mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
the removal...
This commit is contained in:
legop3
@@ -1,631 +0,0 @@
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import { useCallback, useEffect, useMemo, useRef, useState } from 'react';
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import {
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MAX_UPLOAD_BYTES,
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bytesToBase64,
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fieldClass,
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flowWrapClass,
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innerFlowClass,
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} from './constants.js';
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import { useControlSystem } from '../../controls/index.js';
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const TARGET_SAMPLE_RATE = 16000;
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const MIC_PACKET_MS = 40;
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const MIC_PACKET_BYTES = (TARGET_SAMPLE_RATE * 2 * MIC_PACKET_MS) / 1000; // s16le mono
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const RTC_CONFIG = {
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iceServers: [{ urls: 'stun:stun.l.google.com:19302' }],
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bundlePolicy: 'max-bundle',
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rtcpMuxPolicy: 'require',
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};
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function encodeBase64(value) {
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if (typeof btoa === 'function') return btoa(value);
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return '';
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}
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function buildAuthHeader(token) {
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if (!token) return {};
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const encoded = encodeBase64(`${token}:${token}`);
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return encoded ? { Authorization: `Basic ${encoded}` } : {};
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}
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function waitForIceGatheringComplete(pc, timeoutMs = 1500) {
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return new Promise((resolve) => {
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if (!pc || pc.iceGatheringState === 'complete') {
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resolve();
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return;
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}
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const timer = setTimeout(() => {
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pc.removeEventListener('icegatheringstatechange', onChange);
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resolve();
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}, timeoutMs);
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function onChange() {
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if (pc.iceGatheringState === 'complete') {
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clearTimeout(timer);
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pc.removeEventListener('icegatheringstatechange', onChange);
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resolve();
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}
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}
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pc.addEventListener('icegatheringstatechange', onChange);
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});
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}
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function isPeerTransportReady(pc) {
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if (!pc) return false;
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const conn = pc.connectionState;
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const ice = pc.iceConnectionState;
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if (conn === 'connected') return true;
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if (ice === 'connected' || ice === 'completed') return true;
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return false;
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}
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function waitForPeerConnected(pc, timeoutMs = 10000) {
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return new Promise((resolve, reject) => {
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if (!pc) {
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reject(new Error('Peer connection missing'));
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return;
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}
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if (isPeerTransportReady(pc)) {
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resolve();
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return;
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}
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if (
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pc.connectionState === 'failed' ||
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pc.connectionState === 'closed' ||
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pc.iceConnectionState === 'failed'
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) {
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reject(new Error(`Peer connection ${pc.connectionState || pc.iceConnectionState}`));
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return;
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}
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const timer = setTimeout(() => {
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cleanup();
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reject(new Error('Peer connection timeout'));
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}, timeoutMs);
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const onState = () => {
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if (isPeerTransportReady(pc)) {
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cleanup();
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resolve();
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} else if (
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pc.connectionState === 'failed' ||
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pc.connectionState === 'closed' ||
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pc.iceConnectionState === 'failed'
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) {
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cleanup();
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reject(new Error(`Peer connection ${pc.connectionState || pc.iceConnectionState}`));
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}
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};
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function cleanup() {
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clearTimeout(timer);
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pc.removeEventListener('connectionstatechange', onState);
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pc.removeEventListener('iceconnectionstatechange', onState);
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}
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pc.addEventListener('connectionstatechange', onState);
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pc.addEventListener('iceconnectionstatechange', onState);
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});
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}
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async function configureSenderForLowLatency(sender) {
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if (!sender?.getParameters || !sender?.setParameters) return;
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const params = sender.getParameters() || {};
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const first = (params.encodings && params.encodings[0]) || {};
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params.encodings = [
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{
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...first,
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maxBitrate: 64000,
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dtx: 'disabled',
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},
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];
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try {
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await sender.setParameters(params);
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} catch {
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// Some browsers reject unsupported combinations; keep defaults.
