dock assist HUD

webui/src/hooks/useDockIr.js

@@ -0,0 +1,107 @@
+import { useEffect, useMemo, useState } from 'react';
+
+const HOLD_MS = 700;
+
+const DOCK_CODES = {
+  161: { red: true }, // Red buoy
+  164: { green: true }, // Green buoy
+  165: { force: true }, // Force field only
+  168: { red: true, green: true }, // Red + green
+  169: { red: true, force: true }, // Red + force
+  172: { green: true, force: true }, // Green + force
+  173: { red: true, green: true, force: true }, // Red + green + force
+};
+
+function decodeDockBits(code) {
+  if (typeof code !== 'number' || code <= 0) return null;
+  const bits = DOCK_CODES[code];
+  if (!bits) return null;
+  return { code, ...bits };
+}
+
+/**
+ * Returns a smoothed view of dock IR signals. Keeps the last seen code alive for HOLD_MS to mask blinks.
+ */
+export function useDockIr(sensors, options = {}) {
+  const holdMs = options.holdMs || HOLD_MS;
+  const [state, setState] = useState({
+    left: null,
+    right: null,
+    omni: null,
+  });
+  const [tick, setTick] = useState(0);
+
+  useEffect(() => {
+    const id = setInterval(() => setTick(Date.now()), Math.max(holdMs / 2, 100));
+    return () => clearInterval(id);
+  }, [holdMs]);
+
+  useEffect(() => {
+    const now = Date.now();
+    const left = decodeDockBits(sensors?.infraredCharacterLeft);
+    const right = decodeDockBits(sensors?.infraredCharacterRight);
+    const omni = decodeDockBits(sensors?.infraredCharacterOmni);
+    if (!left && !right && !omni) {
+      return;
+    }
+    setState((prev) => ({
+      left: left ? { ...left, ts: now } : prev.left,
+      right: right ? { ...right, ts: now } : prev.right,
+      omni: omni ? { ...omni, ts: now } : prev.omni,
+    }));
+  }, [sensors?.infraredCharacterLeft, sensors?.infraredCharacterRight, sensors?.infraredCharacterOmni]);
+
+  useEffect(() => {
+    // Debug: log when new codes appear
+    const { left, right, omni } = state;
+    const haveAny = left?.ts || right?.ts || omni?.ts;
+    if (!haveAny) return;
+    const stamp = new Date().toISOString();
+    // eslint-disable-next-line no-console
+    console.debug('[DockIR]', stamp, {
+      left: left?.code ?? 0,
+      omni: omni?.code ?? 0,
+      right: right?.code ?? 0,
+    });
+  }, [state.left?.code, state.right?.code, state.omni?.code]);
+
+  return useMemo(() => {
+    const now = Date.now();
+    const withWindow = (entry) => {
+      if (!entry) return { active: false, red: false, green: false, force: false, age: null, code: null };
+      const age = now - entry.ts;
+      const active = age <= holdMs;
+      return {
+        active,
+        age,
+        code: entry.code,
+        red: Boolean(entry.red && active),
+        green: Boolean(entry.green && active),
+        force: Boolean(entry.force && active),
+      };
+    };
+
+    const left = withWindow(state.left);
+    const right = withWindow(state.right);
+    const omni = withWindow(state.omni);
+    const visible = left.active || right.active || omni.active;
+    const forceDetected = left.force || right.force || omni.force;
+    const bias =
+      left.active && !right.active
+        ? 'right'
+        : right.active && !left.active
+        ? 'left'
+        : 'center';
+    const balance = (right.active ? 1 : 0) - (left.active ? 1 : 0); // positive means steer left-to-right
+
+    return {
+      visible,
+      forceDetected,
+      left,
+      right,
+      omni,
+      bias, // left/right/center for steering cue
+      balance: Math.max(-1, Math.min(1, balance)),
+    };
+  }, [state.left, state.right, state.omni, holdMs, tick]);
+}