mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
legop3
@@ -13,8 +13,8 @@ source "$ENV_FILE"
|
||||
|
||||
: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
|
||||
|
||||
VIDEO_WIDTH="${VIDEO_WIDTH:-1280}"
|
||||
VIDEO_HEIGHT="${VIDEO_HEIGHT:-720}"
|
||||
VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
|
||||
VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
|
||||
VIDEO_FPS="${VIDEO_FPS:-30}"
|
||||
VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
|
||||
|
||||
|
||||
@@ -0,0 +1,13 @@
|
||||
# general idea
|
||||
- servo connected to pin 19 on the pi
|
||||
- it will allow the camera to look up and down
|
||||
- use go-rpio
|
||||
- it has a hardware PWM implementation
|
||||
- mechanical design will have limits
|
||||
- set the limits in roverd config
|
||||
- control the servo from the web browser
|
||||
- expose both a slider and buttons for "nudging" it up and down
|
||||
|
||||
## verification of functionality before full implementation
|
||||
- make sure that the go program can properly use the GPIO correctly before full implementation
|
||||
- modify the roverd installer to add the needed stuff to enable PWM access
|
||||
+17
@@ -0,0 +1,17 @@
|
||||
## video stream
|
||||
- video stream needs to always autoplay, even if it cant unmute itself
|
||||
- currently, it wont play at all unless it can unmute
|
||||
- video stream currently unloads and reloads based on the tab being active
|
||||
- just remove this feature. It needs to stay running all the time.
|
||||
|
||||
## server sensor decoding
|
||||
- OI mode is not decoded properly
|
||||
- says "safe" when in passive, and "unknown" when in full.
|
||||
|
||||
## UI and session info
|
||||
- UI needs a display for the turns mode
|
||||
|
||||
## Mobile UI
|
||||
- need to make it good
|
||||
- joystick needs to be floating
|
||||
- aux motor buttons need redone
|
||||
@@ -17,4 +17,6 @@ require('./src/services/assignmentService');
|
||||
require('./src/services/videoSessions');
|
||||
require('./src/services/videoAuthService');
|
||||
require('./src/services/videoSocketService');
|
||||
require('./src/services/logStreamService');
|
||||
require('./src/services/sessionService');
|
||||
require('./src/services/httpServer');
|
||||
|
||||
@@ -33,3 +33,5 @@ paths:
|
||||
all:
|
||||
source: publisher
|
||||
sourceOnDemand: no
|
||||
# webrtcMaxPlayoutDelay: 0
|
||||
# alwaysRemuxWhep: no
|
||||
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -1,93 +1,14 @@
|
||||
<!doctype html>
|
||||
<html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>Multi Roomba Rover</title>
|
||||
<style>
|
||||
body { font-family: sans-serif; margin: 16px; }
|
||||
#layout { display: flex; gap: 16px; }
|
||||
#roverList { width: 240px; }
|
||||
#sensorOutput { font-family: monospace; height: 320px; overflow: auto; border: 1px solid #999; padding: 8px; }
|
||||
button { margin: 4px; }
|
||||
.row { margin-bottom: 8px; }
|
||||
#alerts { margin-top: 12px; max-width: 600px; }
|
||||
.alert { background: #fff1d2; border: 1px solid #f0b651; padding: 6px 8px; margin-bottom: 6px; font-size: 0.9rem; }
|
||||
#authPanel { margin: 12px 0; display: flex; gap: 8px; align-items: center; }
|
||||
#authPanel input { padding: 4px; }
|
||||
#activeDriver { margin-bottom: 8px; font-weight: bold; }
|
||||
#videoPanel { margin-bottom: 12px; }
|
||||
#videoContainer { width: 100%; background: #000; min-height: 200px; display: flex; align-items: center; justify-content: center; }
|
||||
#videoContainer video { width: 100%; max-height: 320px; background: #000; }
|
||||
#videoStatus { margin-top: 6px; font-size: 0.9rem; color: #444; }
|
||||
</style>
|
||||
<meta charset="UTF-8" />
|
||||
<link rel="icon" type="image/svg+xml" href="/vite.svg" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>webui</title>
|
||||
<script type="module" crossorigin src="/assets/index-BvgUoEqO.js"></script>
|
||||
<link rel="stylesheet" crossorigin href="/assets/index-DwQ38q3M.css">
|
||||
</head>
|
||||
<body>
|
||||
<h1>Multi Roomba Rover</h1>
|
||||
<div id="status">Connecting…</div>
|
||||
<div id="authPanel">
|
||||
<input id="username" placeholder="Username" />
|
||||
<input id="password" type="password" placeholder="Password" />
|
||||
<button id="loginBtn">Admin Login</button>
|
||||
<span id="roleStatus">Role: user</span>
|
||||
</div>
|
||||
<div id="layout">
|
||||
<div id="roverList">
|
||||
<label for="roverSelect">Rovers</label>
|
||||
<select id="roverSelect" size="10" style="width: 100%"></select>
|
||||
<div class="row" id="adminControls">
|
||||
<label><input type="checkbox" id="forceControl" /> Force control</label>
|
||||
<button id="lockToggle">Lock/Unlock</button>
|
||||
</div>
|
||||
<div class="row" id="modeControls" style="display:none">
|
||||
<label for="modeSelect">Server mode</label>
|
||||
<select id="modeSelect">
|
||||
<option value="open">Open</option>
|
||||
<option value="turns">Turns</option>
|
||||
<option value="admin">Admin</option>
|
||||
<option value="lockdown">Lockdown</option>
|
||||
</select>
|
||||
</div>
|
||||
<div class="row">
|
||||
<button data-oi="start">Start OI</button>
|
||||
<button data-oi="safe">Safe</button>
|
||||
<button data-oi="full">Full</button>
|
||||
<button data-oi="passive">Passive</button>
|
||||
<button data-oi="dock">Dock</button>
|
||||
</div>
|
||||
<div class="row">
|
||||
<button id="sensorToggle">Enable Sensor Stream</button>
|
||||
</div>
|
||||
<div class="row">
|
||||
<button id="motorsStop">Stop Motors</button>
|
||||
</div>
|
||||
</div>
|
||||
<div style="flex: 1">
|
||||
<h3>Sensor Frames</h3>
|
||||
<div id="currentRover">Active rover: --</div>
|
||||
<div id="activeDriver">Driver: --</div>
|
||||
<div id="videoPanel">
|
||||
<div id="videoContainer">
|
||||
<video id="driverVideo" muted playsinline></video>
|
||||
</div>
|
||||
<div id="videoStatus">No rover selected</div>
|
||||
<button id="videoReconnect">Reconnect Video</button>
|
||||
</div>
|
||||
<pre id="sensorOutput"></pre>
|
||||
<p>Use WASD keys to drive the selected rover. Shift increases speed.</p>
|
||||
<div id="alerts"></div>
|
||||
</div>
|
||||
</div>
|
||||
<script src="/socket.io/socket.io.js"></script>
|
||||
<script src="loader.js"></script>
|
||||
<script src="src/globals/socket.js"></script>
|
||||
<script src="src/helpers/formatters.js"></script>
|
||||
<script src="src/services/state.js"></script>
|
||||
<script src="src/services/alertFeed.js"></script>
|
||||
<script src="src/services/authControls.js"></script>
|
||||
<script src="src/services/videoPlayer.js"></script>
|
||||
<script src="src/services/roverUI.js"></script>
|
||||
<script src="src/services/driveControls.js"></script>
|
||||
<script src="src/main.js"></script>
|
||||
<p><a href="/spectate/">Open spectator view</a></p>
|
||||
<div id="root"></div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@@ -1,22 +0,0 @@
|
||||
(function () {
|
||||
const modules = {};
|
||||
const cache = {};
|
||||
|
||||
window.registerModule = function (name, factory) {
|
||||
modules[name] = factory;
|
||||
};
|
||||
|
||||
window.requireModule = function (name) {
|
||||
if (cache[name]) {
|
||||
return cache[name];
|
||||
}
|
||||
const factory = modules[name];
|
||||
if (!factory) {
|
||||
throw new Error(`Module ${name} not found`);
|
||||
}
|
||||
const exports = {};
|
||||
cache[name] = exports;
|
||||
factory(requireModule, exports);
|
||||
return exports;
|
||||
};
|
||||
})();
|
||||
@@ -1,33 +0,0 @@
|
||||
<!doctype html>
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>Rover Spectator</title>
|
||||
<style>
|
||||
body { font-family: sans-serif; margin: 16px; }
|
||||
#status { margin-bottom: 12px; }
|
||||
#grid { display: grid; grid-template-columns: repeat(auto-fill, minmax(280px, 1fr)); gap: 12px; }
|
||||
.rover-card { border: 1px solid #ccc; padding: 12px; border-radius: 6px; background: #fdfdfd; }
|
||||
.rover-card h3 { margin: 0 0 8px 0; }
|
||||
.sensor { font-family: monospace; white-space: pre-wrap; word-break: break-word; }
|
||||
.meta { font-size: 0.9rem; color: #555; margin-bottom: 8px; }
|
||||
.video-wrap { background: #000; min-height: 160px; margin-bottom: 6px; display: flex; align-items: center; justify-content: center; }
|
||||
.video-wrap video { width: 100%; max-height: 200px; background: #000; }
|
||||
.video-status { font-size: 0.85rem; color: #444; margin-bottom: 4px; }
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Rover Spectator</h1>
|
||||
<div id="status">Connecting…</div>
|
||||
<div id="grid"></div>
|
||||
|
||||
<script src="/socket.io/socket.io.js"></script>
|
||||
<script>
|
||||
window.__desiredRole = 'spectator';
|
||||
</script>
|
||||
<script src="../loader.js"></script>
|
||||
<script src="../src/globals/socket.js"></script>
|
||||
<script src="../src/services/videoPlayer.js"></script>
|
||||
<script src="spectator.js"></script>
|
||||
</body>
|
||||
</html>
|
||||
@@ -1,131 +0,0 @@
|
||||
registerModule('spectator/main', (require, exports) => {
|
||||
const { socket } = require('globals/socket');
|
||||
const videoPlayer = require('services/videoPlayer');
|
||||
|
||||
const statusEl = document.getElementById('status');
|
||||
const grid = document.getElementById('grid');
|
||||
const cards = new Map();
|
||||
|
||||
socket.on('connect', () => {
|
||||
statusEl.textContent = 'Connected';
|
||||
});
|
||||
|
||||
socket.on('disconnect', () => {
|
||||
statusEl.textContent = 'Disconnected';
|
||||
stopAllVideos();
|
||||
});
|
||||
|
||||
socket.on('lockdown', ({ message }) => {
|
||||
statusEl.textContent = message || 'Spectator mode disabled';
|
||||
stopAllVideos();
|
||||
});
|
||||
|
||||
socket.on('rovers', (list) => {
|
||||
list.forEach((rover) => {
|
||||
const card = ensureCard(rover.id);
|
||||
card.querySelector('.meta').textContent = `Locked: ${rover.locked ? 'yes' : 'no'} | Last seen: ${new Date(rover.lastSeen).toLocaleTimeString()}`;
|
||||
if (!card.dataset.videoActive) {
|
||||
connectVideo(rover.id);
|
||||
}
|
||||
});
|
||||
Array.from(cards.keys()).forEach((id) => {
|
||||
if (!list.find((r) => r.id === id)) {
|
||||
removeCard(id);
|
||||
}
|
||||
});
|
||||
});
|
||||
|
||||
socket.on('sensorFrame', ({ roverId, sensors }) => {
|
||||
const card = ensureCard(roverId);
|
||||
card.querySelector('.sensor').textContent = sensors ? JSON.stringify(sensors, null, 2) : 'No data';
|
||||
});
|
||||
|
||||
function ensureCard(roverId) {
|
||||
if (cards.has(roverId)) {
|
||||
return cards.get(roverId);
|
||||
}
|
||||
const card = document.createElement('div');
|
||||
card.className = 'rover-card';
|
||||
card.dataset.videoActive = '';
|
||||
card.innerHTML = `
|
||||
<h3>${roverId}</h3>
|
||||
<div class="meta"></div>
|
||||
<div class="video-wrap"></div>
|
||||
<div class="video-status">Video not connected</div>
|
||||
<button class="video-reconnect">Reconnect video</button>
|
||||
<pre class="sensor">Waiting for data...</pre>
|
||||
`;
|
||||
const reconnectBtn = card.querySelector('.video-reconnect');
|
||||
reconnectBtn.addEventListener('click', () => connectVideo(roverId, true));
|
||||
grid.appendChild(card);
|
||||
cards.set(roverId, card);
|
||||
connectVideo(roverId, true);
|
||||
return card;
|
||||
}
|
||||
|
||||
function connectVideo(roverId, force = false) {
|
||||
const card = ensureCard(roverId);
|
||||
const status = card.querySelector('.video-status');
|
||||
const wrap = card.querySelector('.video-wrap');
|
||||
const playerId = `spectator-${roverId}`;
|
||||
if (!force && card.dataset.videoActive === 'yes') {
|
||||
return;
|
||||
}
|
||||
status.textContent = 'Connecting video…';
|
||||
socket.emit('video:request', { roverId }, (resp = {}) => {
|
||||
if (resp.error) {
|
||||
status.textContent = `Video error: ${resp.error}`;
|
||||
videoPlayer.stopStream(playerId);
|
||||
card.dataset.videoActive = '';
|
||||
return;
|
||||
}
|
||||
videoPlayer
|
||||
.startStream(playerId, {
|
||||
url: resp.url,
|
||||
token: resp.token,
|
||||
mount: wrap,
|
||||
onStatus: (state, detail) => {
|
||||
if (state === 'playing') {
|
||||
status.textContent = 'Video live';
|
||||
card.dataset.videoActive = 'yes';
|
||||
} else if (state === 'connecting') {
|
||||
status.textContent = 'Connecting video…';
|
||||
} else if (state === 'error') {
|
||||
status.textContent = `Video error: ${detail}`;
|
||||
card.dataset.videoActive = '';
|
||||
} else if (state === 'stopped') {
|
||||
status.textContent = 'Video stopped';
|
||||
card.dataset.videoActive = '';
|
||||
}
|
||||
},
|
||||
})
|
||||
.catch((err) => {
|
||||
status.textContent = `Video error: ${err.message}`;
|
||||
card.dataset.videoActive = '';
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function removeCard(roverId) {
|
||||
const card = cards.get(roverId);
|
||||
if (card) {
|
||||
videoPlayer.stopStream(`spectator-${roverId}`);
|
||||
card.remove();
|
||||
cards.delete(roverId);
|
||||
}
|
||||
}
|
||||
|
||||
function stopAllVideos() {
|
||||
Array.from(cards.keys()).forEach((id) => {
|
||||
videoPlayer.stopStream(`spectator-${id}`);
|
||||
const card = cards.get(id);
|
||||
if (card) {
|
||||
const status = card.querySelector('.video-status');
|
||||
status.textContent = 'Video stopped';
|
||||
card.dataset.videoActive = '';
|
||||
}
|
||||
});
|
||||
}
|
||||
});
|
||||
|
||||
requireModule('spectator/main');
|
||||
@@ -1,8 +0,0 @@
|
||||
registerModule('globals/socket', (require, exports) => {
|
||||
const query = {};
|
||||
if (window.__desiredRole) {
|
||||
query.role = window.__desiredRole;
|
||||
}
|
||||
const socket = io(query.role ? { query } : undefined);
|
||||
exports.socket = socket;
|
||||
});
|
||||
@@ -1,11 +0,0 @@
|
||||
registerModule('helpers/formatters', (require, exports) => {
|
||||
function formatHex(base64) {
|
||||
if (!base64) return '';
|
||||
const buffer = Uint8Array.from(atob(base64), (c) => c.charCodeAt(0));
|
||||
return Array.from(buffer)
|
||||
.map((b) => b.toString(16).padStart(2, '0'))
|
||||
.join(' ');
|
||||
}
|
||||
|
||||
exports.formatHex = formatHex;
|
||||
});
|
||||
@@ -1,7 +0,0 @@
|
||||
requireModule('globals/socket');
|
||||
requireModule('helpers/formatters');
|
||||
requireModule('services/state');
|
||||
requireModule('services/alertFeed');
|
||||
requireModule('services/authControls');
|
||||
requireModule('services/roverUI');
|
||||
requireModule('services/driveControls');
|
||||
@@ -1,25 +0,0 @@
|
||||
registerModule('services/alertFeed', (require, exports) => {
|
||||
const { socket } = require('globals/socket');
|
||||
|
||||
const container = document.getElementById('alerts');
|
||||
if (!container) return;
|
||||
|
||||
