the lift....

2026-09-16 09:31:20 -04:00 · 2026-04-29 19:13:12 -04:00
parent 9bf449ca19
commit 943fa11f7e
12 changed files with 375 additions and 14 deletions
@@ -38,6 +38,14 @@ homeAssistant:
    # ESPHome device name, used to derive gen3 entities:
    # button.<device>_house_clean, button.<device>_send_to_base, button.<device>_locate_robot, etc.
    device: "neato_vacuum"
+  lift:
+    # Two Home Assistant switches controlling lift direction.
+    # Raise sequence: down off -> wait interlockMs -> up on
+    # Lower sequence: up off -> wait interlockMs -> down on
+    upSwitch: "switch.lift_up"
+    downSwitch: "switch.lift_down"
+    interlockMs: 2000
+    commandCooldownMs: 3000
  entities:
    - id: "light.lab_main"
      name: "Lab Lights"
@@ -34,6 +34,7 @@ require('./src/services/adminLogService');
 require('./src/services/homeAssistantService');
 require('./src/services/idleService');
 require('./src/services/neatoService');
+require('./src/services/liftService');
 require('./src/services/audioLevelsService');
 require('./src/services/audioForwardService');
 require('./src/services/buttonBoxService');
@@ -11,8 +11,8 @@
    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
    <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-D5igcM0e.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-BmoiQy4X.css">
+    <script type="module" crossorigin src="/assets/index-RCmwOlNc.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-BrrBcPP-.css">
  </head>
  <body>
    <div id="root"></div>
@@ -6,6 +6,7 @@ const roverManager = require('../roverManager');
 const { issueCommand } = require('../commandService');
 const homeAssistantService = require('../homeAssistantService');
 const neatoService = require('../neatoService');
+const liftService = require('../liftService');
 const {
  NIGHT_VISION_DISABLE_ACTION,
  DOCK_COMMAND_BASE64,
@@ -60,11 +61,21 @@ async function sendNeatoHome() {
  }
 }

+async function raiseLift() {
+  try {
+    await liftService.moveUp('idleService');
+    return { action: 'liftMoveUp', success: true };
+  } catch (err) {
+    return { action: 'liftMoveUp', success: false, error: err.message };
+  }
+}
+
 const idleActions = [
  turnOffRoomControls,
  dockAllRovers,
  disableAllRoverNightVision,
  sendNeatoHome,
+  raiseLift,
 ];

