', { roverId: latest.roverId || '', source: 'keyboard' });
+          latest.toggleLaser();
         } else if (newlyPressed.some((token) => latest.keymap.videoFilterCycle?.has(token))) {
           cycleVideoFilter();
         } else if (newlyPressed.some((token) => latest.keymap.hornHonk?.has(token))) {

webui/src/controls/inputs/gamepadBindings.js

@@ -163,7 +163,8 @@ export function computeGamepadOutputs(padState, profile) {
   const sideReverseSource = resolveButtonSource(padState, bindings.sideReverse?.sources);
   const driveMacroSource = resolveButtonSource(padState, bindings.driveMacro?.sources);
   const dockMacroSource = resolveButtonSource(padState, bindings.dockMacro?.sources);
-  const nightVisionSource = resolveButtonSource(padState, bindings.nightVisionToggle?.sources);
+  const headlightSource = resolveButtonSource(padState, bindings.headlightToggle?.sources);
+  const laserSource = resolveButtonSource(padState, bindings.laserToggle?.sources);
 
   return {
     driveVector: { x: driveX, y: driveY, boost: false },
@@ -176,7 +177,8 @@ export function computeGamepadOutputs(padState, profile) {
       sideReverse: sideReverseSource.pressed,
       driveMacro: driveMacroSource.pressed,
       dockMacro: dockMacroSource.pressed,
-      nightVisionToggle: nightVisionSource.pressed,
+      headlightToggle: headlightSource.pressed,
+      laserToggle: laserSource.pressed,
     },
     sources: {
       drive: driveSource.source,
@@ -189,7 +191,8 @@ export function computeGamepadOutputs(padState, profile) {
       sideReverse: sideReverseSource.source,
       driveMacro: driveMacroSource.source,
       dockMacro: dockMacroSource.source,
-      nightVisionToggle: nightVisionSource.source,
+      headlightToggle: headlightSource.source,
+      laserToggle: laserSource.source,
     },
   };
 }