function pushAlert({ color = '#2196f3', title, message, ts }) {
|
||||
const div = document.createElement('div');
|
||||
div.className = 'alert';
|
||||
div.style.borderColor = color;
|
||||
div.style.background = color + '22';
|
||||
div.innerHTML = `<strong>${title || 'Notice'}</strong> - ${message || ''}`;
|
||||
container.prepend(div);
|
||||
while (container.children.length > 5) {
|
||||
container.removeChild(container.lastChild);
|
||||
}
|
||||
setTimeout(() => {
|
||||
if (div.parentElement === container) {
|
||||
container.removeChild(div);
|
||||
}
|
||||
}, 15000);
|
||||
}
|
||||
|
||||
socket.on('alert', pushAlert);
|
||||
});
|
||||
@@ -1,35 +0,0 @@
|
||||
registerModule('services/authControls', (require, exports) => {
|
||||
const { socket } = require('globals/socket');
|
||||
const state = require('services/state');
|
||||
|
||||
const usernameInput = document.getElementById('username');
|
||||
const passwordInput = document.getElementById('password');
|
||||
const loginBtn = document.getElementById('loginBtn');
|
||||
const roleStatus = document.getElementById('roleStatus');
|
||||
|
||||
function updateRole(role) {
|
||||
if (roleStatus) {
|
||||
roleStatus.textContent = `Role: ${role}`;
|
||||
}
|
||||
state.setRole(role);
|
||||
}
|
||||
|
||||
loginBtn?.addEventListener('click', () => {
|
||||
const username = usernameInput.value.trim();
|
||||
const password = passwordInput.value;
|
||||
socket.emit('auth:login', { username, password }, (resp = {}) => {
|
||||
if (!resp.success) {
|
||||
alert(resp.error || 'Login failed');
|
||||
} else {
|
||||
updateRole(resp.role);
|
||||
}
|
||||
passwordInput.value = '';
|
||||
});
|
||||
});
|
||||
|
||||
socket.on('auth:role', ({ role }) => {
|
||||
updateRole(role);
|
||||
});
|
||||
// initialize from default role
|
||||
updateRole(state.getRole());
|
||||
});
|
||||
@@ -1,127 +0,0 @@
|
||||
registerModule('services/driveControls', (require, exports) => {
|
||||
const { socket } = require('globals/socket');
|
||||
const state = require('services/state');
|
||||
|
||||
const motorsStopBtn = document.getElementById('motorsStop');
|
||||
const sensorToggleBtn = document.getElementById('sensorToggle');
|
||||
const modeButtons = document.querySelectorAll('[data-oi]');
|
||||
|
||||
let sensorEnabled = false;
|
||||
let lastDrive = { left: 0, right: 0 };
|
||||
const keys = new Set();
|
||||
|
||||
window.addEventListener('keydown', (event) => {
|
||||
const key = event.key.toLowerCase();
|
||||
if (keys.has(key)) return;
|
||||
keys.add(key);
|
||||
maybeSendDriveUpdate();
|
||||
});
|
||||
|
||||
window.addEventListener('keyup', (event) => {
|
||||
const key = event.key.toLowerCase();
|
||||
if (!keys.has(key)) return;
|
||||
keys.delete(key);
|
||||
maybeSendDriveUpdate();
|
||||
});
|
||||
|
||||
function maybeSendDriveUpdate() {
|
||||
const roverId = state.getSelected();
|
||||
if (!roverId) return;
|
||||
const speeds = computeDrive();
|
||||
if (speeds.left === lastDrive.left && speeds.right === lastDrive.right) return;
|
||||
lastDrive = speeds;
|
||||
socket.emit('command', {
|
||||
roverId,
|
||||
type: 'drive',
|
||||
data: { driveDirect: speeds },
|
||||
});
|
||||
}
|
||||
|
||||
function computeDrive() {
|
||||
const forward = keys.has('w');
|
||||
const backward = keys.has('s');
|
||||
const left = keys.has('a');
|
||||
const right = keys.has('d');
|
||||
const fast = keys.has('shift');
|
||||
const base = fast ? 300 : 150;
|
||||
let leftSpeed = 0;
|
||||
let rightSpeed = 0;
|
||||
|
||||
if (forward && !backward) {
|
||||
leftSpeed += base;
|
||||
rightSpeed += base;
|
||||
} else if (backward && !forward) {
|
||||
leftSpeed -= base;
|
||||
rightSpeed -= base;
|
||||
}
|
||||
|
||||
if (left && !right) {
|
||||
leftSpeed -= base;
|
||||
rightSpeed += base;
|
||||
} else if (right && !left) {
|
||||
leftSpeed += base;
|
||||
rightSpeed -= base;
|
||||
}
|
||||
|
||||
if (!forward && !backward && (left || right)) {
|
||||
leftSpeed = left ? -base : base;
|
||||
rightSpeed = left ? base : -base;
|
||||
}
|
||||
|
||||
return {
|
||||
left: clamp(leftSpeed, -500, 500),
|
||||
right: clamp(rightSpeed, -500, 500),
|
||||
};
|
||||
}
|
||||
|
||||
function clamp(value, min, max) {
|
||||
return Math.max(min, Math.min(max, value));
|
||||
}
|
||||
|
||||
motorsStopBtn?.addEventListener('click', () => {
|
||||
const roverId = state.getSelected();
|
||||
if (!roverId) return;
|
||||
socket.emit('command', {
|
||||
roverId,
|
||||
type: 'motors',
|
||||
data: { motorPwm: { main: 0, side: 0, vacuum: 0 } },
|
||||
});
|
||||
});
|
||||
|
||||
sensorToggleBtn?.addEventListener('click', () => {
|
||||
sensorEnabled = !sensorEnabled;
|
||||
sensorToggleBtn.textContent = sensorEnabled ? 'Disable Sensor Stream' : 'Enable Sensor Stream';
|
||||
const roverId = state.getSelected();
|
||||
socket.emit('command', {
|
||||
roverId,
|
||||
type: 'sensorStream',
|
||||
data: { sensorStream: { enable: sensorEnabled } },
|
||||
});
|
||||
});
|
||||
|
||||
const OI_COMMANDS = {
|
||||
start: [128],
|
||||
safe: [131],
|
||||
full: [132],
|
||||
passive: [128],
|
||||
dock: [143],
|
||||
};
|
||||
|
||||
modeButtons.forEach((btn) => {
|
||||
btn.addEventListener('click', () => {
|
||||
const cmd = btn.dataset.oi;
|
||||
const bytes = OI_COMMANDS[cmd];
|
||||
if (!bytes) return;
|
||||
const roverId = state.getSelected();
|
||||
socket.emit('command', {
|
||||
roverId,
|
||||
type: 'raw',
|
||||
data: { raw: bytesToBase64(bytes) },
|
||||
});
|
||||
});
|
||||
});
|
||||
|
||||
function bytesToBase64(bytes) {
|
||||
return btoa(String.fromCharCode(...bytes));
|
||||
}
|
||||
});
|
||||
@@ -1,185 +0,0 @@
|
||||
registerModule('services/roverUI', (require, exports) => {
|
||||
const { socket } = require('globals/socket');
|
||||
const { formatHex } = require('helpers/formatters');
|
||||
const videoPlayer = require('services/videoPlayer');
|
||||
const state = require('services/state');
|
||||
|
||||
const statusEl = document.getElementById('status');
|
||||
const roverSelect = document.getElementById('roverSelect');
|
||||
const sensorOutput = document.getElementById('sensorOutput');
|
||||
const lockBtn = document.getElementById('lockToggle');
|
||||
const forceCheckbox = document.getElementById('forceControl');
|
||||
const adminControls = document.getElementById('adminControls');
|
||||
const modeControls = document.getElementById('modeControls');
|
||||
const modeSelect = document.getElementById('modeSelect');
|
||||
const activeDriverEl = document.getElementById('activeDriver');
|
||||
const currentRoverEl = document.getElementById('currentRover');
|
||||
const videoContainer = document.getElementById('videoContainer');
|
||||
const driverVideo = document.getElementById('driverVideo');
|
||||
const videoStatus = document.getElementById('videoStatus');
|
||||
const videoReconnect = document.getElementById('videoReconnect');
|
||||
|
||||
let roster = [];
|
||||
let lastSelection = null;
|
||||
let currentVideoRover = null;
|
||||
|
||||
state.onRoleChange((role) => {
|
||||
const isAdmin = role === 'admin' || role === 'lockdown';
|
||||
if (lockBtn) lockBtn.disabled = !isAdmin;
|
||||
if (roverSelect) roverSelect.disabled = !isAdmin;
|
||||
if (adminControls) {
|
||||
adminControls.style.display = isAdmin ? 'flex' : 'none';
|
||||
}
|
||||
if (modeControls) {
|
||||
modeControls.style.display = isAdmin ? 'block' : 'none';
|
||||
if (modeSelect) modeSelect.disabled = !isAdmin;
|
||||
}
|
||||
});
|
||||
|
||||
socket.on('rovers', (list) => {
|
||||
roster = list;
|
||||
roverSelect.innerHTML = '';
|
||||
list.forEach((rover) => {
|
||||
const option = document.createElement('option');
|
||||
option.value = rover.id;
|
||||
option.textContent = `${rover.name}${rover.locked ? ' (locked)' : ''}`;
|
||||
roverSelect.appendChild(option);
|
||||
});
|
||||
const selected = state.getSelected();
|
||||
if ((!selected || !list.find((r) => r.id === selected)) && list.length) {
|
||||
state.setSelected(list[0].id);
|
||||
} else if (!list.length) {
|
||||
state.setSelected(null);
|
||||
}
|
||||
renderSelection(true);
|
||||
});
|
||||
|
||||
roverSelect.addEventListener('change', () => {
|
||||
const roverId = roverSelect.value;
|
||||
const role = state.getRole();
|
||||
state.setSelected(roverId);
|
||||
renderSelection(true);
|
||||
if (role === 'admin' || role === 'lockdown') {
|
||||
socket.emit('requestControl', { roverId, force: !!forceCheckbox?.checked });
|
||||
}
|
||||
});
|
||||
|
||||
socket.on('controlGranted', ({ roverId }) => {
|
||||
state.setSelected(roverId);
|
||||
renderSelection(true);
|
||||
statusEl.textContent = `Driving ${roverId}`;
|
||||
maybeConnectVideo(true);
|
||||
});
|
||||
|
||||
socket.on('sensorFrame', ({ roverId, frame, sensors }) => {
|
||||
if (roverId !== state.getSelected()) return;
|
||||
const lines = [];
|
||||
if (sensors) {
|
||||
Object.entries(sensors).forEach(([key, value]) => {
|
||||
lines.push(`${key}: ${typeof value === 'object' ? JSON.stringify(value) : value}`);
|
||||
});
|
||||
}
|
||||
lines.push('', 'raw:', formatHex(frame?.data));
|
||||
sensorOutput.textContent = lines.join('\n');
|
||||
});
|
||||
|
||||
socket.on('activeDriver', ({ roverId, socketId }) => {
|
||||
if (roverId !== state.getSelected()) return;
|
||||
if (activeDriverEl) {
|
||||
activeDriverEl.textContent = `Active driver: ${socketId || 'none'}`;
|
||||
}
|
||||
});
|
||||
|
||||
lockBtn?.addEventListener('click', () => {
|
||||
const roverId = state.getSelected();
|
||||
const rover = roster.find((r) => r.id === roverId);
|
||||
if (!rover) return;
|
||||
socket.emit('lockRover', { roverId, locked: !rover.locked });
|
||||
});
|
||||
|
||||
modeSelect?.addEventListener('change', () => {
|
||||
socket.emit('setMode', { mode: modeSelect.value });
|
||||
});
|
||||
|
||||
socket.on('mode', ({ mode }) => {
|
||||
if (modeSelect) {
|
||||
modeSelect.value = mode;
|
||||
}
|
||||
});
|
||||
|
||||
videoReconnect?.addEventListener('click', () => maybeConnectVideo(true));
|
||||
|
||||
socket.on('connect', () => {
|
||||
statusEl.textContent = 'Connected';
|
||||
});
|
||||
socket.on('disconnect', () => {
|
||||
statusEl.textContent = 'Disconnected';
|
||||
});
|
||||
|
||||
function renderSelection(clearOutput) {
|
||||
const roverId = state.getSelected();
|
||||
if (roverSelect && roverId) {
|
||||
roverSelect.value = roverId;
|
||||
} else if (roverSelect && !roverId) {
|
||||
roverSelect.value = '';
|
||||
}
|
||||
if (currentRoverEl) {
|
||||
currentRoverEl.textContent = `Active rover: ${roverId || '--'}`;
|
||||
}
|
||||
if (sensorOutput && (clearOutput || roverId !== lastSelection)) {
|
||||
sensorOutput.textContent = roverId ? 'Waiting for sensor data...' : '';
|
||||
}
|
||||
lastSelection = roverId;
|
||||
maybeConnectVideo(clearOutput);
|
||||
}
|
||||
|
||||
function maybeConnectVideo(force = false) {
|
||||
const roverId = state.getSelected();
|
||||
if (!roverId) {
|
||||
currentVideoRover = null;
|
||||
videoPlayer.stopStream('driver');
|
||||
setVideoStatus('No rover selected');
|
||||
return;
|
||||
}
|
||||
if (!force && roverId === currentVideoRover) {
|
||||
return;
|
||||
}
|
||||
currentVideoRover = roverId;
|
||||
setVideoStatus('Connecting video…');
|
||||
socket.emit('video:request', { roverId }, (resp = {}) => {
|
||||
if (resp.error) {
|
||||
setVideoStatus(`Video error: ${resp.error}`);
|
||||
videoPlayer.stopStream('driver');
|
||||
return;
|
||||
}
|
||||
const { url, token } = resp;
|
||||
videoPlayer
|
||||
.startStream('driver', {
|
||||
url,
|
||||
token,
|
||||
mount: videoContainer,
|
||||
videoEl: driverVideo,
|
||||
onStatus: (state, detail) => {
|
||||
if (state === 'playing') {
|
||||
setVideoStatus('Video live');
|
||||
} else if (state === 'connecting') {
|
||||
setVideoStatus('Connecting video…');
|
||||
} else if (state === 'error') {
|
||||
setVideoStatus(`Video error: ${detail}`);
|
||||
} else if (state === 'stopped') {
|
||||
setVideoStatus('Video stopped');
|
||||
}
|
||||
},
|
||||
})
|
||||
.catch((err) => {
|
||||
setVideoStatus(`Video error: ${err.message}`);
|
||||
});
|
||||
});
|
||||
}
|
||||
|
||||
function setVideoStatus(message) {
|
||||
if (videoStatus) {
|
||||
videoStatus.textContent = message;
|
||||
}
|
||||
}
|
||||
});
|
||||
@@ -1,34 +0,0 @@
|
||||
registerModule('services/state', (require, exports) => {
|
||||
let selectedRover = null;
|
||||
let role = 'user';
|
||||
const roleListeners = new Set();
|
||||
|
||||
function setSelected(roverId) {
|
||||
selectedRover = roverId;
|
||||
}
|
||||
|
||||
function getSelected() {
|
||||
return selectedRover;
|
||||
}
|
||||
|
||||
function setRole(nextRole) {
|
||||
role = nextRole;
|
||||
roleListeners.forEach((cb) => cb(role));
|
||||
}
|
||||
|
||||
function getRole() {
|
||||
return role;
|
||||
}
|
||||
|
||||
function onRoleChange(cb) {
|
||||
roleListeners.add(cb);
|
||||
cb(role);
|
||||
return () => roleListeners.delete(cb);
|
||||
}
|
||||
|
||||
exports.setSelected = setSelected;
|
||||
exports.getSelected = getSelected;
|
||||
exports.setRole = setRole;
|
||||
exports.getRole = getRole;
|
||||
exports.onRoleChange = onRoleChange;
|
||||
});
|
||||
@@ -1,152 +0,0 @@
|
||||
registerModule('services/videoPlayer', (require, exports) => {
|
||||
const players = new Map();
|
||||
|
||||
class Player {
|
||||
constructor(id, options = {}) {
|
||||
this.id = id;
|
||||
this.options = options;
|
||||
this.onStatus = options.onStatus || (() => {});
|
||||
this.mount = options.mount || null;
|
||||
this.externalVideo = options.videoEl || null;
|
||||
this.video = this.externalVideo || this.createVideoElement();
|
||||
this.video.muted = true;
|
||||
this.status('idle');
|
||||
}
|
||||
|
||||
createVideoElement() {
|
||||
const el = document.createElement('video');
|
||||
el.autoplay = true;
|
||||
el.playsInline = true;
|
||||
el.controls = false;
|
||||
el.muted = true;
|
||||
el.style.width = '100%';
|
||||
el.style.maxHeight = '360px';
|
||||
if (this.mount) {
|
||||
this.mount.innerHTML = '';
|
||||
this.mount.appendChild(el);
|
||||
}
|
||||
return el;
|
||||
}
|
||||
|
||||
attachAutoPlayLoop() {
|
||||
this.autoPlayTimer = window.setInterval(() => {
|
||||
if (!this.video) return;
|
||||
if (!this.video.paused && !this.video.muted) {
|
||||
clearInterval(this.autoPlayTimer);
|
||||
this.autoPlayTimer = null;
|
||||
return;
|
||||
}
|
||||
const attempt = () => this.video.play().catch(() => {});
|
||||
if (this.video.paused) {
|
||||
attempt();
|
||||
}
|
||||
if (this.video.muted) {
|
||||
this.video.muted = false;
|
||||
attempt();
|
||||
}
|
||||
}, 2500);
|
||||
}
|
||||