 async function runIdleActions() {
@@ -0,0 +1,197 @@
+// Lift Service
+// Purpose: Provides a single global, verified-gated lift controller with serialized interlocked motion.
+// Scope: Owns lift command sequencing, anti-spam controls, HA wiring, and shared state publication for UI sync.
+const EventEmitter = require('events');
+const io = require('../../globals/io');
+const logger = require('../../globals/logger').child('liftService');
+const { loadConfig } = require('../../helpers/configLoader');
+const { isVerified } = require('../verificationService');
+const {
+  homeAssistantEvents,
+  getRawEntitySnapshot,
+  setEntityState,
+  isConnected: isHomeAssistantConnected,
+  enabled: homeAssistantEnabled,
+} = require('../homeAssistantService');
+
+const events = new EventEmitter();
+const config = loadConfig();
+const haConfig = config.homeAssistant || {};
+const liftConfig = haConfig.lift || {};
+
+const upSwitchId = String(liftConfig.upSwitch || '').trim();
+const downSwitchId = String(liftConfig.downSwitch || '').trim();
+const interlockMs = Math.max(250, Number(liftConfig.interlockMs) || 2000);
+const commandCooldownMs = Math.max(interlockMs, Number(liftConfig.commandCooldownMs) || 3000);
+
+const state = {
+  busy: false,
+  target: null,
+  lastActionAt: 0,
+  lastActor: null,
+  lastError: null,
+};
+
+function sleep(ms) {
+  return new Promise((resolve) => setTimeout(resolve, ms));
+}
+
+function readRaw(entityId) {
+  if (!entityId) return null;
+  return getRawEntitySnapshot(entityId);
+}
+
+function readSwitchState(entityId) {
+  const raw = readRaw(entityId);
+  return String(raw?.state || '').toLowerCase();
+}
+
+function hasEntity(entityId) {
+  return Boolean(readRaw(entityId));
+}
+
+function derivePosition() {
+  const up = readSwitchState(upSwitchId);
+  const down = readSwitchState(downSwitchId);
+  const upOn = up === 'on';
+  const downOn = down === 'on';
+  if (upOn && !downOn) return 'up';
+  if (!upOn && downOn) return 'down';
+  if (!upOn && !downOn) return 'stopped';
+  return 'conflict';
+}
+
+function isConfigured() {
+  return Boolean(upSwitchId && downSwitchId);
+}
+
+function getState() {
+  const configured = isConfigured();
+  const connected = isHomeAssistantConnected();
+  return {
+    enabled: Boolean(homeAssistantEnabled && configured),
+    configured,
+    connected,
+    entities: {
+      upSwitch: upSwitchId,
+      downSwitch: downSwitchId,
+    },
+    availability: {
+      upSwitch: hasEntity(upSwitchId),
+      downSwitch: hasEntity(downSwitchId),
+    },
+    interlockMs,
+    commandCooldownMs,
+    busy: state.busy,
+    target: state.target,
+    position: derivePosition(),
+    lastActionAt: state.lastActionAt || null,
+    lastActor: state.lastActor,
+    lastError: state.lastError,
+  };
+}
+
+function emitUpdate() {
+  events.emit('update', getState());
+}
+
+function assertReady() {
+  if (!isConfigured()) throw new Error('Lift not configured');
+  if (!homeAssistantEnabled) throw new Error('Home Assistant not configured');
+  if (!isHomeAssistantConnected()) throw new Error('Home Assistant not connected');
+}
+
+async function applyPosition(target) {
+  if (target === 'up') {
+    await setEntityState(downSwitchId, 'off');
+    await sleep(interlockMs);
+    await setEntityState(upSwitchId, 'on');
+    return;
+  }
+  await setEntityState(upSwitchId, 'off');
+  await sleep(interlockMs);
+  await setEntityState(downSwitchId, 'on');
+}
+
+async function requestPosition(target, actor = 'unknown') {
+  const desired = target === 'up' ? 'up' : 'down';
+  assertReady();
+
+  if (state.busy) {
+    throw new Error('Lift is busy');
+  }
+
+  const now = Date.now();
+  const cooldownLeft = commandCooldownMs - (now - state.lastActionAt);
+  if (cooldownLeft > 0) {
+    throw new Error(`Lift cooldown active (${Math.ceil(cooldownLeft / 100) / 10}s)`);
+  }
+
+  const current = derivePosition();
+  if (current === desired) {
+    return { ok: true, noop: true, target: desired, position: current };
+  }
+
+  state.busy = true;
+  state.target = desired;
+  state.lastError = null;
+  state.lastActor = actor;
+  emitUpdate();
+
+  try {
+    await applyPosition(desired);
+    state.lastActionAt = Date.now();
+    logger.info('Lift command completed', { target: desired, actor });
+    return { ok: true, noop: false, target: desired, position: derivePosition() };
+  } catch (err) {
+    state.lastError = err.message;
+    logger.warn('Lift command failed', { target: desired, actor, error: err.message });
+    throw err;
+  } finally {
+    state.busy = false;
+    state.target = null;
+    emitUpdate();
+  }
+}
+
+async function moveUp(actor = 'unknown') {
+  return requestPosition('up', actor);
+}
+
+async function moveDown(actor = 'unknown') {
+  return requestPosition('down', actor);
+}
+
+homeAssistantEvents.on('snapshot', emitUpdate);
+homeAssistantEvents.on('status', emitUpdate);
+
+io.on('connection', (socket) => {
+  socket.on('lift:up', async (_, cb = () => {}) => {
+    try {
+      if (!isVerified(socket)) throw new Error('VIP verification required');
+      const resp = await moveUp(socket.id || 'socket');
+      cb({ success: true, ...resp });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+
+  socket.on('lift:down', async (_, cb = () => {}) => {
+    try {
+      if (!isVerified(socket)) throw new Error('VIP verification required');
+      const resp = await moveDown(socket.id || 'socket');
+      cb({ success: true, ...resp });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+});
+
+emitUpdate();
+
+module.exports = {
+  getState,
+  moveUp,
+  moveDown,
+  liftEvents: events,
+};
@@ -12,6 +12,7 @@ const { getActiveDrivers, getTurnQueues, turnEvents } = require('../turnService'
 const { getRoomCameras, roomCameraEvents } = require('../roomCameraService');
 const { getState: getHomeAssistantState, homeAssistantEvents } = require('../homeAssistantService');
 const { getState: getNeatoState, neatoEvents } = require('../neatoService');
+const { getState: getLiftState, liftEvents } = require('../liftService');
 const { getNickname, nicknameEvents } = require('../nicknameService');
 const {
  getVerificationStateForSocket,
@@ -100,6 +101,7 @@ function buildSession(socket) {
    roomCameras: getRoomCameras(),
    homeAssistant: getHomeAssistantState(),
    neato: getNeatoState(),
+    lift: getLiftState(),
    replay: getReplayState(),
    replaySources: getReplaySources(socket),
    health: getHealthSnapshot(),
@@ -275,6 +277,11 @@ neatoEvents.on('update', () => {
  syncAll();
 });

+liftEvents.on('update', () => {
+  logger.info('Lift state change; syncing all clients');
+  syncAll();
+});
+
 replayEvents.on('update', () => {
  logger.info('Replay cooldown updated; syncing all clients');
  syncAll();