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the lift....

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legop3
2026-04-29 19:13:12 -04:00
parent 9bf449ca19
commit 943fa11f7e
12 changed files with 375 additions and 14 deletions
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plans/lift control service and ui.md
+22
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@@ -0,0 +1,22 @@
# lift control
- control a lift up / down from the web UI
- for verified users only
- add new service in server for controlling the lift
- add new action in idle service, to raise the lift when idle triggers
- UI in VIP panel
- match UI styling of neato panel
- put below VIP panel
- have 2 buttons that get toggled between. down / up.
- lift is controlled through home assistant:
- lift shows up as two switches
- add spots for these 2 lift switches in server config
- one for up and one for down
- the way that they have to be operated is a little bit odd, examples:
- to raise the lift:
- turn down switch off
- wait 2 ish seconds
- turn up switch on
- to lower the lift:
- turn up switch off
- wait 2 ish seconds
- turn down switch on
server/config.example.yaml
+8
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@@ -38,6 +38,14 @@ homeAssistant:
# ESPHome device name, used to derive gen3 entities: # ESPHome device name, used to derive gen3 entities:
# button.<device>_house_clean, button.<device>_send_to_base, button.<device>_locate_robot, etc. # button.<device>_house_clean, button.<device>_send_to_base, button.<device>_locate_robot, etc.
device: "neato_vacuum" 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: entities:
- id: "light.lab_main" - id: "light.lab_main"
name: "Lab Lights" name: "Lab Lights"
server/index.js
+1
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@@ -34,6 +34,7 @@ require('./src/services/adminLogService');
require('./src/services/homeAssistantService'); require('./src/services/homeAssistantService');
require('./src/services/idleService'); require('./src/services/idleService');
require('./src/services/neatoService'); require('./src/services/neatoService');
require('./src/services/liftService');
require('./src/services/audioLevelsService'); require('./src/services/audioLevelsService');
require('./src/services/audioForwardService'); require('./src/services/audioForwardService');
require('./src/services/buttonBoxService'); require('./src/services/buttonBoxService');
server/public/assets/index-BmoiQy4X.css → server/public/assets/index-BrrBcPP-.css
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server/public/assets/index-D5igcM0e.js → server/public/assets/index-RCmwOlNc.js
+11 -11
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server/public/index.html
+2 -2
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@@ -11,8 +11,8 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-D5igcM0e.js"></script> <script type="module" crossorigin src="/assets/index-RCmwOlNc.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BmoiQy4X.css"> <link rel="stylesheet" crossorigin href="/assets/index-BrrBcPP-.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/services/idleService/actions.js
+11
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@@ -6,6 +6,7 @@ const roverManager = require('../roverManager');
const { issueCommand } = require('../commandService'); const { issueCommand } = require('../commandService');
const homeAssistantService = require('../homeAssistantService'); const homeAssistantService = require('../homeAssistantService');
const neatoService = require('../neatoService'); const neatoService = require('../neatoService');
const liftService = require('../liftService');
const { const {
NIGHT_VISION_DISABLE_ACTION, NIGHT_VISION_DISABLE_ACTION,
DOCK_COMMAND_BASE64, 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 = [ const idleActions = [
turnOffRoomControls, turnOffRoomControls,
dockAllRovers, dockAllRovers,
disableAllRoverNightVision, disableAllRoverNightVision,
sendNeatoHome, sendNeatoHome,
raiseLift,
]; ];