|
||||
status(state, detail) {
|
||||
this.onStatus(state, detail);
|
||||
}
|
||||
|
||||
async start(url, token) {
|
||||
this.stopPeer();
|
||||
this.status('connecting');
|
||||
this.pc = new RTCPeerConnection();
|
||||
this.stream = new MediaStream();
|
||||
this.video.srcObject = this.stream;
|
||||
this.pc.addTransceiver('video', { direction: 'recvonly' });
|
||||
this.pc.addTransceiver('audio', { direction: 'recvonly' });
|
||||
this.pc.ontrack = (event) => {
|
||||
const [remoteStream] = event.streams;
|
||||
if (remoteStream) {
|
||||
this.video.srcObject = remoteStream;
|
||||
} else {
|
||||
this.stream.addTrack(event.track);
|
||||
}
|
||||
this.video.play().catch(() => {});
|
||||
};
|
||||
this.attachAutoPlayLoop();
|
||||
|
||||
if (!token) {
|
||||
throw new Error('Missing video session token');
|
||||
}
|
||||
const offer = await this.pc.createOffer();
|
||||
await this.pc.setLocalDescription(offer);
|
||||
const response = await fetch(url, {
|
||||
method: 'POST',
|
||||
headers: {
|
||||
'Content-Type': 'application/sdp',
|
||||
Authorization: `Basic ${btoa(`${token}:${token}`)}`,
|
||||
},
|
||||
body: offer.sdp,
|
||||
});
|
||||
if (!response.ok) {
|
||||
throw new Error(`WHEP HTTP ${response.status}`);
|
||||
}
|
||||
const answer = await response.text();
|
||||
await this.pc.setRemoteDescription({ type: 'answer', sdp: answer });
|
||||
this.status('playing');
|
||||
}
|
||||
|
||||
stopPeer() {
|
||||
if (this.autoPlayTimer) {
|
||||
clearInterval(this.autoPlayTimer);
|
||||
this.autoPlayTimer = null;
|
||||
}
|
||||
if (this.pc) {
|
||||
this.pc.getSenders().forEach((sender) => sender.track && sender.track.stop());
|
||||
this.pc.getReceivers().forEach((receiver) => receiver.track && receiver.track.stop());
|
||||
this.pc.close();
|
||||
this.pc = null;
|
||||
}
|
||||
if (this.video) {
|
||||
const tracks = this.video.srcObject?.getTracks() || [];
|
||||
tracks.forEach((t) => t.stop());
|
||||
this.video.pause();
|
||||
this.video.srcObject = null;
|
||||
}
|
||||
}
|
||||
|
||||
stop() {
|
||||
this.stopPeer();
|
||||
if (!this.externalVideo && this.video && this.video.parentElement) {
|
||||
this.video.parentElement.removeChild(this.video);
|
||||
}
|
||||
this.status('stopped');
|
||||
}
|
||||
}
|
||||
|
||||
async function startStream(id, { url, token, mount, videoEl, onStatus } = {}) {
|
||||
stopStream(id);
|
||||
const player = new Player(id, { mount, videoEl, onStatus });
|
||||
players.set(id, player);
|
||||
try {
|
||||
await player.start(url, token);
|
||||
return player.video;
|
||||
} catch (err) {
|
||||
player.status('error', err.message);
|
||||
player.stop();
|
||||
players.delete(id);
|
||||
throw err;
|
||||
}
|
||||
}
|
||||
|
||||
function stopStream(id) {
|
||||
const existing = players.get(id);
|
||||
if (existing) {
|
||||
existing.stop();
|
||||
players.delete(id);
|
||||
}
|
||||
}
|
||||
|
||||
function stopAll() {
|
||||
Array.from(players.keys()).forEach(stopStream);
|
||||
}
|
||||
|
||||
exports.startStream = startStream;
|
||||
exports.stopStream = stopStream;
|
||||
exports.stopAll = stopAll;
|
||||
});
|
||||
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" class="iconify iconify--logos" width="31.88" height="32" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 257"><defs><linearGradient id="IconifyId1813088fe1fbc01fb466" x1="-.828%" x2="57.636%" y1="7.652%" y2="78.411%"><stop offset="0%" stop-color="#41D1FF"></stop><stop offset="100%" stop-color="#BD34FE"></stop></linearGradient><linearGradient id="IconifyId1813088fe1fbc01fb467" x1="43.376%" x2="50.316%" y1="2.242%" y2="89.03%"><stop offset="0%" stop-color="#FFEA83"></stop><stop offset="8.333%" stop-color="#FFDD35"></stop><stop offset="100%" stop-color="#FFA800"></stop></linearGradient></defs><path fill="url(#IconifyId1813088fe1fbc01fb466)" d="M255.153 37.938L134.897 252.976c-2.483 4.44-8.862 4.466-11.382.048L.875 37.958c-2.746-4.814 1.371-10.646 6.827-9.67l120.385 21.517a6.537 6.537 0 0 0 2.322-.004l117.867-21.483c5.438-.991 9.574 4.796 6.877 9.62Z"></path><path fill="url(#IconifyId1813088fe1fbc01fb467)" d="M185.432.063L96.44 17.501a3.268 3.268 0 0 0-2.634 3.014l-5.474 92.456a3.268 3.268 0 0 0 3.997 3.378l24.777-5.718c2.318-.535 4.413 1.507 3.936 3.838l-7.361 36.047c-.495 2.426 1.782 4.5 4.151 3.78l15.304-4.649c2.372-.72 4.652 1.36 4.15 3.788l-11.698 56.621c-.732 3.542 3.979 5.473 5.943 2.437l1.313-2.028l72.516-144.72c1.215-2.423-.88-5.186-3.54-4.672l-25.505 4.922c-2.396.462-4.435-1.77-3.759-4.114l16.646-57.705c.677-2.35-1.37-4.583-3.769-4.113Z"></path></svg>
|
||||
|
After Width: | Height: | Size: 1.5 KiB |
@@ -8,6 +8,9 @@ const app = express();
|
||||
app.use(morgan('dev'));
|
||||
app.use(express.json());
|
||||
app.use(express.static(config.staticDir));
|
||||
app.get('/spectate', (req, res) => {
|
||||
res.sendFile(path.join(config.staticDir, 'index.html'));
|
||||
});
|
||||
|
||||
const httpServer = http.createServer(app);
|
||||
|
||||
|
||||
@@ -1,8 +1,37 @@
|
||||
const sinks = new Set();
|
||||
|
||||
function notifySinks(level, label, args) {
|
||||
if (!sinks.size) return;
|
||||
const entry = {
|
||||
level,
|
||||
label: label || null,
|
||||
args,
|
||||
message: args.map((value) => {
|
||||
if (typeof value === 'string') return value;
|
||||
try {
|
||||
return JSON.stringify(value);
|
||||
} catch (err) {
|
||||
return String(value);
|
||||
}
|
||||
}).join(' '),
|
||||
timestamp: new Date().toISOString(),
|
||||
};
|
||||
sinks.forEach((sink) => {
|
||||
try {
|
||||
sink(entry);
|
||||
} catch (err) {
|
||||
// avoid recursive logging
|
||||
console.error(entry.timestamp, '[ERROR]', '[logger]', 'Log sink failed', err);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function stamp(level, label, args) {
|
||||
const fields = [new Date().toISOString(), `[${level}]`];
|
||||
if (label) {
|
||||
fields.push(`[${label}]`);
|
||||
}
|
||||
notifySinks(level, label, args);
|
||||
return [...fields, ...args];
|
||||
}
|
||||
|
||||
@@ -14,7 +43,14 @@ function baseLogger(label) {
|
||||
};
|
||||
}
|
||||
|
||||
function registerSink(fn) {
|
||||
if (typeof fn !== 'function') return () => {};
|
||||
sinks.add(fn);
|
||||
return () => sinks.delete(fn);
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
...baseLogger(),
|
||||
child: (label) => baseLogger(label),
|
||||
registerSink,
|
||||
};
|
||||
|
||||
@@ -15,6 +15,7 @@ function sendAlert({ color, title, message, ts = Date.now() }) {
|
||||
ts,
|
||||
};
|
||||
io.emit('alert', payload);
|
||||
io.emit('alert:new', { id: `${ts}-${Math.random().toString(36).slice(2)}`, ...payload });
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
const EventEmitter = require('events');
|
||||
const io = require('../globals/io');
|
||||
const logger = require('../globals/logger').child('assignment');
|
||||
const { MODES, getMode, modeEvents } = require('./modeManager');
|
||||
@@ -7,6 +8,7 @@ const roverManager = require('./roverManager');
|
||||
const socketRefs = new Map(); // socketId -> socket
|
||||
const assignments = new Map(); // socketId -> roverId
|
||||
const waiting = new Set(); // socketIds waiting for placement
|
||||
const assignmentEvents = new EventEmitter();
|
||||
|
||||
io.on('connection', (socket) => {
|
||||
socketRefs.set(socket.id, socket);
|
||||
@@ -64,6 +66,7 @@ function assignSocket(socket) {
|
||||
if (!target) {
|
||||
waiting.add(socket.id);
|
||||
logger.info('No rover available, user waiting', socket.id);
|
||||
assignmentEvents.emit('update', socket.id);
|
||||
return;
|
||||
}
|
||||
try {
|
||||
@@ -71,9 +74,11 @@ function assignSocket(socket) {
|
||||
assignments.set(socket.id, target.id);
|
||||
waiting.delete(socket.id);
|
||||
logger.info('Assigned user to rover', socket.id, target.id);
|
||||
assignmentEvents.emit('update', socket.id);
|
||||
} catch (err) {
|
||||
logger.warn('Failed to assign user', err.message);
|
||||
waiting.add(socket.id);
|
||||
assignmentEvents.emit('update', socket.id);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -84,6 +89,8 @@ function unassignSocket(socket) {
|
||||
if (roverId) {
|
||||
roverManager.releaseControl(roverId, socket);
|
||||
assignments.delete(socket.id);
|
||||
logger.info('Unassigned socket from rover', socket.id, roverId);
|
||||
assignmentEvents.emit('update', socket.id);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -98,6 +105,7 @@ function reassignFromRover(roverId) {
|
||||
roverManager.releaseControl(rid, socket);
|
||||
assignments.delete(socketId);
|
||||
assignSocket(socket);
|
||||
assignmentEvents.emit('update', socketId);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -109,6 +117,7 @@ function reassignWaiting() {
|
||||
} else {
|
||||
waiting.delete(socketId);
|
||||
}
|
||||
assignmentEvents.emit('update', socketId);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -116,6 +125,8 @@ function releaseAssignment(socket, roverId) {
|
||||
roverManager.releaseControl(roverId, socket);
|
||||
assignments.delete(socket.id);
|
||||
waiting.add(socket.id);
|
||||
logger.info('Released assignment back to queue', socket.id, roverId);
|
||||
assignmentEvents.emit('update', socket.id);
|
||||
}
|
||||
|
||||
function pickRover() {
|
||||
@@ -133,3 +144,21 @@ function pickRover() {
|
||||
candidates.sort((a, b) => a.drivers.size - b.drivers.size);
|
||||
return candidates[0];
|
||||
}
|
||||
|
||||
function describeAssignment(socketId) {
|
||||
const assignedRoverId = assignments.get(socketId) || null;
|
||||
const adminRoverId = assignedRoverId ? null : roverManager.getPrimaryRoverForSocket(socketId);
|
||||
const waitingIndex = waiting.has(socketId) ? Array.from(waiting).indexOf(socketId) : -1;
|
||||
const roverId = assignedRoverId || adminRoverId || null;
|
||||
const waitingStatus = waiting.has(socketId);
|
||||
return {
|
||||
roverId,
|
||||
status: assignedRoverId ? 'assigned' : adminRoverId ? 'admin' : waitingStatus ? 'waiting' : null,
|
||||
queuePosition: waitingIndex >= 0 ? waitingIndex + 1 : null,
|
||||
};
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
assignmentEvents,
|
||||
describeAssignment,
|
||||
};
|
||||
|
||||
@@ -36,6 +36,7 @@ io.on('connection', (socket) => {
|
||||
const requestedRole = socket.handshake?.query?.role;
|
||||
const initialRole = requestedRole === 'spectator' ? 'spectator' : 'user';
|
||||
setRole(socket, initialRole);
|
||||
logger.info('Socket connected with role', socket.id, initialRole);
|
||||
socket.emit('auth:role', { role: initialRole });
|
||||
socket.on('auth:login', async ({ username, password }, cb = () => {}) => {
|
||||
try {
|
||||
@@ -45,18 +46,27 @@ io.on('connection', (socket) => {
|
||||
setRole(socket, role);
|
||||
socket.emit('auth:role', { role });
|
||||
clearLockdownTimer(socket);
|
||||
logger.info('Login success', socket.id, role);
|
||||
cb({ success: true, role: socket.data.role });
|
||||
} catch (err) {
|
||||
logger.warn('Login failed', socket.id, err.message);
|
||||
cb({ success: false, error: err.message });
|
||||
}
|
||||
});
|
||||
|
||||
socket.on('role:set', ({ role }) => {
|
||||
function handleRoleChange({ role } = {}, cb = () => {}) {
|
||||
if (role === 'spectator' || role === 'user') {
|
||||
setRole(socket, role);
|
||||
socket.emit('auth:role', { role });
|
||||
logger.info('Role changed via client request', socket.id, role);
|
||||
cb({ success: true, role });
|
||||
} else {
|
||||
cb({ error: 'Invalid role' });
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
socket.on('role:set', handleRoleChange);
|
||||
socket.on('session:setRole', handleRoleChange);
|
||||
});
|
||||
|
||||
module.exports = {
|
||||
|
||||
@@ -1,6 +1,7 @@
|
||||
const { v4: uuidv4 } = require('uuid');
|
||||
const io = require('../globals/io');
|
||||
const roverManager = require('./roverManager');
|
||||
const logger = require('../globals/logger').child('commandService');
|
||||
|
||||
const pendingCommands = new Map(); // id -> { roverId }
|
||||
|
||||
@@ -13,6 +14,7 @@ function issueCommand(roverId, payload) {
|
||||
const message = { ...payload, id };
|
||||
record.ws.send(JSON.stringify(message));
|
||||
pendingCommands.set(id, { roverId, ts: Date.now(), type: payload.type });
|
||||
logger.info('Issued command', roverId, payload.type, id);
|
||||
return id;
|
||||
}
|
||||
|
||||
@@ -20,6 +22,7 @@ function handleAck(msg) {
|
||||
const pending = pendingCommands.get(msg.id);
|
||||
if (!pending) return;
|
||||
pendingCommands.delete(msg.id);
|
||||
logger.info('Command acknowledged', pending.roverId, pending.type, msg.status);
|
||||
io.emit('commandAck', {
|
||||
roverId: pending.roverId,
|
||||
id: msg.id,
|
||||
@@ -34,7 +37,8 @@ module.exports = {
|
||||
};
|
||||
|
||||
io.on('connection', (socket) => {
|
||||
socket.on('command', ({ roverId, type, data } = {}, cb = () => {}) => {
|
||||
function handleCommand({ roverId, type, data } = {}, cb) {
|
||||
const reply = typeof cb === 'function' ? cb : () => {};
|
||||
try {
|
||||
if (!roverId) {
|
||||
throw new Error('roverId required');
|
||||
@@ -44,9 +48,14 @@ io.on('connection', (socket) => {
|
||||
}
|
||||
const payload = data ? { ...data } : {};
|
||||
const id = issueCommand(roverId, { type, ...payload });
|
||||
cb({ id });
|
||||
logger.info('Queued command', socket.id, roverId, type);
|
||||
reply({ id });
|
||||
} catch (err) {
|
||||
cb({ error: err.message });
|
||||
logger.warn('Command rejected', socket.id, err.message);
|
||||
reply({ error: err.message });
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
socket.on('command', handleCommand);
|
||||
socket.on('command:issue', handleCommand);
|
||||
});
|
||||
|
||||
@@ -0,0 +1,40 @@
|
||||
const { v4: uuidv4 } = require('uuid');
|
||||
const io = require('../globals/io');
|
||||
const loggerRoot = require('../globals/logger');
|
||||
const logger = loggerRoot.child('logStream');
|
||||
|
||||
const MAX_HISTORY = 200;
|
||||
const history = [];
|
||||
|
||||
function pushEntry(entry) {
|
||||
history.push(entry);
|
||||
if (history.length > MAX_HISTORY) {
|
||||
history.shift();
|
||||
}
|
||||
}
|
||||
|
||||
function broadcast(entry) {
|
||||
io.emit('log:entry', entry);
|
||||
}
|
||||
|
||||
function hydrateSocket(socket) {
|
||||
if (!socket) return;
|
||||
socket.emit('log:init', history);
|
||||
}
|
||||
|
||||
loggerRoot.registerSink(({ level, label, message, timestamp }) => {
|
||||
const entry = {
|
||||
id: uuidv4(),
|
||||
level,
|
||||
label,
|
||||
message,
|
||||
timestamp,
|
||||
};
|
||||
pushEntry(entry);
|
||||
broadcast(entry);
|
||||
});
|
||||
|
||||
io.on('connection', (socket) => {
|
||||
logger.info('Hydrating log history for', socket.id);
|
||||