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}
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}
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function waitForOutboundAudioFlow(pc, timeoutMs = 6000) {
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return new Promise((resolve, reject) => {
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if (!pc) {
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reject(new Error('Peer connection missing'));
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return;
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}
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const start = Date.now();
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let baseline = -1;
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const timer = setInterval(async () => {
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if (Date.now() - start > timeoutMs) {
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clearInterval(timer);
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reject(new Error('WHIP connected but no outbound audio flow'));
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return;
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}
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try {
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const senders = pc.getSenders().filter((s) => s.track?.kind === 'audio');
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for (const sender of senders) {
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const stats = await sender.getStats();
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for (const report of stats.values()) {
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if (report.type !== 'outbound-rtp' || report.kind !== 'audio') continue;
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const sent = Number(report.bytesSent || 0);
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const packets = Number(report.packetsSent || 0);
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if (baseline < 0) {
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baseline = sent;
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} else if (sent > baseline + 200 || packets > 5) {
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clearInterval(timer);
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resolve();
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return;
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}
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}
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}
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} catch {
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// Keep polling until timeout.
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}
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}, 250);
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});
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}
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function resampleTo16k(input, sampleRate) {
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if (!input || !input.length) return new Float32Array(0);
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if (sampleRate === TARGET_SAMPLE_RATE) return input;
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if (!Number.isFinite(sampleRate) || sampleRate <= 0) return input;
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const ratio = sampleRate / TARGET_SAMPLE_RATE;
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const outputLength = Math.max(1, Math.round(input.length / ratio));
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const output = new Float32Array(outputLength);
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for (let outIdx = 0; outIdx < outputLength; outIdx += 1) {
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const src = outIdx * ratio;
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const srcFloor = Math.floor(src);
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const srcCeil = Math.min(input.length - 1, srcFloor + 1);
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const frac = src - srcFloor;
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const a = input[srcFloor] ?? 0;
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const b = input[srcCeil] ?? a;
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output[outIdx] = a + (b - a) * frac;
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}
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return output;
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}
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function floatToInt16Bytes(floatSamples) {
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const bytes = new Uint8Array(floatSamples.length * 2);
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const view = new DataView(bytes.buffer);
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for (let i = 0; i < floatSamples.length; i += 1) {
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const sample = Math.max(-1, Math.min(1, floatSamples[i]));
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const int16 = sample < 0 ? Math.round(sample * 0x8000) : Math.round(sample * 0x7fff);
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view.setInt16(i * 2, int16, true);
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}
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return bytes;
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}