async function runIdleActions() { async function runIdleActions() {
server/src/services/liftService/index.js
+197
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@@ -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,
};
server/src/services/sessionService/index.js
+7
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@@ -12,6 +12,7 @@ const { getActiveDrivers, getTurnQueues, turnEvents } = require('../turnService'
const { getRoomCameras, roomCameraEvents } = require('../roomCameraService'); const { getRoomCameras, roomCameraEvents } = require('../roomCameraService');
const { getState: getHomeAssistantState, homeAssistantEvents } = require('../homeAssistantService'); const { getState: getHomeAssistantState, homeAssistantEvents } = require('../homeAssistantService');
const { getState: getNeatoState, neatoEvents } = require('../neatoService'); const { getState: getNeatoState, neatoEvents } = require('../neatoService');
const { getState: getLiftState, liftEvents } = require('../liftService');
const { getNickname, nicknameEvents } = require('../nicknameService'); const { getNickname, nicknameEvents } = require('../nicknameService');
const { const {
getVerificationStateForSocket, getVerificationStateForSocket,
@@ -100,6 +101,7 @@ function buildSession(socket) {
roomCameras: getRoomCameras(), roomCameras: getRoomCameras(),
homeAssistant: getHomeAssistantState(), homeAssistant: getHomeAssistantState(),
neato: getNeatoState(), neato: getNeatoState(),
lift: getLiftState(),
replay: getReplayState(), replay: getReplayState(),
replaySources: getReplaySources(socket), replaySources: getReplaySources(socket),
health: getHealthSnapshot(), health: getHealthSnapshot(),
@@ -275,6 +277,11 @@ neatoEvents.on('update', () => {
syncAll(); syncAll();
}); });
liftEvents.on('update', () => {
logger.info('Lift state change; syncing all clients');
syncAll();
});
replayEvents.on('update', () => { replayEvents.on('update', () => {
logger.info('Replay cooldown updated; syncing all clients'); logger.info('Replay cooldown updated; syncing all clients');
syncAll(); syncAll();
webui/src/components/VipPanel/index.jsx
+9
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@@ -10,6 +10,7 @@ import VipVerificationCard from '../vip/VipVerificationCard.jsx';
import VipIdentityCard from '../vip/VipIdentityCard.jsx'; import VipIdentityCard from '../vip/VipIdentityCard.jsx';
import VipPrivateRoverAccessCard from '../vip/VipPrivateRoverAccessCard.jsx'; import VipPrivateRoverAccessCard from '../vip/VipPrivateRoverAccessCard.jsx';
import VipNeatoCard from '../vip/VipNeatoCard.jsx'; import VipNeatoCard from '../vip/VipNeatoCard.jsx';
import VipLiftCard from '../vip/VipLiftCard.jsx';
export default function VipPanel() { export default function VipPanel() {
const { const {
@@ -26,6 +27,8 @@ export default function VipPanel() {
neatoSendHome, neatoSendHome,
neatoLocate, neatoLocate,
neatoClearErrors, neatoClearErrors,
liftUp,
liftDown,
} = useSession(); } = useSession();
const { value: identity, save: saveIdentity } = useSettingsNamespace('identity', { cookieUserId: '' }); const { value: identity, save: saveIdentity } = useSettingsNamespace('identity', { cookieUserId: '' });
const { value: profile } = useSettingsNamespace('profile', { nickname: '' }); const { value: profile } = useSettingsNamespace('profile', { nickname: '' });
@@ -80,6 +83,12 @@ export default function VipPanel() {
onClearErrors={neatoClearErrors} onClearErrors={neatoClearErrors}
fullWidth fullWidth
/> />
<VipLiftCard
lift={session?.lift || null}
onUp={liftUp}
onDown={liftDown}
fullWidth
/>
<VipAudioUploadCard <VipAudioUploadCard
ownRoverId={ownRoverId} ownRoverId={ownRoverId}
audioForwardByRover={session?.audioForward || {}} audioForwardByRover={session?.audioForward || {}}
webui/src/components/vip/VipLiftCard.jsx
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@@ -0,0 +1,104 @@
// Vip Lift Card
// Purpose: Renders a shared lift controller panel synced from server session state.
// Scope: Presents verified-user controls while reflecting global busy/position/cooldown state.