hydrateSocket(socket);
|
||||
});
|
||||
@@ -0,0 +1 @@
|
||||
const io = require('../globals/io');
|
||||
@@ -115,6 +115,7 @@ function removeSocket(socket) {
|
||||
record.drivers.delete(socket.id);
|
||||
}
|
||||
turnService.driverRemoved(roverId, socket.id);
|
||||
managerEvents.emit('driver', { socketId: socket.id, roverId, action: 'remove' });
|
||||
}
|
||||
socketToRovers.delete(socket.id);
|
||||
disableSpectator(socket);
|
||||
@@ -147,6 +148,7 @@ function requestControl(roverId, socket, options = {}) {
|
||||
socket.join(record.room);
|
||||
turnService.driverAdded(roverId, socket.id, force && isAdmin(socket));
|
||||
socket.emit('controlGranted', { roverId });
|
||||
managerEvents.emit('driver', { socketId: socket.id, roverId, action: 'add' });
|
||||
sendAlert({
|
||||
color: COLORS.success,
|
||||
title: 'Control Granted',
|
||||
@@ -168,6 +170,7 @@ function releaseControl(roverId, socket) {
|
||||
}
|
||||
socket.leave(record.room);
|
||||
turnService.driverRemoved(roverId, socket.id);
|
||||
managerEvents.emit('driver', { socketId: socket.id, roverId, action: 'remove' });
|
||||
}
|
||||
|
||||
function isDriver(roverId, socket) {
|
||||
@@ -180,6 +183,24 @@ function canDrive(roverId, socket) {
|
||||
return turnService.canDrive(roverId, socket) || isAdmin(socket);
|
||||
}
|
||||
|
||||
function getRoversForSocket(socketId) {
|
||||
const joined = socketToRovers.get(socketId);
|
||||
if (!joined || joined.size === 0) {
|
||||
return [];
|
||||
}
|
||||
return Array.from(joined);
|
||||
}
|
||||
|
||||
function getPrimaryRoverForSocket(socketId) {
|
||||
const joined = socketToRovers.get(socketId);
|
||||
if (!joined || joined.size === 0) {
|
||||
return null;
|
||||
}
|
||||
const iterator = joined.values();
|
||||
const first = iterator.next();
|
||||
return first.done ? null : first.value;
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
upsertRover,
|
||||
removeRover,
|
||||
@@ -196,6 +217,8 @@ module.exports = {
|
||||
disableSpectator,
|
||||
rovers,
|
||||
managerEvents,
|
||||
getRoversForSocket,
|
||||
getPrimaryRoverForSocket,
|
||||
};
|
||||
|
||||
roleEvents.on('change', ({ socket, role }) => {
|
||||
@@ -212,43 +235,72 @@ io.on('connection', (socket) => {
|
||||
enableSpectator(socket);
|
||||
}
|
||||
|
||||
socket.on('requestControl', ({ roverId, force } = {}) => {
|
||||
function handleRequestControl({ roverId, force } = {}, cb = () => {}) {
|
||||
try {
|
||||
const targetId = roverId || Array.from(rovers.keys())[0];
|
||||
if (!targetId) {
|
||||
throw new Error('No rovers available');
|
||||
}
|
||||
logger.info('Request control', socket.id, targetId, { force });
|
||||
requestControl(targetId, socket, { force: Boolean(force) });
|
||||
socket.emit('controlGranted', { roverId: targetId });
|
||||
cb({ success: true, roverId: targetId });
|
||||
} catch (err) {
|
||||
logger.warn('Request control failed', socket.id, err.message);
|
||||
sendAlert({ color: COLORS.warn, title: 'Control denied', message: err.message });
|
||||
cb({ error: err.message });
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
socket.on('releaseControl', ({ roverId }) => {
|
||||
if (!roverId) return;
|
||||
releaseControl(roverId, socket);
|
||||
});
|
||||
|
||||
socket.on('lockRover', ({ roverId, locked }) => {
|
||||
if (!isAdmin(socket)) return;
|
||||
try {
|
||||
lockRover(roverId, locked);
|
||||
} catch (err) {
|
||||
sendAlert({ color: COLORS.error, title: 'Lock failed', message: err.message });
|
||||
}
|
||||
});
|
||||
|
||||
socket.on('subscribeAll', () => {
|
||||
if (socket.data?.role !== 'spectator') {
|
||||
function handleReleaseControl({ roverId } = {}, cb = () => {}) {
|
||||
if (!roverId) {
|
||||
cb({ error: 'roverId required' });
|
||||
return;
|
||||
}
|
||||
logger.info('Release control', socket.id, roverId);
|
||||
releaseControl(roverId, socket);
|
||||
cb({ success: true, roverId });
|
||||
}
|
||||
|
||||
function handleLockToggle({ roverId, locked } = {}, cb = () => {}) {
|
||||
if (!isAdmin(socket)) {
|
||||
cb({ error: 'Not authorized' });
|
||||
return;
|
||||
}
|
||||
try {
|
||||
lockRover(roverId, locked);
|
||||
logger.info('Lock state changed', roverId, locked);
|
||||
cb({ success: true });
|
||||
} catch (err) {
|
||||
logger.warn('Lock change failed', roverId, err.message);
|
||||
sendAlert({ color: COLORS.error, title: 'Lock failed', message: err.message });
|
||||
cb({ error: err.message });
|
||||
}
|
||||
}
|
||||
|
||||
function handleSubscribeAll(_, cb = () => {}) {
|
||||
if (socket.data?.role !== 'spectator') {
|
||||
cb({ error: 'Spectator role required' });
|
||||
return;
|
||||
}
|
||||
logger.info('Spectator subscribing to all rovers', socket.id);
|
||||
for (const record of rovers.values()) {
|
||||
socket.join(record.room);
|
||||
}
|
||||
});
|
||||
cb({ success: true });
|
||||
}
|
||||
|
||||
socket.on('requestControl', handleRequestControl);
|
||||
socket.on('session:requestControl', handleRequestControl);
|
||||
socket.on('releaseControl', handleReleaseControl);
|
||||
socket.on('session:releaseControl', handleReleaseControl);
|
||||
socket.on('lockRover', handleLockToggle);
|
||||
socket.on('session:lockRover', handleLockToggle);
|
||||
socket.on('subscribeAll', handleSubscribeAll);
|
||||
socket.on('session:subscribeAll', handleSubscribeAll);
|
||||
|
||||
socket.on('disconnect', () => {
|
||||
logger.info('Socket disconnected', socket.id);
|
||||
removeSocket(socket);
|
||||
});
|
||||
});
|
||||
|
||||
@@ -0,0 +1,85 @@
|
||||
const io = require('../globals/io');
|
||||
const logger = require('../globals/logger').child('sessionService');
|
||||
const { getRole, roleEvents } = require('./roleService');
|
||||
const { getMode, modeEvents } = require('./modeManager');
|
||||
const roverManager = require('./roverManager');
|
||||
const { managerEvents } = roverManager;
|
||||
const assignmentService = require('./assignmentService');
|
||||
const { getActiveDrivers, turnEvents } = require('./turnService');
|
||||
|
||||
function buildSession(socket) {
|
||||
return {
|
||||
socketId: socket?.id || null,
|
||||
role: getRole(socket),
|
||||
mode: getMode(),
|
||||
roster: roverManager.getRoster(),
|
||||
assignment: assignmentService.describeAssignment(socket?.id || ''),
|
||||
activeDrivers: getActiveDrivers(),
|
||||
};
|
||||
}
|
||||
|
||||
function syncSocket(socket) {
|
||||
if (!socket) return;
|
||||
const payload = buildSession(socket);
|
||||
logger.info('Syncing session', socket.id, payload.role, payload.assignment);
|
||||
socket.emit('session:sync', payload);
|
||||
}
|
||||
|
||||
function syncAll() {
|
||||
logger.info('Broadcasting session sync to all sockets');
|
||||
io.sockets.sockets.forEach((socket) => syncSocket(socket));
|
||||
}
|
||||
|
||||
io.on('connection', (socket) => {
|
||||
logger.info('New socket connected', socket.id);
|
||||
syncSocket(socket);
|
||||
});
|
||||
|
||||
roleEvents.on('change', ({ socket }) => {
|
||||
if (!socket) return;
|
||||
logger.info('Role changed; syncing session', socket.id);
|
||||
syncSocket(socket);
|
||||
});
|
||||
|
||||
assignmentService.assignmentEvents.on('update', (socketId) => {
|
||||
const socket = io.sockets.sockets.get(socketId);
|
||||
if (socket) {
|
||||
logger.info('Assignment update; syncing session', socketId);
|
||||
syncSocket(socket);
|
||||
}
|
||||
});
|
||||
|
||||
modeEvents.on('change', () => {
|
||||
logger.info('Mode change detected; syncing all clients');
|
||||
syncAll();
|
||||
});
|
||||
|
||||
managerEvents.on('rover', () => {
|
||||
logger.info('Rover roster change; syncing all clients');
|
||||
syncAll();
|
||||
});
|
||||
|
||||
managerEvents.on('lock', ({ roverId, locked }) => {
|
||||
logger.info('Rover lock change', roverId, locked);
|
||||
syncAll();
|
||||
});
|
||||
|
||||
managerEvents.on('driver', ({ socketId }) => {
|
||||
if (!socketId) return;
|
||||
const socket = io.sockets.sockets.get(socketId);
|
||||
if (socket) {
|
||||
logger.info('Driver assignment change; syncing session', socketId);
|
||||
syncSocket(socket);
|
||||
}
|
||||
});
|
||||
|
||||
turnEvents.on('activeDriver', () => {
|
||||
logger.info('Active driver change; syncing all clients');
|
||||
syncAll();
|
||||
});
|
||||
|
||||
module.exports = {
|
||||
buildSession,
|
||||
syncSocket,
|
||||
syncAll,
|
||||
};
|
||||
@@ -1,3 +1,4 @@
|
||||
const EventEmitter = require('events');
|
||||
const io = require('../globals/io');
|
||||
const { sendAlert, COLORS } = require('./alertService');
|
||||
const { MODES, getMode, modeEvents } = require('./modeManager');
|
||||
@@ -5,6 +6,7 @@ const { MODES, getMode, modeEvents } = require('./modeManager');
|
||||
const driverQueues = new Map(); // roverId -> { queue: [], current: socketId, timer: Timeout | null }
|
||||
const activeDrivers = new Map();
|
||||
const TURN_DURATION_MS = 60 * 1000;
|
||||
const turnEvents = new EventEmitter();
|
||||
|
||||
function driverAdded(roverId, socketId, force) {
|
||||
const queue = ensureQueue(roverId);
|
||||
@@ -104,7 +106,15 @@ function setActiveDriver(roverId, socketId) {
|
||||
} else {
|
||||
activeDrivers.set(roverId, socketId);
|
||||
}
|
||||
io.emit('activeDriver', { roverId, socketId });
|
||||
turnEvents.emit('activeDriver', { roverId, socketId });
|
||||
}
|
||||
|
||||
function getActiveDrivers() {
|
||||
const map = {};
|
||||
activeDrivers.forEach((socketId, roverId) => {
|
||||
map[roverId] = socketId;
|
||||
});
|
||||
return map;
|
||||
}
|
||||
|
||||
function stopRover(roverId) {
|
||||
@@ -126,4 +136,6 @@ module.exports = {
|
||||
driverRemoved,
|
||||
cleanupRover,
|
||||
canDrive,
|
||||
getActiveDrivers,
|
||||
turnEvents,
|
||||
};
|
||||
|
||||
@@ -0,0 +1,67 @@
|
||||
# general idea:
|
||||
- very compact UI
|
||||
- utilitarian
|
||||
- function before pretty
|
||||
- tiny text, too.
|
||||
- no large margins or padding. very little wasted space
|
||||
- up to 1 tailwind unit unless otherwise needed
|
||||
- black background, gray cards, white or gray text
|
||||
- tailwind
|
||||
- no title or bar at the top, vertical screen space is precious on all layouts
|
||||
- alerts should be moved to a tiny toast popup that will show at the top center of the screen
|
||||
|
||||
# three different layouts for the driver page
|
||||
- desktop
|
||||
- rover video central, no title or anything above it
|
||||
- overlayed on rover video (HUD like in a video game)
|
||||
- build the HUD into the video tile
|
||||
- because everywhere the video is, the HUD should be too
|
||||
- shows a dot that blinks on each sensor frame
|
||||
- shows wheel drops and bumpers
|
||||
- shows a big "loud" warning overlay during an overcurrent
|
||||
- simple, easy to understand battery bar UNDERNEATH the video:
|
||||
- takes in battery full, warn, and urgent values
|
||||
- treat full as 100% and warn as 0%
|
||||
- make the bar flash red when its 0% or lower
|
||||
- on left side of rover video:
|
||||
- sensor data, visualized.
|
||||
- battery charge out of capacity (1763/2068)
|
||||
- charging status
|
||||
- OI mode
|
||||
- battery voltage (in volts not mv)
|
||||
- battery current
|
||||
- a teeny show of the raw data (because we get it on the client and it looks cool)
|
||||
- on right side of rover video
|
||||
- a simple, easy control panel with the following actions:
|
||||
- a button that runs the start OI, dock, then full commands (in that order)
|
||||
- also contains a little status of whether or not the rover is in "driving mode" (OI in full mode)
|
||||
- a button that tells the rover to seek dock
|
||||
- explains that you should be straight in front of, and about a foot from the dock for a successful attempt
|
||||
- contains two status indicators:
|
||||
- docked / not docked (homebase true)
|
||||
- charging / not charging (when chargingstate isn't "not charging" the rover is charging)
|
||||
- below the upper control and video row
|
||||
- center:
|
||||
- a place for the room camera (not implemented yet)
|
||||
- left:
|
||||
- admin login and controls
|
||||
- right:
|
||||
- logs
|
||||
- mobile in portrait mode
|
||||
- rover video at the top, with HUD
|
||||
- just below:
|
||||
- joystick with buttons for aux. motor controls
|
||||
- have a button to run all aux motors forward at max speed
|
||||
- also have buttons to run motors forward / backward individually
|
||||
- probably use some premade react joystick
|
||||
- scroll down more to see:
|
||||
- the same simple mode control buttons from the desktop layout
|
||||
- also needs to have the admin login and controls
|
||||
- needs to have all the functionality as the desktop page
|
||||
- mobile in landscape mode
|
||||
- made for videogame-like control of the rover
|
||||
- control buttons and aux motors on the left
|
||||
- rover video in the middle
|
||||
- joystick on the right
|
||||
- again, scroll down to see more
|
||||
- also has to do everything
|
||||
@@ -0,0 +1,24 @@
|
||||
# Logs
|
||||
logs
|
||||
*.log
|
||||
npm-debug.log*
|
||||
yarn-debug.log*
|
||||
yarn-error.log*
|
||||
pnpm-debug.log*
|
||||
lerna-debug.log*
|
||||
|
||||
node_modules
|
||||
dist
|
||||
dist-ssr
|
||||
*.local
|
||||
|
||||
# Editor directories and files
|
||||
.vscode/*
|
||||
!.vscode/extensions.json
|
||||
.idea
|
||||
.DS_Store
|
||||
*.suo
|
||||
*.ntvs*
|
||||
*.njsproj
|
||||
*.sln
|
||||
*.sw?
|
||||
@@ -0,0 +1,16 @@
|
||||
# React + Vite
|
||||
|
||||
This template provides a minimal setup to get React working in Vite with HMR and some ESLint rules.
|
||||
|
||||
Currently, two official plugins are available:
|
||||
|
||||
- [@vitejs/plugin-react](https://github.com/vitejs/vite-plugin-react/blob/main/packages/plugin-react) uses [Babel](https://babeljs.io/) (or [oxc](https://oxc.rs) when used in [rolldown-vite](https://vite.dev/guide/rolldown)) for Fast Refresh
|
||||
- [@vitejs/plugin-react-swc](https://github.com/vitejs/vite-plugin-react/blob/main/packages/plugin-react-swc) uses [SWC](https://swc.rs/) for Fast Refresh
|
||||
|
||||
## React Compiler
|
||||
|
||||
The React Compiler is not enabled on this template because of its impact on dev & build performances. To add it, see [this documentation](https://react.dev/learn/react-compiler/installation).
|
||||
|
||||
## Expanding the ESLint configuration
|
||||
|
||||
If you are developing a production application, we recommend using TypeScript with type-aware lint rules enabled. Check out the [TS template](https://github.com/vitejs/vite/tree/main/packages/create-vite/template-react-ts) for information on how to integrate TypeScript and [`typescript-eslint`](https://typescript-eslint.io) in your project.