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function concatUint8(chunks = [], totalLength = 0) {
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const out = new Uint8Array(totalLength);
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let offset = 0;
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for (const chunk of chunks) {
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out.set(chunk, offset);
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offset += chunk.length;
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}
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return out;
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}
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export default function VipAudioForwardingCard({
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roster = [],
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ownRoverId = '',
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audioForwardByRover = {},
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playUploadedAudio,
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stopUploadedAudio,
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startMicForward,
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stopMicForward,
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sendMicChunk,
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startMicWhip,
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readyMicWhip,
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stopMicWhip,
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}) {
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const { state: controlState } = useControlSystem();
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const [selectedUpload, setSelectedUpload] = useState(null);
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const [working, setWorking] = useState(false);
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const [openMicEnabled, setOpenMicEnabled] = useState(false);
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const [micState, setMicState] = useState('idle');
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const [message, setMessage] = useState('');
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const streamRef = useRef(null);
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const audioContextRef = useRef(null);
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const mediaSourceRef = useRef(null);
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const processorRef = useRef(null);
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const sinkRef = useRef(null);
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const pendingPcmChunksRef = useRef([]);
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const pendingPcmBytesRef = useRef(0);
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const whipPcRef = useRef(null);
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const micTransportRef = useRef('none');
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const whipFailoverRef = useRef(false);
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const micActiveRef = useRef(false);
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const activeRoverRef = useRef('');
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const singleRoverId = roster.length === 1 ? roster[0].id : '';
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const targetRoverId = String(singleRoverId || ownRoverId || '').trim();
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const pttActive = Boolean(controlState?.mic?.pttActive);
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const selectedForwardState = useMemo(
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() => (targetRoverId ? audioForwardByRover?.[targetRoverId] || null : null),
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[audioForwardByRover, targetRoverId],
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);
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const handleUploadPlay = async () => {
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const roverId = targetRoverId;
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if (!roverId) {
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setMessage('Take control of a rover first.');
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return;
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}
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if (!selectedUpload) {
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setMessage('Select an audio file first.');
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return;
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}
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if (selectedUpload.size > MAX_UPLOAD_BYTES) {
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setMessage(`File too large (max ${MAX_UPLOAD_BYTES} bytes).`);
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return;
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}
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setWorking(true);
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setMessage('');
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try {
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const buffer = await selectedUpload.arrayBuffer();
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const base64 = bytesToBase64(new Uint8Array(buffer));
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await playUploadedAudio?.({
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roverId,