import { useState } from 'react';
function badgeClass(tone) {
if (tone === 'good') return 'bg-emerald-600 text-white';
if (tone === 'warn') return 'bg-amber-500 text-slate-900';
if (tone === 'danger') return 'bg-rose-600 text-white';
return 'bg-slate-700 text-slate-100';
}
function positionLabel(value) {
if (value === 'up') return 'Up';
if (value === 'down') return 'Down';
if (value === 'stopped') return 'Stopped';
if (value === 'conflict') return 'Conflict';
return '--';
}
export default function VipLiftCard({ lift, onUp, onDown, fullWidth = false }) {
const [working, setWorking] = useState('');
const wrapClass = fullWidth ? 'w-full' : 'w-full max-w-xl';
const configured = Boolean(lift?.configured);
const connected = Boolean(lift?.enabled && lift?.connected);
const busy = Boolean(lift?.busy);
const activeTarget = String(lift?.target || '').toLowerCase();
const position = String(lift?.position || '').toLowerCase();
const upAvailable = Boolean(lift?.availability?.upSwitch);
const downAvailable = Boolean(lift?.availability?.downSwitch);
const status = !configured ? 'Not configured' : !connected ? 'Offline' : busy ? 'Busy' : 'Ready';
const statusTone = !configured ? 'warn' : !connected ? 'danger' : busy ? 'warn' : 'good';
const canRun = configured && connected && !busy && !working && upAvailable && downAvailable;
const run = async (dir, fn) => {
if (!fn) return;
setWorking(dir);
try {
await fn();
} catch {
// Errors are surfaced by shared state and command ack handling.
} finally {
setWorking('');
}
};
return (
<section className={`surface text-sm text-slate-200 ${wrapClass}`}>
<div className="grid gap-0.5">
<div className="relative flex items-center justify-center min-h-[1.5rem]">
<div className="text-center">
<p className="text-sm text-slate-100">Lift Controls</p>
<p className="text-xs text-slate-400">Move the lift up and down. Please don't break anything...</p>
</div>
<span
className={`absolute right-0 inline-flex w-auto rounded px-1 py-0.25 text-xs font-semibold ${badgeClass(statusTone)}`}
>
{status}
</span>
</div>
<section className="surface-muted px-0.5 py-0.5">
<div className="grid grid-cols-1 md:grid-cols-3 gap-0.5">
<div className="rounded-md bg-slate-800 px-1 py-0.75 text-center">
<div className="text-xs text-slate-300">Position</div>
<div className="text-base font-semibold text-slate-100">{positionLabel(position)}</div>
</div>
<button
type="button"
disabled={!canRun}
onClick={() => run('down', onDown)}
className={`rounded-md px-1 py-0.75 text-base font-semibold transition disabled:opacity-50 ${position === 'down' || activeTarget === 'down' ? 'bg-sky-600 text-white' : 'bg-slate-700 text-slate-100 hover:bg-slate-600'}`}
>
{working === 'down' || activeTarget === 'down' ? 'Lowering...' : 'Down'}
</button>
<button
type="button"
disabled={!canRun}
onClick={() => run('up', onUp)}
className={`rounded-md px-1 py-0.75 text-base font-semibold transition disabled:opacity-50 ${position === 'up' || activeTarget === 'up' ? 'bg-emerald-600 text-white' : 'bg-slate-700 text-slate-100 hover:bg-slate-600'}`}
>
{working === 'up' || activeTarget === 'up' ? 'Raising...' : 'Up'}
</button>
</div>
</section>
{!configured || !connected || !upAvailable || !downAvailable ? (
<p className="text-xs text-slate-400 text-center">
{!configured
? 'Set homeAssistant.lift.upSwitch and homeAssistant.lift.downSwitch in server config.'
: !connected
? 'Home Assistant is offline.'
: 'Waiting for required lift switch entities in Home Assistant.'}
</p>
) : null}
{lift?.lastError ? <p className="text-xs text-rose-300 text-center">Last error: {lift.lastError}</p> : null}
</div>
</section>
);
}
webui/src/context/SessionContext.jsx
+2
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@@ -169,6 +169,8 @@ export function SessionProvider({ children }) {
neatoSendHome: () => emitWithAck('neato:sendHome'), neatoSendHome: () => emitWithAck('neato:sendHome'),
neatoLocate: () => emitWithAck('neato:locate'), neatoLocate: () => emitWithAck('neato:locate'),
neatoClearErrors: () => emitWithAck('neato:clearErrors'), neatoClearErrors: () => emitWithAck('neato:clearErrors'),
liftUp: () => emitWithAck('lift:up'),
liftDown: () => emitWithAck('lift:down'),
setNickname: (nickname) => emitWithAck('nickname:set', { nickname }), setNickname: (nickname) => emitWithAck('nickname:set', { nickname }),
requestVerification: () => emitWithAck('verification:request'), requestVerification: () => emitWithAck('verification:request'),
requestPrivateRoverAccess: (roverId) => requestPrivateRoverAccess: (roverId) =>