|
||||
@@ -0,0 +1,29 @@
|
||||
import js from '@eslint/js'
|
||||
import globals from 'globals'
|
||||
import reactHooks from 'eslint-plugin-react-hooks'
|
||||
import reactRefresh from 'eslint-plugin-react-refresh'
|
||||
import { defineConfig, globalIgnores } from 'eslint/config'
|
||||
|
||||
export default defineConfig([
|
||||
globalIgnores(['dist']),
|
||||
{
|
||||
files: ['**/*.{js,jsx}'],
|
||||
extends: [
|
||||
js.configs.recommended,
|
||||
reactHooks.configs.flat.recommended,
|
||||
reactRefresh.configs.vite,
|
||||
],
|
||||
languageOptions: {
|
||||
ecmaVersion: 2020,
|
||||
globals: globals.browser,
|
||||
parserOptions: {
|
||||
ecmaVersion: 'latest',
|
||||
ecmaFeatures: { jsx: true },
|
||||
sourceType: 'module',
|
||||
},
|
||||
},
|
||||
rules: {
|
||||
'no-unused-vars': ['error', { varsIgnorePattern: '^[A-Z_]' }],
|
||||
},
|
||||
},
|
||||
])
|
||||
@@ -0,0 +1,13 @@
|
||||
<!doctype html>
|
||||
<html lang="en">
|
||||
<head>
|
||||
<meta charset="UTF-8" />
|
||||
<link rel="icon" type="image/svg+xml" href="/vite.svg" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
|
||||
<title>webui</title>
|
||||
</head>
|
||||
<body>
|
||||
<div id="root"></div>
|
||||
<script type="module" src="/src/main.jsx"></script>
|
||||
</body>
|
||||
</html>
|
||||
Generated
+4242
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,32 @@
|
||||
{
|
||||
"name": "webui",
|
||||
"private": true,
|
||||
"version": "0.0.0",
|
||||
"type": "module",
|
||||
"scripts": {
|
||||
"dev": "vite",
|
||||
"build": "vite build",
|
||||
"lint": "eslint .",
|
||||
"preview": "vite preview"
|
||||
},
|
||||
"dependencies": {
|
||||
"react": "^19.2.0",
|
||||
"react-dom": "^19.2.0",
|
||||
"react-joystick-component": "^6.2.1",
|
||||
"react-router-dom": "^7.9.6"
|
||||
},
|
||||
"devDependencies": {
|
||||
"@eslint/js": "^9.39.1",
|
||||
"@types/react": "^19.2.2",
|
||||
"@types/react-dom": "^19.2.2",
|
||||
"@vitejs/plugin-react": "^5.1.0",
|
||||
"autoprefixer": "^10.4.22",
|
||||
"eslint": "^9.39.1",
|
||||
"eslint-plugin-react-hooks": "^7.0.1",
|
||||
"eslint-plugin-react-refresh": "^0.4.24",
|
||||
"globals": "^16.5.0",
|
||||
"postcss": "^8.5.6",
|
||||
"tailwindcss": "^3.4.14",
|
||||
"vite": "^7.2.2"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,6 @@
|
||||
export default {
|
||||
plugins: {
|
||||
tailwindcss: {},
|
||||
autoprefixer: {},
|
||||
},
|
||||
}
|
||||
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" class="iconify iconify--logos" width="31.88" height="32" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 257"><defs><linearGradient id="IconifyId1813088fe1fbc01fb466" x1="-.828%" x2="57.636%" y1="7.652%" y2="78.411%"><stop offset="0%" stop-color="#41D1FF"></stop><stop offset="100%" stop-color="#BD34FE"></stop></linearGradient><linearGradient id="IconifyId1813088fe1fbc01fb467" x1="43.376%" x2="50.316%" y1="2.242%" y2="89.03%"><stop offset="0%" stop-color="#FFEA83"></stop><stop offset="8.333%" stop-color="#FFDD35"></stop><stop offset="100%" stop-color="#FFA800"></stop></linearGradient></defs><path fill="url(#IconifyId1813088fe1fbc01fb466)" d="M255.153 37.938L134.897 252.976c-2.483 4.44-8.862 4.466-11.382.048L.875 37.958c-2.746-4.814 1.371-10.646 6.827-9.67l120.385 21.517a6.537 6.537 0 0 0 2.322-.004l117.867-21.483c5.438-.991 9.574 4.796 6.877 9.62Z"></path><path fill="url(#IconifyId1813088fe1fbc01fb467)" d="M185.432.063L96.44 17.501a3.268 3.268 0 0 0-2.634 3.014l-5.474 92.456a3.268 3.268 0 0 0 3.997 3.378l24.777-5.718c2.318-.535 4.413 1.507 3.936 3.838l-7.361 36.047c-.495 2.426 1.782 4.5 4.151 3.78l15.304-4.649c2.372-.72 4.652 1.36 4.15 3.788l-11.698 56.621c-.732 3.542 3.979 5.473 5.943 2.437l1.313-2.028l72.516-144.72c1.215-2.423-.88-5.186-3.54-4.672l-25.505 4.922c-2.396.462-4.435-1.77-3.759-4.114l16.646-57.705c.677-2.35-1.37-4.583-3.769-4.113Z"></path></svg>
|
||||
|
After Width: | Height: | Size: 1.5 KiB |
@@ -0,0 +1,42 @@
|
||||
#root {
|
||||
max-width: 1280px;
|
||||
margin: 0 auto;
|
||||
padding: 2rem;
|
||||
text-align: center;
|
||||
}
|
||||
|
||||
.logo {
|
||||
height: 6em;
|
||||
padding: 1.5em;
|
||||
will-change: filter;
|
||||
transition: filter 300ms;
|
||||
}
|
||||
.logo:hover {
|
||||
filter: drop-shadow(0 0 2em #646cffaa);
|
||||
}
|
||||
.logo.react:hover {
|
||||
filter: drop-shadow(0 0 2em #61dafbaa);
|
||||
}
|
||||
|
||||
@keyframes logo-spin {
|
||||
from {
|
||||
transform: rotate(0deg);
|
||||
}
|
||||
to {
|
||||
transform: rotate(360deg);
|
||||
}
|
||||
}
|
||||
|
||||
@media (prefers-reduced-motion: no-preference) {
|
||||
a:nth-of-type(2) .logo {
|
||||
animation: logo-spin infinite 20s linear;
|
||||
}
|
||||
}
|
||||
|
||||
.card {
|
||||
padding: 2em;
|
||||
}
|
||||
|
||||
.read-the-docs {
|
||||
color: #888;
|
||||
}
|
||||
@@ -0,0 +1,125 @@
|
||||
import { useEffect, useState } from 'react';
|
||||
import TelemetryPanel from './components/TelemetryPanel.jsx';
|
||||
import DrivePanel from './components/DrivePanel.jsx';
|
||||
import AlertFeed from './components/AlertFeed.jsx';
|
||||
import AdminPanel from './components/AdminPanel.jsx';
|
||||
import MobileControls, { MobileJoystick, AuxMotorControls } from './components/MobileControls.jsx';
|
||||
import { DriveControlProvider } from './context/DriveControlContext.jsx';
|
||||
import RoomCameraPanel from './components/RoomCameraPanel.jsx';
|
||||
import LogPanel from './components/LogPanel.jsx';
|
||||
import AuthPanel from './components/AuthPanel.jsx';
|
||||
import DriverVideoPanel from './components/DriverVideoPanel.jsx';
|
||||
import RightPaneTabs from './components/RightPaneTabs.jsx';
|
||||
import ModeGateOverlay from './components/ModeGateOverlay.jsx';
|
||||
import SessionSnapshot from './components/SessionSnapshot.jsx';
|
||||
|
||||
function useLayoutMode() {
|
||||
const [mode, setMode] = useState(() => {
|
||||
if (typeof window === 'undefined') return 'desktop';
|
||||
return window.innerWidth >= 1024
|
||||
? 'desktop'
|
||||
: window.innerWidth > window.innerHeight
|
||||
? 'mobile-landscape'
|
||||
: 'mobile-portrait';
|
||||
});
|
||||
|
||||
useEffect(() => {
|
||||
function updateMode() {
|
||||
if (typeof window === 'undefined') return;
|
||||
const { innerWidth, innerHeight } = window;
|
||||
if (innerWidth >= 1024) {
|
||||
setMode('desktop');
|
||||
} else if (innerWidth > innerHeight) {
|
||||
setMode('mobile-landscape');
|
||||
} else {
|
||||
setMode('mobile-portrait');
|
||||
}
|
||||
}
|
||||
updateMode();
|
||||
window.addEventListener('resize', updateMode);
|
||||
return () => window.removeEventListener('resize', updateMode);
|
||||
}, []);
|
||||
|
||||
return mode;
|
||||
}
|
||||
|
||||
function DesktopLayout({ layout }) {
|
||||
return (
|
||||
<div className="flex flex-col gap-1">
|
||||
<section className="grid grid-cols-[minmax(0,1.8fr)_minmax(0,1fr)] gap-1">
|
||||
<DriverVideoPanel />
|
||||
<RightPaneTabs layout={layout} />
|
||||
</section>
|
||||
<section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-1">
|
||||
{/* <AdminPanel /> */}
|
||||
<LogPanel />
|
||||
<SessionSnapshot />
|
||||
</section>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function MobilePortraitLayout() {
|
||||
return (
|
||||
<div className="flex flex-col gap-1">
|
||||
<DriverVideoPanel />
|
||||
<MobileControls />
|
||||
<DrivePanel />
|
||||
<TelemetryPanel />
|
||||
<AuthPanel />
|
||||
<AdminPanel />
|
||||
<RoomCameraPanel />
|
||||
<LogPanel />
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function MobileLandscapeLayout() {
|
||||
return (
|
||||
<div className="flex flex-col gap-1">
|
||||
<section className="grid grid-cols-[minmax(0,0.7fr)_minmax(0,2.1fr)_minmax(0,0.7fr)] gap-1">
|
||||
<div className="flex flex-col gap-1">
|
||||
<AuxMotorControls />
|
||||
</div>
|
||||
<DriverVideoPanel />
|
||||
<div className="flex flex-col gap-1">
|
||||
<MobileJoystick />
|
||||
</div>
|
||||
</section>
|
||||
<RoomCameraPanel />
|
||||
<DrivePanel />
|
||||
<section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-1">
|
||||
<div className="flex flex-col gap-1">
|
||||
<AuthPanel />
|
||||
<AdminPanel />
|
||||
</div>
|
||||
<div className="flex flex-col gap-1">
|
||||
<LogPanel />
|
||||
<TelemetryPanel />
|
||||
</div>
|
||||
</section>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function App() {
|
||||
const layout = useLayoutMode();
|
||||
const renderedLayout =
|
||||
layout === 'desktop'
|
||||
? <DesktopLayout layout={layout} />
|
||||
: layout === 'mobile-landscape'
|
||||
? <MobileLandscapeLayout />
|
||||
: <MobilePortraitLayout />;
|
||||
|
||||
return (
|
||||
<div className="min-h-screen bg-black text-slate-50">
|
||||
<DriveControlProvider>
|
||||
<main className="flex w-full flex-col gap-1 px-1 py-1 text-base">{renderedLayout}</main>
|
||||
<AlertFeed />
|
||||
<ModeGateOverlay />
|
||||
</DriveControlProvider>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export default App;
|
||||
@@ -0,0 +1 @@
|
||||
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" class="iconify iconify--logos" width="35.93" height="32" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 228"><path fill="#00D8FF" d="M210.483 73.824a171.49 171.49 0 0 0-8.24-2.597c.465-1.9.893-3.777 1.273-5.621c6.238-30.281 2.16-54.676-11.769-62.708c-13.355-7.7-35.196.329-57.254 19.526a171.23 171.23 0 0 0-6.375 5.848a155.866 155.866 0 0 0-4.241-3.917C100.759 3.829 77.587-4.822 63.673 3.233C50.33 10.957 46.379 33.89 51.995 62.588a170.974 170.974 0 0 0 1.892 8.48c-3.28.932-6.445 1.924-9.474 2.98C17.309 83.498 0 98.307 0 113.668c0 15.865 18.582 31.778 46.812 41.427a145.52 145.52 0 0 0 6.921 2.165a167.467 167.467 0 0 0-2.01 9.138c-5.354 28.2-1.173 50.591 12.134 58.266c13.744 7.926 36.812-.22 59.273-19.855a145.567 145.567 0 0 0 5.342-4.923a168.064 168.064 0 0 0 6.92 6.314c21.758 18.722 43.246 26.282 56.54 18.586c13.731-7.949 18.194-32.003 12.4-61.268a145.016 145.016 0 0 0-1.535-6.842c1.62-.48 3.21-.974 4.76-1.488c29.348-9.723 48.443-25.443 48.443-41.52c0-15.417-17.868-30.326-45.517-39.844Zm-6.365 70.984c-1.4.463-2.836.91-4.3 1.345c-3.24-10.257-7.612-21.163-12.963-32.432c5.106-11 9.31-21.767 12.459-31.957c2.619.758 5.16 1.557 7.61 2.4c23.69 8.156 38.14 20.213 38.14 29.504c0 9.896-15.606 22.743-40.946 31.14Zm-10.514 20.834c2.562 12.94 2.927 24.64 1.23 33.787c-1.524 8.219-4.59 13.698-8.382 15.893c-8.067 4.67-25.32-1.4-43.927-17.412a156.726 156.726 0 0 1-6.437-5.87c7.214-7.889 14.423-17.06 21.459-27.246c12.376-1.098 24.068-2.894 34.671-5.345a134.17 134.17 0 0 1 1.386 6.193ZM87.276 214.515c-7.882 2.783-14.16 2.863-17.955.675c-8.075-4.657-11.432-22.636-6.853-46.752a156.923 156.923 0 0 1 1.869-8.499c10.486 2.32 22.093 3.988 34.498 4.994c7.084 9.967 14.501 19.128 21.976 27.15a134.668 134.668 0 0 1-4.877 4.492c-9.933 8.682-19.886 14.842-28.658 17.94ZM50.35 144.747c-12.483-4.267-22.792-9.812-29.858-15.863c-6.35-5.437-9.555-10.836-9.555-15.216c0-9.322 13.897-21.212 37.076-29.293c2.813-.98 5.757-1.905 8.812-2.773c3.204 10.42 7.406 21.315 12.477 32.332c-5.137 11.18-9.399 22.249-12.634 32.792a134.718 134.718 0 0 1-6.318-1.979Zm12.378-84.26c-4.811-24.587-1.616-43.134 6.425-47.789c8.564-4.958 27.502 2.111 47.463 19.835a144.318 144.318 0 0 1 3.841 3.545c-7.438 7.987-14.787 17.08-21.808 26.988c-12.04 1.116-23.565 2.908-34.161 5.309a160.342 160.342 0 0 1-1.76-7.887Zm110.427 27.268a347.8 347.8 0 0 0-7.785-12.803c8.168 1.033 15.994 2.404 23.343 4.08c-2.206 7.072-4.956 14.465-8.193 22.045a381.151 381.151 0 0 0-7.365-13.322Zm-45.032-43.861c5.044 5.465 10.096 11.566 15.065 18.186a322.04 322.04 0 0 0-30.257-.006c4.974-6.559 10.069-12.652 15.192-18.18ZM82.802 87.83a323.167 323.167 0 0 0-7.227 13.238c-3.184-7.553-5.909-14.98-8.134-22.152c7.304-1.634 15.093-2.97 23.209-3.984a321.524 321.524 0 0 0-7.848 12.897Zm8.081 65.352c-8.385-.936-16.291-2.203-23.593-3.793c2.26-7.3 5.045-14.885 8.298-22.6a321.187 321.187 0 0 0 7.257 13.246c2.594 4.48 5.28 8.868 8.038 13.147Zm37.542 31.03c-5.184-5.592-10.354-11.779-15.403-18.433c4.902.192 9.899.29 14.978.29c5.218 0 10.376-.117 15.453-.343c-4.985 6.774-10.018 12.97-15.028 18.486Zm52.198-57.817c3.422 7.8 6.306 15.345 8.596 22.52c-7.422 1.694-15.436 3.058-23.88 4.071a382.417 382.417 0 0 0 7.859-13.026a347.403 347.403 0 0 0 7.425-13.565Zm-16.898 8.101a358.557 358.557 0 0 1-12.281 19.815a329.4 329.4 0 0 1-23.444.823c-7.967 0-15.716-.248-23.178-.732a310.202 310.202 0 0 1-12.513-19.846h.001a307.41 307.41 0 0 1-10.923-20.627a310.278 310.278 0 0 1 10.89-20.637l-.001.001a307.318 307.318 0 0 1 12.413-19.761c7.613-.576 15.42-.876 23.31-.876H128c7.926 0 15.743.303 23.354.883a329.357 329.357 0 0 1 12.335 19.695a358.489 358.489 0 0 1 11.036 20.54a329.472 329.472 0 0 1-11 20.722Zm22.56-122.124c8.572 4.944 11.906 24.881 6.52 51.026c-.344 1.668-.73 3.367-1.15 5.09c-10.622-2.452-22.155-4.275-34.23-5.408c-7.034-10.017-14.323-19.124-21.64-27.008a160.789 160.789 0 0 1 5.888-5.4c18.9-16.447 36.564-22.941 44.612-18.3ZM128 90.808c12.625 0 22.86 10.235 22.86 22.86s-10.235 22.86-22.86 22.86s-22.86-10.235-22.86-22.86s10.235-22.86 22.86-22.86Z"></path></svg>
|
||||
|
After Width: | Height: | Size: 4.0 KiB |
@@ -0,0 +1,104 @@
|
||||
import { useMemo, useState } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
const MODES = [
|
||||
{ key: 'open', label: 'Open' },
|
||||
{ key: 'turns', label: 'Turns' },
|
||||
{ key: 'admin', label: 'Admin' },
|
||||
{ key: 'lockdown', label: 'Lockdown' },
|
||||
];
|
||||
|
||||
export default function AdminPanel() {
|
||||
const { session, lockRover, setMode, requestControl } = useSession();
|
||||
const roster = useMemo(() => session?.roster ?? [], [session?.roster]);
|
||||
const [lockStates, setLockStates] = useState({});
|
||||
|
||||
const isAdmin =
|
||||
session?.role === 'admin' ||
|
||||
session?.role === 'lockdown' ||
|
||||
session?.role === 'lockdown-admin';
|
||||
|
||||
const currentMode = session?.mode ?? 'open';
|
||||
|
||||
const handleLockToggle = async (roverId, locked) => {
|
||||
try {
|
||||
await lockRover(roverId, locked);
|
||||
setLockStates((prev) => ({ ...prev, [roverId]: locked }));
|
||||
} catch (err) {
|
||||
alert(err.message);
|
||||
}
|
||||
};
|
||||
|
||||
const handleModeChange = async (event) => {
|
||||
const mode = event.target.value;
|
||||
try {
|
||||
await setMode(mode);
|
||||
} catch (err) {
|
||||
alert(err.message);
|
||||
}
|
||||
};
|
||||
|
||||
const handleForceControl = async (roverId) => {
|
||||
try {
|
||||
await requestControl(roverId, { force: true });
|
||||
} catch (err) {
|
||||
alert(err.message);
|
||||
}
|
||||
};
|
||||
|
||||
const lockMap = useMemo(() => {
|
||||
const map = {};
|
||||
roster.forEach((rover) => {
|
||||
map[rover.id] = lockStates[rover.id] ?? rover.locked;
|
||||
});
|
||||
return map;
|
||||
}, [roster, lockStates]);
|
||||
|
||||
if (!isAdmin) return null;
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<div className="flex items-center justify-between gap-1 text-sm">
|
||||
<span>Admin controls</span>
|
||||
<select
|
||||
value={currentMode}
|
||||
onChange={handleModeChange}
|
||||
className="rounded-sm bg-black/40 px-1 py-1 text-sm text-slate-100"
|
||||
>
|
||||
{MODES.map((mode) => (
|
||||
<option key={mode.key} value={mode.key}>
|
||||
{mode.label}
|
||||
</option>
|
||||
))}
|
||||
</select>
|
||||
</div>
|
||||
|
||||
<div className="mt-1 space-y-1 text-sm">
|
||||
{roster.map((rover) => (
|
||||
<div key={rover.id} className="flex flex-wrap items-center justify-between gap-1 rounded-sm bg-black/30 px-1 py-1">
|
||||
<div>
|
||||
<p className="text-slate-100">{rover.name}</p>
|
||||
<p className="text-xs text-slate-400">{lockMap[rover.id] ? 'locked' : 'unlocked'}</p>
|
||||
</div>
|
||||
<div className="flex flex-wrap gap-1 text-xs">
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => handleLockToggle(rover.id, !lockMap[rover.id])}
|
||||
className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
|
||||
>
|
||||
{lockMap[rover.id] ? 'Unlock' : 'Lock'}
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => handleForceControl(rover.id)}
|
||||
className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
|
||||
>
|
||||
Force
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
))}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,76 @@
|
||||
import { useMemo } from 'react';
|
||||
import { useDriveControl } from '../context/DriveControlContext.jsx';
|
||||
import { useSocket } from '../context/SocketContext.jsx';
|
||||
import AuthPanel from './AuthPanel.jsx';
|
||||
import AdminPanel from './AdminPanel.jsx';
|
||||
|
||||
const manualTabs = [
|
||||
{ key: 'start', label: 'Start OI' },
|
||||
{ key: 'safe', label: 'Safe' },
|
||||
{ key: 'full', label: 'Full' },
|
||||
{ key: 'passive', label: 'Passive' },
|
||||
{ key: 'dock', label: 'Dock' },
|
||||
];
|
||||
|
||||
export default function AdvancedSettings() {
|
||||
const { roverId, sendOiCommand } = useDriveControl();
|
||||
const socket = useSocket();
|
||||
const canControl = Boolean(roverId);
|
||||
|
||||
const sensorButtons = useMemo(
|
||||
() => [
|
||||
{ key: 'start', label: 'Enable stream', enable: true },
|
||||
{ key: 'stop', label: 'Disable stream', enable: false },
|
||||
],
|
||||
[],
|
||||
);
|
||||
|
||||
const handleSensorToggle = (enable) => {
|
||||
if (!roverId) return;
|
||||
socket.emit('command', {
|
||||
roverId,
|
||||
type: 'sensorStream',
|
||||
data: { sensorStream: { enable } },
|
||||
});
|
||||
};
|
||||
|
||||
return (
|
||||
<div className="space-y-1">
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
|
||||
<p className="text-xs text-slate-400">Manual OI commands</p>
|
||||
<div className="mt-1 flex flex-wrap gap-1">
|
||||
{manualTabs.map((tab) => (
|
||||
<button
|
||||
key={tab.key}
|
||||
type="button"
|
||||
onClick={() => sendOiCommand(tab.key)}
|
||||
disabled={!canControl}
|
||||
className="rounded-sm bg-black/40 px-1 py-0.5 text-xs text-slate-200 disabled:opacity-30"
|
||||
>
|
||||
{tab.label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</section>
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
|
||||
<p className="text-xs text-slate-400">Sensor stream</p>
|
||||
<div className="mt-1 flex gap-1">
|
||||
{sensorButtons.map((btn) => (
|
||||
<button
|
||||
key={btn.key}
|
||||
type="button"
|
||||
onClick={() => handleSensorToggle(btn.enable)}
|
||||
disabled={!canControl}
|
||||
className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-xs text-slate-200 disabled:opacity-30"
|
||||
>
|
||||
{btn.label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
{!canControl && <p className="mt-1 text-xs text-slate-500">Assign a rover to toggle streams.</p>}
|
||||
</section>
|
||||
<AuthPanel />
|
||||
<AdminPanel />
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,54 @@
|
||||
import { useEffect, useMemo, useState } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
const LIFETIME_MS = 5000;
|
||||
|
||||
function buildKey(alert) {
|
||||
if (alert.id) return alert.id;
|
||||
if (alert.timestamp) return `${alert.timestamp}-${alert.message}`;
|
||||
return `${alert.title || 'alert'}-${alert.message}`;
|
||||
}
|
||||
|
||||
export default function AlertFeed() {
|
||||
const { alerts } = useSession();
|
||||
const [now, setNow] = useState(() => Date.now());
|
||||
const latest = useMemo(() => alerts.slice(-5).map((alert) => ({ alert, key: buildKey(alert) })), [alerts]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!latest.length) return undefined;
|
||||
const interval = setInterval(() => setNow(Date.now()), 200);
|
||||
return () => clearInterval(interval);
|
||||
}, [latest.length]);
|
||||
|
||||
const visible = latest
|
||||
.map((item) => ({
|
||||
...item,
|
||||
age: now - (item.alert.receivedAt ?? item.alert.timestamp ?? 0),
|
||||
}))
|
||||
.filter((item) => item.age <= LIFETIME_MS);
|
||||
|
||||
if (!visible.length) return null;
|
||||
|
||||
return (
|
||||
<div className="pointer-events-none fixed top-1 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-1">
|
||||
{visible.map((toast) => (
|
||||
<AlertToast key={toast.key} alert={toast.alert} />
|
||||
))}
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function AlertToast({ alert }) {
|
||||
const colorClasses =
|
||||
alert.color === 'error'
|
||||
? 'bg-red-500/30 text-red-100'
|
||||
: alert.color === 'warn'
|
||||
? 'bg-amber-500/30 text-amber-100'
|
||||
: 'bg-emerald-500/30 text-emerald-100';
|
||||
return (
|
||||
<div className={`pointer-events-auto rounded-sm px-1 py-1 text-[0.75rem] shadow-lg shadow-black/60 ${colorClasses}`}>
|
||||
<p className="text-[0.65rem] text-slate-300">{alert.title || 'Alert'}</p>
|
||||
<p className="text-sm text-white">{alert.message}</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,67 @@
|
||||
import { useState } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
export default function AuthPanel() {
|
||||
const { login, setRole } = useSession();
|
||||
const [username, setUsername] = useState('');
|
||||
const [password, setPassword] = useState('');
|
||||
const [loading, setLoading] = useState(false);
|
||||
|
||||
async function handleLogin(event) {
|
||||
event.preventDefault();
|
||||
setLoading(true);
|
||||
try {
|
||||
await login(username, password);
|
||||
setUsername('');
|
||||
setPassword('');
|
||||
} catch (err) {
|
||||
alert(err.message);
|
||||
} finally {
|
||||
setLoading(false);
|
||||
}
|
||||
}
|
||||
|
||||
return (
|
||||
<div className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<p className="text-sm text-slate-400">Admin login</p>
|
||||
<form className="mt-1 flex flex-col gap-1" onSubmit={handleLogin}>
|
||||
<input
|
||||
className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
|
||||
placeholder="Username"
|
||||
value={username}
|
||||
onChange={(e) => setUsername(e.target.value)}
|
||||
/>
|
||||
<input
|
||||
className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
|
||||
placeholder="Password"
|
||||
type="password"
|
||||
value={password}
|
||||
onChange={(e) => setPassword(e.target.value)}
|
||||
/>
|
||||
<button
|
||||
type="submit"
|
||||
disabled={loading}
|
||||
className="rounded-sm bg-slate-200 px-1 py-1 text-sm font-semibold text-black disabled:opacity-50"
|
||||
>
|
||||
{loading ? 'Logging in…' : 'Login'}
|
||||
</button>
|
||||
</form>
|
||||
<div className="mt-1 flex gap-1 text-sm">
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => setRole('user')}
|
||||
className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-slate-200"
|
||||
>
|
||||
Driver
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => setRole('spectator')}
|
||||
className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-slate-200"
|
||||
>
|
||||
Spectator
|
||||
</button>
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,71 @@
|
||||
import { useDriveControl } from '../context/DriveControlContext.jsx';
|
||||
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
|
||||
|
||||
export default function DrivePanel() {
|
||||
const { roverId, runStartDockFull, seekDock } = useDriveControl();
|
||||
const frame = useTelemetryFrame(roverId);
|
||||
const sensors = frame?.sensors || {};
|
||||
const drivingMode = (sensors.oiMode?.label || '').toLowerCase() === 'full';
|
||||
const docked = Boolean(sensors.chargingSources?.homeBase);
|
||||
const charging = Boolean(
|
||||
sensors.chargingState?.label && sensors.chargingState.label.toLowerCase() !== 'not charging',
|
||||
);
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<div className="flex items-center justify-between text-sm text-slate-300">
|
||||
<span>Drive control</span>
|
||||
<span>{roverId ? `Rover ${roverId}` : 'unassigned'}</span>
|
||||
</div>
|
||||
<div className="mt-1 space-y-1">
|
||||
<ActionCard
|
||||
title="Start Driving"
|
||||
description="Press to enable driving mode, then start moving. The headlamps should illuminate."