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name: selectedUpload.name,
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mime: selectedUpload.type || '',
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dataBase64: base64,
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});
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setMessage(`Playing upload on ${roverId}.`);
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} catch (err) {
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setMessage(err.message || 'Failed to play upload.');
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} finally {
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setWorking(false);
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}
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};
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const handleUploadStop = async () => {
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const roverId = targetRoverId;
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if (!roverId) {
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setMessage('Take control of a rover first.');
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return;
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}
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setWorking(true);
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setMessage('');
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try {
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await stopUploadedAudio?.(roverId);
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setMessage(`Stopped upload on ${roverId}.`);
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} catch (err) {
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setMessage(err.message || 'Failed to stop upload.');
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} finally {
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setWorking(false);
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}
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};
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const stopMicCapture = useCallback(
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async (roverId) => {
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const target = String(roverId || activeRoverRef.current || '').trim();
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micActiveRef.current = false;
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setMicState('idle');
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try {
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if (processorRef.current && mediaSourceRef.current) {
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mediaSourceRef.current.disconnect(processorRef.current);
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}
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} catch {
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// noop
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}
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try {
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if (processorRef.current && sinkRef.current) {
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processorRef.current.disconnect(sinkRef.current);
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||||
}
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} catch {
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// noop
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}
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try {
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if (sinkRef.current && audioContextRef.current?.destination) {
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sinkRef.current.disconnect(audioContextRef.current.destination);
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}
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} catch {
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// noop
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}
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if (audioContextRef.current) {
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try {
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await audioContextRef.current.close();
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} catch {
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// noop
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||||
}
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}
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if (whipPcRef.current) {
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try {
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whipPcRef.current.getSenders().forEach((sender) => sender.track?.stop());
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||||
} catch {
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||||
// noop
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||||
}
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||||
try {
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whipPcRef.current.close();
|
||||
} catch {
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||||
// noop
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||||
}
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||||
}
|
||||
whipPcRef.current = null;
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||||
processorRef.current = null;
|
||||
mediaSourceRef.current = null;
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||||
sinkRef.current = null;
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||||