|
||||
statuses={[{ label: drivingMode ? 'Ready!' : 'Not Ready!', active: drivingMode }]}
|
||||
tone="emerald"
|
||||
onClick={runStartDockFull}
|
||||
disabled={!roverId}
|
||||
/>
|
||||
<ActionCard
|
||||
title="Dock and Charge"
|
||||
description="Line the rover up about a foot from the dock, then trigger an automatic approach."
|
||||
statuses={[
|
||||
{ label: docked ? 'Docked!' : 'Not Docked!', active: docked },
|
||||
{ label: charging ? 'Charging!' : 'Not Charging!', active: charging },
|
||||
]}
|
||||
tone="indigo"
|
||||
onClick={seekDock}
|
||||
disabled={!roverId}
|
||||
/>
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
|
||||
function ActionCard({ title, description, statuses, tone, onClick, disabled, footnote }) {
|
||||
const baseColor = tone === 'indigo' ? 'bg-indigo-600' : 'bg-emerald-600';
|
||||
return (
|
||||
<button
|
||||
type="button"
|
||||
onClick={onClick}
|
||||
disabled={disabled}
|
||||
className={`w-full rounded-lg ${baseColor} px-1 py-1 text-left text-white disabled:opacity-40`}
|
||||
>
|
||||
<p className="text-base font-semibold">{title}</p>
|
||||
<p className="text-sm text-white/90">{description}</p>
|
||||
<div className="mt-1 flex flex-wrap gap-1">
|
||||
{statuses.map((status) => (
|
||||
<span
|
||||
key={status.label}
|
||||
className={`rounded-full px-1 py-0.5 text-xs font-semibold ${
|
||||
status.active ? 'bg-lime-300 text-emerald-900' : 'bg-emerald-900 text-emerald-100'
|
||||
}`}
|
||||
>
|
||||
{status.label}
|
||||
</span>
|
||||
))}
|
||||
</div>
|
||||
{footnote && <p className="mt-1 text-xs text-emerald-50/80">{footnote}</p>}
|
||||
</button>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
|
||||
import { useVideoRequests } from '../hooks/useVideoRequests.js';
|
||||
import VideoTile from './VideoTile.jsx';
|
||||
|
||||
export default function DriverVideoPanel() {
|
||||
const { session } = useSession();
|
||||
const roverId = session?.assignment?.roverId;
|
||||
const sources = useVideoRequests(roverId ? [roverId] : []);
|
||||
const info = roverId ? sources[roverId] : null;
|
||||
const frame = useTelemetryFrame(roverId);
|
||||
const batteryRecord =
|
||||
roverId && session?.roster
|
||||
? session.roster.find((item) => String(item.id) === String(roverId))
|
||||
: null;
|
||||
const batteryConfig = batteryRecord?.battery ?? null;
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1">
|
||||
{roverId ? (
|
||||
<div className="w-full">
|
||||
<VideoTile
|
||||
sessionInfo={info}
|
||||
label={roverId}
|
||||
muted={false}
|
||||
telemetryFrame={frame}
|
||||
batteryConfig={batteryConfig}
|
||||
/>
|
||||
</div>
|
||||
) : (
|
||||
<p className="text-sm text-slate-400">Assign a rover to view the video feed.</p>
|
||||
)}
|
||||
</section>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,32 @@
|
||||
export default function HelpPanel({ layout }) {
|
||||
const presets = {
|
||||
desktop: [
|
||||
'Use WASD + Shift to drive. Video must stay focused.',
|
||||
'Macros on the left prep the rover before moving.',
|
||||
'Switch tabs on the right for telemetry, room, and advanced tools.',
|
||||
],
|
||||
'mobile-portrait': [
|
||||
'Keep joystick centered when not driving.',
|
||||
'Auxiliary buttons sit beside the joystick – use them carefully.',
|
||||
'Scroll to access drive/telemetry if screen space is limited.',
|
||||
],
|
||||
'mobile-landscape': [
|
||||
'Joystick and video are side by side for game-style control.',
|
||||
'Rotate back to portrait if you need admin controls quickly.',
|
||||
'Tabs are desktop-only; mobile shows sections stacked.',
|
||||
],
|
||||
};
|
||||
const tips = presets[layout] || presets.desktop;
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<p className="text-sm text-slate-400">Help</p>
|
||||
<ul className="mt-1 space-y-1 text-sm">
|
||||
{tips.map((tip) => (
|
||||
<li key={tip} className="rounded-sm bg-black/30 px-1 py-1 text-slate-200">
|
||||
{tip}
|
||||
</li>
|
||||
))}
|
||||
</ul>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
export default function LogPanel() {
|
||||
const { logs } = useSession();
|
||||
return (
|
||||
<div className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<div className="flex items-center justify-between text-sm text-slate-400">
|
||||
<span>Server logs</span>
|
||||
<span>{logs.length}</span>
|
||||
</div>
|
||||
<div className="mt-1 h-64 overflow-y-auto rounded-sm bg-black/40 p-1 font-mono text-xs">
|
||||
{logs.length === 0 ? (
|
||||
<p>No logs yet.</p>
|
||||
) : (
|
||||
logs
|
||||
.slice()
|
||||
.reverse()
|
||||
.map((entry) => (
|
||||
<div key={entry.id} className="mb-1">
|
||||
<span className="text-amber-400">{entry.timestamp}</span>{' '}
|
||||
<span className="text-lime-400">[{entry.level}]</span>{' '}
|
||||
{entry.label && <span className="text-teal-400">[{entry.label}]</span>}{' '}
|
||||
<span>{entry.message}</span>
|
||||
</div>
|
||||
))
|
||||
)}
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,132 @@
|
||||
import { useCallback } from 'react';
|
||||
import { Joystick } from 'react-joystick-component';
|
||||
import { useDriveControl } from '../context/DriveControlContext.jsx';
|
||||
|
||||
function clampUnit(value = 0) {
|
||||
if (typeof value !== 'number' || Number.isNaN(value)) return 0;
|
||||
return Math.max(-1, Math.min(1, value));
|
||||
}
|
||||
|
||||
function MobileJoystick() {
|
||||
const { roverId, driveWithVector, stopMotors } = useDriveControl();
|
||||
const disabled = !roverId;
|
||||
|
||||
const handleMove = useCallback(
|
||||
(event = {}) => {
|
||||
if (disabled) return;
|
||||
const x = clampUnit(event.x ?? 0);
|
||||
const y = clampUnit(event.y ?? 0);
|
||||
driveWithVector({ x, y });
|
||||
},
|
||||
[disabled, driveWithVector],
|
||||
);
|
||||
|
||||
const handleStop = useCallback(() => {
|
||||
if (disabled) return;
|
||||
driveWithVector({ x: 0, y: 0 });
|
||||
}, [disabled, driveWithVector]);
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
|
||||
<div className="text-xs text-slate-400">Joystick</div>
|
||||
<div className="mt-1 flex items-center justify-center">
|
||||
<Joystick
|
||||
size={120}
|
||||
baseColor="#0f172a"
|
||||
stickColor="#38bdf8"
|
||||
throttle={75}
|
||||
move={handleMove}
|
||||
stop={handleStop}
|
||||
disabled={disabled}
|
||||
/>
|
||||
</div>
|
||||
<p className="mt-1 text-xs text-slate-400">
|
||||
Drag to drive. Release to stop sending drive commands.
|
||||
</p>
|
||||
<button
|
||||
type="button"
|
||||
onClick={stopMotors}
|
||||
disabled={disabled}
|
||||
className="mt-1 w-full rounded-sm bg-black/40 px-1 py-1 text-xs text-slate-200 disabled:opacity-40"
|
||||
>
|
||||
Panic Stop
|
||||
</button>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
|
||||
function AuxMotorControls() {
|
||||
const { roverId, setAuxMotors } = useDriveControl();
|
||||
const disabled = !roverId;
|
||||
|
||||
const runAllForward = () => {
|
||||
if (disabled) return;
|
||||
setAuxMotors({ main: 127, side: 127, vacuum: 127 });
|
||||
};
|
||||
|
||||
const stopAll = () => {
|
||||
if (disabled) return;
|
||||
setAuxMotors({ main: 0, side: 0, vacuum: 0 });
|
||||
};
|
||||
|
||||
const auxButtons = [
|
||||
{ label: 'Main +', values: { main: 127 } },
|
||||
{ label: 'Main -', values: { main: -127 } },
|
||||
{ label: 'Side +', values: { side: 127 } },
|
||||
{ label: 'Side -', values: { side: -127 } },
|
||||
{ label: 'Vacuum Max', values: { vacuum: 127 } },
|
||||
{ label: 'Vacuum Off', values: { vacuum: 0 } },
|
||||
];
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
|
||||
<div className="text-xs text-slate-400">Aux motors</div>
|
||||
<div className="mt-1 flex flex-wrap gap-1">
|
||||
<button
|
||||
type="button"
|
||||
onClick={runAllForward}
|
||||
disabled={disabled}
|
||||
className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-xs text-slate-200 disabled:opacity-40"
|
||||
>
|
||||
All forward
|
||||
</button>
|
||||
<button
|
||||
type="button"
|
||||
onClick={stopAll}
|
||||
disabled={disabled}
|
||||
className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-xs text-slate-200 disabled:opacity-40"
|
||||
>
|
||||
Stop all
|
||||
</button>
|
||||
</div>
|
||||
<div className="mt-1 grid grid-cols-2 gap-1 text-[0.75rem]">
|
||||
{auxButtons.map((btn) => (
|
||||
<button
|
||||
key={btn.label}
|
||||
type="button"
|
||||
onClick={() => !disabled && setAuxMotors(btn.values)}
|
||||
disabled={disabled}
|
||||
className="rounded-sm bg-black/30 px-1 py-1 text-slate-200 disabled:opacity-30"
|
||||
>
|
||||
{btn.label}
|
||||
</button>
|
||||
))}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
|
||||
export default function MobileControlsStack() {
|
||||
return (
|
||||
<div className="flex flex-col gap-1 sm:flex-row">
|
||||
<div className="flex-1">
|
||||
<MobileJoystick />
|
||||
</div>
|
||||
<div className="flex-1">
|
||||
<AuxMotorControls />
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export { MobileJoystick, AuxMotorControls };
|
||||
@@ -0,0 +1,52 @@
|
||||
import AuthPanel from './AuthPanel.jsx';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
const PRIVILEGED_ROLES = new Set(['admin', 'lockdown', 'lockdown-admin']);
|
||||
const RESTRICTED_MODES = new Set(['admin', 'lockdown']);
|
||||
|
||||
function getModeDetails(mode = 'admin') {
|
||||
if (mode === 'lockdown') {
|
||||
return {
|
||||
title: 'Lockdown in effect',
|
||||
description:
|
||||
'Only the lockdown admin can remain connected right now. If you have credentials, log in below. Otherwise please stand by until the server re-opens.',
|
||||
};
|
||||
}
|
||||
return {
|
||||
title: 'Admin mode active',
|
||||
description:
|
||||
'The server is temporarily restricted to administrators. Log in below if you are authorized, or wait for admin mode to end.',
|
||||
};
|
||||
}
|
||||
|
||||
export default function ModeGateOverlay() {
|
||||
const { session } = useSession();
|
||||
const mode = session?.mode;
|
||||
const role = session?.role;
|
||||
const restricted = RESTRICTED_MODES.has(mode);
|
||||
const privileged = PRIVILEGED_ROLES.has(role);
|
||||
|
||||
if (!restricted || privileged) {
|
||||
return null;
|
||||
}
|
||||
|
||||
const details = getModeDetails(mode);
|
||||
|
||||
return (
|
||||
<div className="pointer-events-auto fixed inset-0 z-50 flex items-center justify-center bg-black/85 px-2 py-2">
|
||||
<div className="w-full max-w-md space-y-2 rounded-lg bg-[#141821] p-2 text-slate-100 shadow-2xl">
|
||||
<div className="space-y-1">
|
||||
<p className="text-lg font-semibold">{details.title}</p>
|
||||
<p className="text-sm text-slate-300">{details.description}</p>
|
||||
</div>
|
||||
<div className="rounded-md bg-black/40 p-1">
|
||||
<AuthPanel />
|
||||
</div>
|
||||
<p className="text-xs text-slate-500">
|
||||
Your controls are paused until access is granted. You will automatically regain the interface once the mode
|
||||
changes or after a successful login.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,68 @@
|
||||
import { useState } from 'react';
|
||||
import TelemetryPanel from './TelemetryPanel.jsx';
|
||||
import DrivePanel from './DrivePanel.jsx';
|
||||
import RoomCameraPanel from './RoomCameraPanel.jsx';
|
||||
import AdvancedSettings from './AdvancedSettings.jsx';
|
||||
import HelpPanel from './HelpPanel.jsx';
|
||||
|
||||
function TabButton({ active, onClick, children }) {
|
||||
return (
|
||||
<button
|
||||
type="button"
|
||||
onClick={onClick}
|
||||
className={`flex-1 rounded-sm px-1 py-1 text-xs font-semibold ${
|
||||
active ? 'bg-slate-100 text-slate-900' : 'bg-black/30 text-slate-300'
|
||||
}`}
|
||||
>
|
||||
{children}
|
||||
</button>
|
||||
);
|
||||
}
|
||||
|
||||
function RoomControlsPlaceholder() {
|
||||
return (
|
||||
<div className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
|
||||
<p className="text-xs text-slate-400">Room controls</p>
|
||||
<p className="text-sm text-slate-200">Coming soon: lighting, docks, and environmental toggles.</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
export default function RightPaneTabs({ layout }) {
|
||||
const [active, setActive] = useState('telemetry');
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#1a1d23] p-1 text-base text-slate-100">
|
||||
<div className="flex gap-1">
|
||||
<TabButton active={active === 'telemetry'} onClick={() => setActive('telemetry')}>
|
||||
Rover Controls
|
||||
</TabButton>
|
||||
<TabButton active={active === 'room'} onClick={() => setActive('room')}>
|
||||
Room Controls
|
||||
</TabButton>
|
||||
<TabButton active={active === 'advanced'} onClick={() => setActive('advanced')}>
|
||||
Advanced
|
||||
</TabButton>
|
||||
<TabButton active={active === 'help'} onClick={() => setActive('help')}>
|
||||
Help
|
||||
</TabButton>
|
||||
</div>
|
||||
<div className="mt-1 space-y-1">
|
||||
{active === 'telemetry' && (
|
||||
<div className="space-y-1">
|
||||
<DrivePanel />
|
||||
<TelemetryPanel />
|
||||
</div>
|
||||
)}
|
||||
{active === 'room' && (
|
||||
<div className="space-y-1">
|
||||
<RoomCameraPanel />
|
||||
<RoomControlsPlaceholder />
|
||||
</div>
|
||||
)}
|
||||
{active === 'advanced' && <AdvancedSettings />}
|
||||
{active === 'help' && <HelpPanel layout={layout} />}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
export default function RoomCameraPanel() {
|
||||
return (
|
||||
<div className="min-h-[8rem] rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<p className="text-center text-sm text-slate-400">Room camera</p>
|
||||
<p className="mt-1 text-center">Feed placeholder. Wire upcoming room cam here.</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,13 @@
|
||||
import { useMemo } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
export default function SessionSnapshot() {
|
||||
const { session } = useSession();
|
||||
const payload = useMemo(() => JSON.stringify(session ?? {}, null, 2), [session]);
|
||||
return (
|
||||
<div className="rounded-sm bg-[#242a32] p-1 text-xs text-slate-100">
|
||||
<p className="text-sm text-slate-400">Session snapshot</p>
|
||||
<pre className="mt-1 h-64 overflow-y-auto bg-black/40 p-1 text-[0.7rem] text-lime-300">{payload}</pre>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,145 @@
|
||||
import { useMemo, useState } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
|
||||
|
||||
function formatMetric(value, fallback = '--') {
|
||||
if (value == null || value === '') return fallback;
|
||||
return value;
|
||||
}
|
||||
|
||||
export default function TelemetryPanel() {
|
||||
const { connected, session, requestControl } = useSession();
|
||||
const roverId = session?.assignment?.roverId;
|
||||
const frame = useTelemetryFrame(roverId);
|
||||
const sensors = frame?.sensors || {};
|
||||
const voltage = sensors.voltageMv != null ? `${(sensors.voltageMv / 1000).toFixed(2)} V` : null;
|
||||
const current = sensors.currentMa != null ? `${sensors.currentMa} mA` : null;
|
||||
const charge = sensors.batteryChargeMah;
|
||||
const capacity = sensors.batteryCapacityMah;
|
||||
const updated = frame?.receivedAt ? new Date(frame.receivedAt).toLocaleTimeString() : null;
|
||||
// const rawSnippet = frame?.raw ? (frame.raw.length > 80 ? `${frame.raw.slice(0, 80)}…` : frame.raw) : null;
|
||||
const rawSnippet = frame?.raw ? frame.raw : null;
|
||||
const roster = session?.roster ?? [];
|
||||
const activeDriverId = roverId ? session?.activeDrivers?.[roverId] : null;
|
||||
const driverLabel = !roverId
|
||||
? 'n/a'
|
||||
: activeDriverId
|
||||
? activeDriverId === session?.socketId
|
||||
? 'You'
|
||||
: activeDriverId.slice(0, 6)
|
||||
: 'Available';
|
||||
const isAdmin = useMemo(
|
||||
() => session?.role === 'admin' || session?.role === 'lockdown' || session?.role === 'lockdown-admin',
|
||||
[session?.role],
|
||||
);
|
||||
const [pending, setPending] = useState({});
|
||||
|
||||
async function handleRequest(roverId) {
|
||||
if (!roverId) return;
|
||||
setPending((prev) => ({ ...prev, [roverId]: true }));
|
||||
try {
|
||||
await requestControl(roverId);
|
||||
} catch (err) {
|
||||
alert(err.message);
|
||||
} finally {
|
||||
setPending((prev) => ({ ...prev, [roverId]: false }));
|
||||
}
|
||||
}
|
||||
|
||||
return (
|
||||
<section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
|
||||
<div className="text-sm text-slate-400">
|
||||
<span>{connected ? 'online' : 'offline'}</span>
|
||||
<span> · role {session?.role || 'unknown'}</span>
|
||||
<span> · mode {session?.mode || '--'}</span>
|
||||
{updated && <span> · sensors {updated}</span>}
|
||||
<span> · driver {driverLabel}</span>
|
||||
</div>
|
||||
{!roverId ? (
|
||||
<p className="mt-1 text-[0.75rem] text-slate-400">Assign a rover to view sensors.</p>
|
||||
) : !frame ? (
|
||||
<p className="mt-1 text-[0.75rem] text-slate-400">Waiting for sensor frames…</p>
|
||||
) : (
|
||||
<>
|
||||
<div className="flex flex-wrap gap-0.5">
|
||||
<Metric label="Charge" value={formatMetric(charge != null && capacity != null ? `${charge}/${capacity}` : null)} />
|
||||
<Metric label="Charging" value={formatMetric(sensors.chargingState?.label)} />
|
||||
<Metric label="OI mode" value={formatMetric(sensors.oiMode?.label)} />
|
||||
<Metric label="Voltage" value={formatMetric(voltage)} />
|
||||
<Metric label="Current" value={formatMetric(current)} />
|
||||
<Metric label="Left Encoder" value={formatMetric(sensors.encoderCountsLeft)} />
|
||||
<Metric label="Right Encoder" value={formatMetric(sensors.encoderCountsRight)} />
|
||||
</div>
|
||||
<div className="mt-1 flex gap-0.5">
|
||||
<CliffBar value={sensors.cliffLeftSignal} />
|
||||
<CliffBar value={sensors.cliffFrontLeftSignal} />
|
||||
<CliffBar value={sensors.cliffFrontRightSignal} />
|
||||
<CliffBar value={sensors.cliffRightSignal} />
|
||||
</div>
|
||||
</>
|
||||
|
||||
)}
|
||||
|
||||
|
||||
|
||||
{rawSnippet && (
|
||||
// console.log('rawSnippet:', rawSnippet),
|
||||
<pre className="mt-1 text-wrap break-words p-1 text-xs text-lime-300 bg-gray-700">
|
||||
{rawSnippet}
|
||||
</pre>
|
||||
)}
|
||||
<div className="mt-1">
|
||||
<p className="text-sm text-slate-400">Rovers</p>
|
||||
{roster.length === 0 ? (
|
||||
// if there ARE NO rovers
|
||||
<p className="text-sm text-slate-500">No roster data.</p>
|
||||
) : (
|
||||
// if there ARE rovers
|
||||
<ul className="mt-1 space-y-1 text-sm">
|
||||
{roster.map((rover) => (
|
||||
<li key={rover.id} className="flex items-center justify-between gap-1">
|
||||
<div>
|
||||
<p className="text-slate-200">{rover.name}</p>
|
||||
<p className="text-xs text-slate-500">
|
||||
{rover.locked ? 'locked' : 'free'} · {rover.lastSeen ? 'seen' : 'unknown'}
|
||||
</p>
|
||||
</div>
|
||||
{isAdmin && (
|
||||
<button
|
||||
type="button"
|
||||
onClick={() => handleRequest(rover.id)}
|
||||
disabled={pending[rover.id]}
|
||||
className="rounded-sm bg-black/40 px-1 py-0.5 text-xs text-slate-200 disabled:opacity-40"
|
||||
>
|
||||
{pending[rover.id] ? '...' : 'request'}
|
||||
</button>
|
||||
)}
|
||||
</li>
|
||||
))}
|
||||
</ul>
|
||||
)}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
|
||||
function CliffBar({ value }) {
|
||||
// Render a small vertical bar; value is clamped to 0-100 for display
|
||||
// const pct = value == null ? 0 : Math.max(0, Math.min(100, value));
|
||||
// goes from 0 to 4095. calculate percentage for height
|
||||
const pct = value == null ? 0 : Math.max(0, Math.min(100, (value / 4095) * 100));
|
||||
const height = `${pct}%`;
|
||||
return (
|
||||
<div className="w-1/4 h-6 bg-gray-700 rounded-sm overflow-hidden">
|
||||
<div className="w-full bg-amber-400" style={{ height }} />
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function Metric({ label, value }) {
|
||||
return (
|
||||
<div className="bg-gray-700 rounded-sm p-0.5 text-sm">
|
||||
{label}: {value}
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,251 @@
|
||||
import { useCallback, useEffect, useRef, useState } from 'react';
|
||||
import { WhepPlayer } from '../lib/whepPlayer.js';
|
||||
|
||||
const RESTART_DELAY_MS = 2000;
|
||||
const UNMUTE_RETRY_MS = 3000;
|
||||
|
||||
export default function VideoTile({ sessionInfo, label, forceMute = false, telemetryFrame, batteryConfig }) {
|
||||
const videoRef = useRef(null);
|
||||
const restartTimer = useRef(null);
|
||||
const unmuteTimer = useRef(null);
|
||||
const [status, setStatus] = useState('idle');
|
||||
const [detail, setDetail] = useState(null);
|
||||
const [restartToken, setRestartToken] = useState(0);
|
||||
const [muted, setMuted] = useState(true);
|
||||
const sensors = telemetryFrame?.sensors;
|
||||
const batteryCharge = sensors?.batteryChargeMah ?? null;
|
||||
// console.log('[BatteryBarDebug]', {
|
||||
// frameSensors: sensors,
|
||||
// batteryCharge,
|
||||
// batteryCapacity,
|
||||
// config: batteryConfig,
|
||||
// });
|
||||
const wheelOvercurrents = sensors?.wheelOvercurrents || null;
|
||||
const overcurrentActive = Boolean(
|
||||
wheelOvercurrents && Object.values(wheelOvercurrents).some((value) => Boolean(value)),
|
||||
);
|
||||
|
||||
const scheduleRestart = useCallback(() => {
|
||||
clearTimeout(restartTimer.current);
|
||||
restartTimer.current = setTimeout(() => setRestartToken(Date.now()), RESTART_DELAY_MS);
|
||||
}, []);
|
||||
|
||||
const attemptUnmute = useCallback(
|
||||
(delay = 0) => {
|
||||
if (forceMute) return;
|
||||
clearTimeout(unmuteTimer.current);
|
||||
|
||||
const scheduleRetry = () => {
|
||||
clearTimeout(unmuteTimer.current);
|
||||
unmuteTimer.current = setTimeout(() => {
|
||||
if (!forceMute) {
|
||||
tryPlay();
|
||||
}
|
||||
}, UNMUTE_RETRY_MS);
|
||||
};
|
||||
|
||||
const tryPlay = async () => {
|
||||
const video = videoRef.current;
|
||||
if (!video) return;
|
||||
try {
|
||||
video.muted = false;
|
||||
await video.play();
|
||||
setMuted(false);
|
||||
} catch {
|
||||
video.muted = true;
|
||||
setMuted(true);
|
||||
scheduleRetry();
|
||||
}
|
||||
};
|
||||
|
||||
unmuteTimer.current = setTimeout(tryPlay, delay);
|
||||
},
|
||||
[forceMute],
|
||||
);
|
||||
|
||||
useEffect(
|
||||
() => () => {
|
||||
clearTimeout(restartTimer.current);
|
||||
clearTimeout(unmuteTimer.current);
|
||||
},
|
||||
[],
|
||||
);
|
||||
|
||||
useEffect(() => {
|
||||
if (status === 'playing') {
|
||||
attemptUnmute(0);
|
||||
}
|
||||
}, [status, attemptUnmute]);
|
||||
|
||||
useEffect(() => {
|
||||
if (!sessionInfo?.url || !videoRef.current) {
|
||||
return undefined;
|
||||
}
|
||||
let active = true;
|
||||
let player;
|
||||
const resetMuteId = setTimeout(() => setMuted(true), 0);
|
||||
const handleStatus = (nextStatus, info) => {
|
||||
if (!active) return;
|
||||
setStatus(nextStatus);
|
||||
setDetail(info || null);
|
||||
if (['error', 'failed', 'disconnected', 'closed'].includes(nextStatus)) {
|
||||
scheduleRestart();
|
||||
}
|
||||
};
|
||||
|
||||
player = new WhepPlayer({
|
||||
url: sessionInfo.url,
|
||||
token: sessionInfo.token,
|
||||
video: videoRef.current,
|
||||
onStatus: handleStatus,
|
||||
});
|
||||
|
||||
player.start().catch((err) => {
|
||||
if (!active) return;
|
||||
setStatus('error');
|
||||
setDetail(err.message);
|
||||
scheduleRestart();
|
||||
});
|
||||
|
||||
return () => {
|
||||
active = false;
|
||||
clearTimeout(resetMuteId);
|
||||
player?.stop();
|
||||
};
|
||||
}, [sessionInfo?.url, sessionInfo?.token, restartToken, scheduleRestart]);
|
||||
|
||||
useEffect(() => {
|
||||
if (status === 'stopped' && sessionInfo?.url) {
|
||||
scheduleRestart();
|
||||
}
|
||||
}, [status, sessionInfo?.url, scheduleRestart]);
|
||||
|
||||
const renderedStatus = !sessionInfo?.url
|
||||
? 'waiting'
|
||||
: status === 'error'
|
||||
? `Error: ${detail || 'unknown'}`
|
||||
: detail
|
||||
? `${status} (${detail})`
|
||||
: status;
|
||||
|
||||
return (
|
||||
<div className="flex flex-col gap-1">
|
||||
<div className="relative w-full overflow-hidden rounded-sm bg-black aspect-video">
|
||||
<video
|
||||
ref={videoRef}
|
||||
muted={forceMute || muted}
|
||||
playsInline
|
||||
autoPlay
|
||||
controls={false}
|
||||
className="h-full w-full object-contain"
|
||||
/>
|
||||
<HudOverlay frame={telemetryFrame} />
|
||||
<OvercurrentOverlay active={overcurrentActive} />
|
||||
</div>
|
||||
<BatteryBar charge={batteryCharge} config={batteryConfig} label={label} status={renderedStatus} />
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function BatteryBar({ charge, config, label, status }) {
|
||||
const full = config?.Full;
|
||||
const warn = config?.Warn;
|
||||
const urgent = config?.Urgent ?? null;
|
||||
if (charge == null || full == null || warn == null) {
|
||||
return (
|
||||
<div className="rounded-sm bg-[#1e1e1e] px-1 py-1 text-sm text-slate-200">
|
||||
<div className="flex items-center justify-between text-xs text-slate-400">
|
||||
<span>{label}</span>
|
||||
<span>{status}</span>
|
||||
</div>
|
||||
<p className="mt-1 text-xs text-slate-400">Battery telemetry unavailable</p>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
const span = full - warn;
|
||||
if (span <= 0) return null;
|
||||
const normalized = (charge - warn) / span;
|
||||
const percent = Math.min(1, Math.max(0, normalized));
|
||||
const percentDisplay = Math.round(percent * 100);
|
||||
const percentText = `${percentDisplay}%`;
|
||||
const depleted = normalized <= 0;
|
||||
const warnTriggered = urgent != null && charge <= urgent;
|
||||
const barClass = depleted ? 'bg-red-500 animate-pulse' : warnTriggered ? 'bg-amber-400' : 'bg-emerald-500';
|
||||
return (
|
||||
<div className="space-y-2 rounded-sm bg-[#1e1e1e] px-1 py-1 text-sm text-slate-200">
|
||||
<div className="flex items-center justify-between text-xs text-slate-400">
|
||||
<span>{label}</span>
|
||||
<span>{status}</span>
|
||||
</div>
|
||||
<div className="relative h-4 w-full rounded-full bg-slate-800">
|
||||
<div className={`h-full rounded-full transition-[width] ${barClass}`} style={{ width: `${percentDisplay}%` }} />
|
||||
<span className="absolute inset-0 flex items-center justify-center text-xs font-semibold text-black/80">
|
||||
{percentText}
|
||||
</span>
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function HudOverlay({ frame }) {
|
||||
const sensors = frame?.sensors;
|
||||
const bumps = sensors?.bumpsAndWheelDrops || {};
|
||||
const [now, setNow] = useState(() => Date.now());
|
||||
|
||||
useEffect(() => {
|
||||
const interval = setInterval(() => setNow(Date.now()), 150);
|
||||
return () => clearInterval(interval);
|
||||
}, []);
|
||||
|
||||
const pulse = frame?.receivedAt ? now - frame.receivedAt < 200 : false;
|
||||
|
||||
const bumperBadges = [
|
||||
{ label: 'B-L', active: bumps.bumpLeft },
|
||||
{ label: 'B-R', active: bumps.bumpRight },
|
||||
];
|
||||
const wheelBadges = [
|
||||
{ label: 'Drop L', active: bumps.wheelDropLeft },
|
||||
{ label: 'Drop R', active: bumps.wheelDropRight },
|
||||
];
|
||||
|
||||
return (
|
||||
<div className="pointer-events-none absolute inset-0 flex flex-col justify-between p-1 text-[0.65rem] text-slate-200">
|
||||
<div className="flex items-center justify-between gap-1">
|
||||
<div className="flex items-center gap-1 text-[0.55rem] text-slate-400">
|
||||
<span className={`h-2 w-2 rounded-full ${pulse ? 'bg-emerald-300 shadow-[0_0_4px_rgba(16,185,129,0.8)]' : 'bg-slate-700'}`} />
|
||||
<span>sensor</span>
|
||||
</div>
|
||||
<div className="flex gap-1">
|
||||
{bumperBadges.map((badge) => (
|
||||
<HudBadge key={badge.label} label={badge.label} active={badge.active} />
|
||||
))}
|
||||
</div>
|
||||
</div>
|
||||
<div className="flex justify-end gap-1">
|
||||
{wheelBadges.map((badge) => (
|
||||
<HudBadge key={badge.label} label={badge.label} active={badge.active} />
|
||||
))}
|
||||
</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function HudBadge({ label, active }) {
|
||||
return (
|
||||
<span
|
||||
className={`rounded-sm px-1 py-0.5 text-[0.55rem] ${active ? 'bg-emerald-500/30 text-emerald-100' : 'bg-black/40 text-slate-500'}`}
|
||||
>
|
||||
{label}
|
||||
</span>
|
||||
);
|
||||
}
|
||||
|
||||
function OvercurrentOverlay({ active }) {
|
||||
if (!active) return null;
|
||||
return (