audioContextRef.current = null;
|
||||
pendingPcmChunksRef.current = [];
|
||||
pendingPcmBytesRef.current = 0;
|
||||
whipFailoverRef.current = false;
|
||||
micTransportRef.current = 'none';
|
||||
if (streamRef.current) {
|
||||
try {
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||||
streamRef.current.getTracks().forEach((track) => track.stop());
|
||||
} catch {
|
||||
// noop
|
||||
}
|
||||
}
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||||
streamRef.current = null;
|
||||
if (target) {
|
||||
try {
|
||||
await stopMicWhip?.(target);
|
||||
} catch {
|
||||
// noop
|
||||
}
|
||||
try {
|
||||
await stopMicForward?.(target);
|
||||
} catch {
|
||||
// noop
|
||||
}
|
||||
}
|
||||
activeRoverRef.current = '';
|
||||
},
|
||||
[stopMicForward, stopMicWhip],
|
||||
);
|
||||
|
||||
const startSocketBridge = useCallback(
|
||||
async (target, stream) => {
|
||||
const AudioContextCtor = window.AudioContext || window.webkitAudioContext;
|
||||
if (!AudioContextCtor) {
|
||||
throw new Error('Web Audio API is not supported in this browser.');
|
||||
}
|
||||
await startMicForward?.(target);
|
||||
const audioContext = new AudioContextCtor({ latencyHint: 'interactive' });
|
||||
audioContextRef.current = audioContext;
|
||||
const source = audioContext.createMediaStreamSource(stream);
|
||||
mediaSourceRef.current = source;
|
||||
const processor = audioContext.createScriptProcessor(1024, 1, 1);
|
||||
processorRef.current = processor;
|
||||
const sink = audioContext.createGain();
|
||||
sink.gain.value = 0;
|
||||
sinkRef.current = sink;
|
||||
pendingPcmChunksRef.current = [];
|
||||
pendingPcmBytesRef.current = 0;
|
||||
micTransportRef.current = 'socket';
|
||||
|
||||
processor.onaudioprocess = (event) => {
|
||||
if (!micActiveRef.current || micTransportRef.current !== 'socket') return;
|
||||
const input = event.inputBuffer?.getChannelData(0);
|
||||
if (!input || input.length === 0) return;
|
||||
const resampled = resampleTo16k(input, audioContext.sampleRate);
|
||||
if (!resampled.length) return;
|
||||
const pcmBytes = floatToInt16Bytes(resampled);
|
||||
pendingPcmChunksRef.current.push(pcmBytes);
|
||||
pendingPcmBytesRef.current += pcmBytes.length;
|
||||
|
||||
while (pendingPcmBytesRef.current >= MIC_PACKET_BYTES) {
|
||||
const merged = concatUint8(pendingPcmChunksRef.current, pendingPcmBytesRef.current);
|
||||
const packet = merged.slice(0, MIC_PACKET_BYTES);
|
||||
const rest = merged.slice(MIC_PACKET_BYTES);
|
||||
pendingPcmChunksRef.current = rest.length ? [rest] : [];
|
||||
pendingPcmBytesRef.current = rest.length;
|
||||
sendMicChunk?.({ roverId: target, data: packet });
|
||||
}
|
||||
};
|
||||
|
||||
source.connect(processor);
|
||||
processor.connect(sink);
|
||||
sink.connect(audioContext.destination);
|
||||
if (audioContext.state === 'suspended') {
|
||||
await audioContext.resume();
|
||||
}
|
||||
setMicState('live');
|
||||
},
|
||||
[sendMicChunk, startMicForward],
|
||||
);
|
||||
|
||||
const startWhipBridge = useCallback(
|
||||
async (target, stream) => {
|
||||
const startPayload = await startMicWhip?.(target);
|
||||
const whipUrl = String(startPayload?.whipUrl || '').trim();
|
||||
const token = String(startPayload?.token || '').trim();
|
||||
if (!whipUrl || !token) {
|
||||
throw new Error('WHIP endpoint unavailable');
|
||||
}
|
||||
const pc = new RTCPeerConnection(RTC_CONFIG);
|
||||
whipPcRef.current = pc;
|
||||
micTransportRef.current = 'whip';
|
||||
try {
|
||||
const senders = stream.getAudioTracks().map((track) => pc.addTrack(track, stream));
|
||||
await Promise.all(senders.map((sender) => configureSenderForLowLatency(sender)));
|
||||
pc.onconnectionstatechange = () => {
|
||||
const state = pc.connectionState;
|
||||
if (!micActiveRef.current) return;
|
||||
if (state === 'connected') {
|
||||
setMicState('live');
|
||||
return;
|
||||
}
|
||||
if (state === 'failed' || state === 'disconnected') {
|
||||
setMicState('error');
|
||||
setMessage(`WHIP transport ${state}.`);
|
||||
}
|
||||
};
|
||||
|
||||
const offer = await pc.createOffer({ offerToReceiveAudio: false, offerToReceiveVideo: false });
|
||||
await pc.setLocalDescription(offer);
|
||||
await waitForIceGatheringComplete(pc, 1800);
|
||||
|
||||
const response = await fetch(whipUrl, {
|
||||
method: 'POST',
|
||||
headers: {
|
||||
'Content-Type': 'application/sdp',
|
||||
...buildAuthHeader(token),
|
||||
},
|
||||
body: pc.localDescription?.sdp || offer.sdp,
|
||||
});
|
||||
if (!response.ok) {
|
||||
throw new Error(`WHIP request failed: ${response.status}`);
|
||||
}
|
||||
const answerSdp = await response.text();
|
||||
await pc.setRemoteDescription({ type: 'answer', sdp: answerSdp });
|
||||
await waitForPeerConnected(pc, 10000);
|
||||
await waitForOutboundAudioFlow(pc, 6000);
|
||||
await readyMicWhip?.(target);
|
||||
setMicState('live');
|
||||
} catch (err) {
|
||||
try {
|
||||
pc.close();
|
||||
} catch {
|
||||
// noop
|
||||
}
|
||||
if (whipPcRef.current === pc) {
|
||||
whipPcRef.current = null;
|
||||
}
|
||||
micTransportRef.current = 'none';
|
||||
throw err;
|
||||
}
|
||||
},
|
||||
[readyMicWhip, startMicWhip],
|
||||
);
|
||||
|
||||
const startMicCapture = useCallback(
|
||||
async (roverId) => {
|
||||
const target = String(roverId || '').trim();
|
||||
if (!target) {
|
||||
throw new Error('Take control of a rover first.');
|
||||
}
|
||||
if (!navigator.mediaDevices?.getUserMedia) {
|
||||
throw new Error('Microphone capture is not supported in this browser.');
|
||||
}
|
||||
await stopMicCapture(target);
|
||||
setMicState('starting');
|
||||
let stream = null;
|
||||
try {
|
||||
stream = await navigator.mediaDevices.getUserMedia({
|
||||
audio: {
|
||||
channelCount: 1,
|
||||
sampleRate: TARGET_SAMPLE_RATE,
|
||||
echoCancellation: false,
|
||||
noiseSuppression: false,
|
||||
autoGainControl: false,
|
||||
},
|
||||
});
|
||||
const [track] = stream.getAudioTracks();
|
||||
if (track?.applyConstraints) {
|
||||
try {
|
||||
await track.applyConstraints({
|
||||
channelCount: 1,
|
||||
sampleRate: TARGET_SAMPLE_RATE,
|
||||
echoCancellation: false,
|
||||
noiseSuppression: false,
|
||||
autoGainControl: false,
|
||||
});
|
||||
} catch {
|
||||
// Constraint support varies by browser; use acquired track as-is.
|
||||
}
|
||||
}
|
||||
streamRef.current = stream;
|
||||
micActiveRef.current = true;
|
||||
activeRoverRef.current = target;
|
||||
await startWhipBridge(target, stream);
|
||||
} catch (err) {
|
||||
if (stream) {
|
||||
try {
|
||||
stream.getTracks().forEach((track) => track.stop());
|
||||
} catch {
|
||||
// noop
|
||||
}
|
||||
}
|
||||
streamRef.current = null;
|
||||
audioContextRef.current = null;
|
||||
mediaSourceRef.current = null;
|
||||
processorRef.current = null;
|
||||
sinkRef.current = null;
|
||||
whipPcRef.current = null;
|
||||
micTransportRef.current = 'none';
|
||||
throw err;
|
||||
}
|
||||
},
|
||||
[startWhipBridge, stopMicCapture],
|
||||
);
|
||||
|
||||
useEffect(() => {
|
||||
const desiredActive = Boolean(openMicEnabled || pttActive);
|
||||
const roverId = targetRoverId;
|
||||
let cancelled = false;
|
||||
async function syncMicState() {
|
||||
if (!roverId || !desiredActive) {
|
||||
await stopMicCapture(activeRoverRef.current || roverId);
|
||||
return;
|
||||
}
|
||||
if (micActiveRef.current && activeRoverRef.current === roverId) return;
|
||||
try {
|
||||
await startMicCapture(roverId);
|
||||
} catch (err) {
|
||||
if (!cancelled) {
|
||||
setMicState('error');
|
||||
setMessage(err?.message || 'Failed to start microphone forwarding.');
|
||||
}
|
||||
}
|
||||
}
|
||||
syncMicState();
|
||||
return () => {
|
||||
cancelled = true;
|
||||
};
|
||||
}, [openMicEnabled, pttActive, startMicCapture, stopMicCapture, targetRoverId]);
|
||||
|
||||
useEffect(
|
||||
() => () => {
|
||||
stopMicCapture(activeRoverRef.current);
|
||||
},
|
||||
[stopMicCapture],
|
||||
);
|
||||
|
||||
return (
|
||||
<section className={`surface ${flowWrapClass}`}>
|
||||
<div className={innerFlowClass}>
|
||||
<p className="text-sm text-slate-300">VIP Audio Forwarding</p>
|
||||
<label className="grid w-full gap-0.5 text-xs text-slate-300">
|
||||
<span>Audio file (mp3 / wav / ogg)</span>
|
||||
<input
|
||||
className={fieldClass}
|
||||
type="file"
|
||||
accept=".mp3,.wav,.ogg,audio/mpeg,audio/wav,audio/ogg"
|
||||
disabled={working || !targetRoverId}
|
||||
onChange={(event) => setSelectedUpload(event.target.files?.[0] || null)}
|
||||
/>
|
||||
</label>
|
||||
{selectedUpload ? (
|
||||
<div className="surface-muted mx-auto w-full max-w-sm text-xs text-slate-300 text-center">
|
||||
{selectedUpload.name} ({selectedUpload.size} bytes)
|
||||
</div>
|
||||
) : null}
|
||||
<div className="flex justify-center gap-0.5">
|
||||
<button type="button" className="button-dark text-sm" disabled={working || !targetRoverId} onClick={handleUploadPlay}>
|
||||
{working ? 'Working...' : 'Play Upload'}
|
||||
</button>
|
||||
<button type="button" className="button-dark text-sm" disabled={working || !targetRoverId} onClick={handleUploadStop}>
|
||||
Stop
|
||||
</button>
|
||||
</div>
|
||||
<div className="surface-muted mx-auto flex w-full max-w-sm flex-col gap-0.5 p-0.5 text-xs text-slate-300 text-center">
|
||||
<p className="text-slate-200">Microphone Forwarding</p>
|
||||
<label className="flex items-center justify-center gap-0.5">
|
||||
<input
|
||||
type="checkbox"
|
||||
checked={openMicEnabled}
|
||||
disabled={!targetRoverId}
|
||||
onChange={(event) => setOpenMicEnabled(Boolean(event.target.checked))}
|
||||
/>
|
||||
<span>Open mic</span>
|
||||
</label>
|
||||
<p className="text-slate-400">PTT key: {controlState?.keymap?.micPtt?.[0] || 'v'} (hold)</p>
|
||||
<p className="text-slate-400">mic: {micState}</p>
|
||||
<p className="text-slate-500">transport: {micTransportRef.current === 'none' ? 'idle' : micTransportRef.current}</p>
|
||||
</div>
|
||||
{selectedForwardState ? (
|
||||
<div className="surface-muted mx-auto w-full max-w-sm text-xs text-slate-300 text-center">
|
||||
state: {selectedForwardState.state || 'idle'}
|
||||
{selectedForwardState.error ? ` | error: ${selectedForwardState.error}` : ''}
|
||||
</div>
|
||||
) : null}
|
||||
{message ? <div className="text-xs text-slate-400 text-center">{message}</div> : null}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
@@ -1,5 +1,4 @@
|
||||
export const COOKIE_KEY_REGEX = /^cu_[a-f0-9]{32}$/;
|
||||
export const MAX_UPLOAD_BYTES = 8 * 1024 * 1024;
|
||||
|
||||
export const fieldClass = 'field-input w-full max-w-sm text-left focus:ring-emerald-500';
|
||||
export const flowWrapClass = 'mx-auto w-full max-w-xl flex justify-center';
|
||||
@@ -11,13 +10,3 @@ export function maskKey(value) {
|
||||
if (key.length <= 10) return `${key.slice(0, 2)}***${key.slice(-2)}`;
|
||||
return `${key.slice(0, 6)}...${key.slice(-6)}`;
|
||||
}
|
||||
|
||||
export function bytesToBase64(bytes) {
|
||||
let binary = '';
|
||||
const chunkSize = 0x8000;
|
||||
for (let i = 0; i < bytes.length; i += chunkSize) {
|
||||
const chunk = bytes.subarray(i, i + chunkSize);
|
||||
binary += String.fromCharCode(...chunk);
|
||||
}
|
||||
return btoa(binary);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user