|
||||
<div className="pointer-events-none absolute inset-0 flex items-center justify-center bg-red-900/60">
|
||||
<div className="text-center text-sm font-semibold text-red-100 animate-pulse">Overcurrent</div>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
import { createContext, useContext } from 'react';
|
||||
import { useDriveControls as useDriveControlsHook } from '../hooks/useDriveControls.js';
|
||||
|
||||
/* eslint-disable react-refresh/only-export-components */
|
||||
|
||||
const DriveControlContext = createContext(null);
|
||||
|
||||
export function DriveControlProvider({ children }) {
|
||||
const controls = useDriveControlsHook();
|
||||
return <DriveControlContext.Provider value={controls}>{children}</DriveControlContext.Provider>;
|
||||
}
|
||||
|
||||
export function useDriveControl() {
|
||||
const context = useContext(DriveControlContext);
|
||||
if (!context) {
|
||||
throw new Error('useDriveControl must be used within DriveControlProvider');
|
||||
}
|
||||
return context;
|
||||
}
|
||||
@@ -0,0 +1,112 @@
|
||||
/* eslint-disable react-refresh/only-export-components */
|
||||
|
||||
import { createContext, useCallback, useContext, useEffect, useMemo, useState } from 'react';
|
||||
import { useSocket } from './SocketContext.jsx';
|
||||
|
||||
const SessionContext = createContext({
|
||||
connected: false,
|
||||
session: null,
|
||||
logs: [],
|
||||
login: async () => {},
|
||||
setRole: async () => {},
|
||||
requestControl: async () => {},
|
||||
releaseControl: async () => {},
|
||||
subscribeAll: async () => {},
|
||||
});
|
||||
|
||||
function useAckEmitter(socket) {
|
||||
return useCallback(
|
||||
(event, payload = {}) =>
|
||||
new Promise((resolve, reject) => {
|
||||
socket.emit(event, payload, (resp = {}) => {
|
||||
if (resp.error) {
|
||||
reject(new Error(resp.error));
|
||||
} else {
|
||||
resolve(resp);
|
||||
}
|
||||
});
|
||||
}),
|
||||
[socket],
|
||||
);
|
||||
}
|
||||
|
||||
export function SessionProvider({ children }) {
|
||||
const socket = useSocket();
|
||||
const emitWithAck = useAckEmitter(socket);
|
||||
const [session, setSession] = useState(null);
|
||||
const [logs, setLogs] = useState([]);
|
||||
const [alerts, setAlerts] = useState([]);
|
||||
const [connected, setConnected] = useState(socket.connected);
|
||||
|
||||
useEffect(() => {
|
||||
const onConnect = () => setConnected(true);
|
||||
const onDisconnect = () => setConnected(false);
|
||||
socket.on('connect', onConnect);
|
||||
socket.on('disconnect', onDisconnect);
|
||||
return () => {
|
||||
socket.off('connect', onConnect);
|
||||
socket.off('disconnect', onDisconnect);
|
||||
};
|
||||
}, [socket]);
|
||||
|
||||
useEffect(() => {
|
||||
function handleSession(payload) {
|
||||
setSession(payload);
|
||||
}
|
||||
function handleLogInit(entries = []) {
|
||||
setLogs(entries);
|
||||
}
|
||||
function handleLogEntry(entry) {
|
||||
setLogs((prev) => [...prev.slice(-199), entry]);
|
||||
}
|
||||
socket.on('session:sync', handleSession);
|
||||
socket.on('log:init', handleLogInit);
|
||||
socket.on('log:entry', handleLogEntry);
|
||||
socket.on('alert:new', (payload = {}) => {
|
||||
setAlerts((prev) => [
|
||||
...prev.slice(-49),
|
||||
{
|
||||
...payload,
|
||||
receivedAt: Date.now(),
|
||||
},
|
||||
]);
|
||||
});
|
||||
return () => {
|
||||
socket.off('session:sync', handleSession);
|
||||
socket.off('log:init', handleLogInit);
|
||||
socket.off('log:entry', handleLogEntry);
|
||||
socket.off('alert:new');
|
||||
};
|
||||
}, [socket]);
|
||||
|
||||
const actions = useMemo(
|
||||
() => ({
|
||||
login: (username, password) => emitWithAck('auth:login', { username, password }),
|
||||
setRole: (role) => emitWithAck('session:setRole', { role }),
|
||||
requestControl: (roverId, options = {}) =>
|
||||
emitWithAck('session:requestControl', { roverId, ...options }),
|
||||
releaseControl: (roverId) => emitWithAck('session:releaseControl', { roverId }),
|
||||
subscribeAll: () => emitWithAck('session:subscribeAll'),
|
||||
lockRover: (roverId, locked) => emitWithAck('session:lockRover', { roverId, locked }),
|
||||
setMode: (mode) => emitWithAck('setMode', { mode }),
|
||||
}),
|
||||
[emitWithAck],
|
||||
);
|
||||
|
||||
const value = useMemo(
|
||||
() => ({
|
||||
connected,
|
||||
session,
|
||||
logs,
|
||||
alerts,
|
||||
...actions,
|
||||
}),
|
||||
[actions, alerts, connected, logs, session],
|
||||
);
|
||||
|
||||
return <SessionContext.Provider value={value}>{children}</SessionContext.Provider>;
|
||||
}
|
||||
|
||||
export function useSession() {
|
||||
return useContext(SessionContext);
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
/* eslint-disable react-refresh/only-export-components */
|
||||
|
||||
// src/context/SocketContext.jsx
|
||||
import { createContext, useContext } from "react";
|
||||
import { socket } from "../lib/socket";
|
||||
|
||||
const SocketContext = createContext(socket);
|
||||
export const SocketProvider = ({ children }) => (
|
||||
<SocketContext.Provider value={socket}>{children}</SocketContext.Provider>
|
||||
);
|
||||
export const useSocket = () => useContext(SocketContext);
|
||||
@@ -0,0 +1,44 @@
|
||||
/* eslint-disable react-refresh/only-export-components */
|
||||
|
||||
import { createContext, useContext, useMemo, useState, useEffect } from 'react';
|
||||
import { useSocket } from './SocketContext.jsx';
|
||||
|
||||
const TelemetryContext = createContext({ frames: {} });
|
||||
|
||||
export function TelemetryProvider({ children }) {
|
||||
const socket = useSocket();
|
||||
const [frames, setFrames] = useState({});
|
||||
|
||||
useEffect(() => {
|
||||
function handleSensorFrame({ roverId, sensors = {}, frame = {} }) {
|
||||
if (!roverId) return;
|
||||
setFrames((prev) => ({
|
||||
...prev,
|
||||
[roverId]: {
|
||||
roverId,
|
||||
sensors,
|
||||
raw: frame?.data || null,
|
||||
receivedAt: Date.now(),
|
||||
},
|
||||
}));
|
||||
}
|
||||
|
||||
socket.on('sensorFrame', handleSensorFrame);
|
||||
return () => {
|
||||
socket.off('sensorFrame', handleSensorFrame);
|
||||
};
|
||||
}, [socket]);
|
||||
|
||||
const value = useMemo(() => ({ frames }), [frames]);
|
||||
return <TelemetryContext.Provider value={value}>{children}</TelemetryContext.Provider>;
|
||||
}
|
||||
|
||||
export function useTelemetryFrames() {
|
||||
return useContext(TelemetryContext).frames;
|
||||
}
|
||||
|
||||
export function useTelemetryFrame(roverId) {
|
||||
const frames = useTelemetryFrames();
|
||||
if (!roverId) return null;
|
||||
return frames[roverId] ?? null;
|
||||
}
|
||||
@@ -0,0 +1,253 @@
|
||||
/* global Buffer */
|
||||
|
||||
import { useCallback, useEffect, useRef, useState } from 'react';
|
||||
import { useSocket } from '../context/SocketContext.jsx';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
const OI_COMMANDS = {
|
||||
start: [128],
|
||||
safe: [131],
|
||||
full: [132],
|
||||
passive: [128],
|
||||
dock: [143],
|
||||
};
|
||||
|
||||
const AUX_LIMITS = {
|
||||
main: [-127, 127],
|
||||
side: [-127, 127],
|
||||
vacuum: [0, 127],
|
||||
};
|
||||
|
||||
const COMMAND_DELAY_MS = 200;
|
||||
|
||||
const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
|
||||
|
||||
function clamp(value, min, max) {
|
||||
return Math.max(min, Math.min(max, value));
|
||||
}
|
||||
|
||||
function computeSpeeds(keys) {
|
||||
const forward = keys.has('w');
|
||||
const backward = keys.has('s');
|
||||
const left = keys.has('a');
|
||||
const right = keys.has('d');
|
||||
const fast = keys.has('shift');
|
||||
const base = fast ? 300 : 150;
|
||||
let leftSpeed = 0;
|
||||
let rightSpeed = 0;
|
||||
|
||||
if (forward && !backward) {
|
||||
leftSpeed += base;
|
||||
rightSpeed += base;
|
||||
} else if (backward && !forward) {
|
||||
leftSpeed -= base;
|
||||
rightSpeed -= base;
|
||||
}
|
||||
|
||||
if (left && !right) {
|
||||
leftSpeed -= base;
|
||||
rightSpeed += base;
|
||||
} else if (right && !left) {
|
||||
leftSpeed += base;
|
||||
rightSpeed -= base;
|
||||
}
|
||||
|
||||
if (!forward && !backward && (left || right)) {
|
||||
leftSpeed = left ? -base : base;
|
||||
rightSpeed = left ? base : -base;
|
||||
}
|
||||
|
||||
return {
|
||||
left: clamp(leftSpeed, -500, 500),
|
||||
right: clamp(rightSpeed, -500, 500),
|
||||
};
|
||||
}
|
||||
|
||||
function clampUnit(value) {
|
||||
if (typeof value !== 'number' || Number.isNaN(value)) return 0;
|
||||
return Math.max(-1, Math.min(1, value));
|
||||
}
|
||||
|
||||
function shouldIgnoreEvent(event) {
|
||||
const target = event.target;
|
||||
if (!target) return false;
|
||||
const tag = target.tagName;
|
||||
return (
|
||||
tag === 'INPUT' ||
|
||||
tag === 'TEXTAREA' ||
|
||||
target.isContentEditable ||
|
||||
(tag === 'SELECT' && ['w', 'a', 's', 'd', 'Shift'].includes(event.key))
|
||||
);
|
||||
}
|
||||
|
||||
function bytesToBase64(bytes) {
|
||||
const binary = String.fromCharCode(...bytes);
|
||||
if (typeof btoa === 'function') return btoa(binary);
|
||||
if (typeof Buffer !== 'undefined') {
|
||||
return Buffer.from(bytes).toString('base64');
|
||||
}
|
||||
throw new Error('No base64 encoder available');
|
||||
}
|
||||
|
||||
export function useDriveControls() {
|
||||
const socket = useSocket();
|
||||
const { session } = useSession();
|
||||
const roverId = session?.assignment?.roverId;
|
||||
const keysRef = useRef(new Set());
|
||||
const lastSpeedsRef = useRef({ left: 0, right: 0 });
|
||||
const [currentSpeeds, setCurrentSpeeds] = useState(() => ({ left: 0, right: 0 }));
|
||||
|
||||
const emitCommand = useCallback(
|
||||
(payload, cb) => {
|
||||
if (!roverId) return;
|
||||
socket.emit('command', { roverId, ...payload }, cb);
|
||||
},
|
||||
[socket, roverId],
|
||||
);
|
||||
|
||||
const enableSensorStream = useCallback(() => {
|
||||
if (!roverId) return;
|
||||
emitCommand({
|
||||
type: 'sensorStream',
|
||||
data: { sensorStream: { enable: true } },
|
||||
});
|
||||
}, [emitCommand, roverId]);
|
||||
|
||||
const sendDriveUpdate = useCallback(() => {
|
||||
if (!roverId) return;
|
||||
const speeds = computeSpeeds(keysRef.current);
|
||||
const last = lastSpeedsRef.current;
|
||||
if (speeds.left === last.left && speeds.right === last.right) return;
|
||||
lastSpeedsRef.current = speeds;
|
||||
setCurrentSpeeds(speeds);
|
||||
emitCommand({
|
||||
type: 'drive',
|
||||
data: { driveDirect: speeds },
|
||||
});
|
||||
}, [emitCommand, roverId]);
|
||||
|
||||
const driveWithVector = useCallback(
|
||||
({ x = 0, y = 0, boost = false } = {}) => {
|
||||
if (!roverId) return;
|
||||
const base = boost ? 400 : 250;
|
||||
const forward = clampUnit(y) * base;
|
||||
const turn = clampUnit(x) * base;
|
||||
const speeds = {
|
||||
left: clamp(Math.round(forward + turn), -500, 500),
|
||||
right: clamp(Math.round(forward - turn), -500, 500),
|
||||
};
|
||||
lastSpeedsRef.current = speeds;
|
||||
setCurrentSpeeds(speeds);
|
||||
emitCommand({
|
||||
type: 'drive',
|
||||
data: { driveDirect: speeds },
|
||||
});
|
||||
},
|
||||
[emitCommand, roverId],
|
||||
);
|
||||
|
||||
const sendMotorPwm = useCallback(
|
||||
({ main = 0, side = 0, vacuum = 0 } = {}) => {
|
||||
if (!roverId) return;
|
||||
const payload = {
|
||||
main: clamp(main, AUX_LIMITS.main[0], AUX_LIMITS.main[1]),
|
||||
side: clamp(side, AUX_LIMITS.side[0], AUX_LIMITS.side[1]),
|
||||
vacuum: clamp(vacuum, AUX_LIMITS.vacuum[0], AUX_LIMITS.vacuum[1]),
|
||||
};
|
||||
emitCommand({
|
||||
type: 'motors',
|
||||
data: { motorPwm: payload },
|
||||
});
|
||||
},
|
||||
[emitCommand, roverId],
|
||||
);
|
||||
|
||||
const stopMotors = useCallback(() => {
|
||||
if (!roverId) return;
|
||||
keysRef.current.clear();
|
||||
lastSpeedsRef.current = { left: 0, right: 0 };
|
||||
setCurrentSpeeds(lastSpeedsRef.current);
|
||||
sendMotorPwm({ main: 0, side: 0, vacuum: 0 });
|
||||
}, [roverId, sendMotorPwm]);
|
||||
|
||||
const sendOiCommand = useCallback(
|
||||
(key) => {
|
||||
if (!roverId) return;
|
||||
const bytes = OI_COMMANDS[key];
|
||||
if (!bytes) return;
|
||||
emitCommand({
|
||||
type: 'raw',
|
||||
data: { raw: bytesToBase64(bytes) },
|
||||
});
|
||||
enableSensorStream();
|
||||
},
|
||||
[emitCommand, enableSensorStream, roverId],
|
||||
);
|
||||
|
||||
const runStartDockFull = useCallback(async () => {
|
||||
if (!roverId) return;
|
||||
for (const key of ['start', 'dock', 'full']) {
|
||||
sendOiCommand(key);
|
||||
// brief pause so the commands aren't collapsed by the rover
|
||||
await sleep(COMMAND_DELAY_MS);
|
||||
}
|
||||
}, [roverId, sendOiCommand]);
|
||||
|
||||
const seekDock = useCallback(() => {
|
||||
sendOiCommand('dock');
|
||||
}, [sendOiCommand]);
|
||||
|
||||
const setAuxMotors = useCallback(
|
||||
(values) => {
|
||||
if (!roverId) return;
|
||||
sendMotorPwm(values);
|
||||
},
|
||||
[roverId, sendMotorPwm],
|
||||
);
|
||||
|
||||
useEffect(() => {
|
||||
if (!roverId) {
|
||||
keysRef.current.clear();
|
||||
lastSpeedsRef.current = { left: 0, right: 0 };
|
||||
setCurrentSpeeds(lastSpeedsRef.current);
|
||||
return undefined;
|
||||
}
|
||||
|
||||
function onKeyDown(event) {
|
||||
if (shouldIgnoreEvent(event)) return;
|
||||
const key = event.key.toLowerCase();
|
||||
if (!['w', 'a', 's', 'd', 'shift'].includes(key)) return;
|
||||
if (keysRef.current.has(key)) return;
|
||||
keysRef.current.add(key);
|
||||
sendDriveUpdate();
|
||||
}
|
||||
|
||||
function onKeyUp(event) {
|
||||
const key = event.key.toLowerCase();
|
||||
if (!keysRef.current.has(key)) return;
|
||||
keysRef.current.delete(key);
|
||||
sendDriveUpdate();
|
||||
}
|
||||
|
||||
window.addEventListener('keydown', onKeyDown);
|
||||
window.addEventListener('keyup', onKeyUp);
|
||||
|
||||
enableSensorStream();
|
||||
|
||||
return () => {
|
||||
window.removeEventListener('keydown', onKeyDown);
|
||||
window.removeEventListener('keyup', onKeyUp);
|
||||
};
|
||||
}, [roverId, sendDriveUpdate, enableSensorStream]);
|
||||
|
||||
return {
|
||||
roverId,
|
||||
speeds: currentSpeeds,
|
||||
stopMotors,
|
||||
sendOiCommand,
|
||||
runStartDockFull,
|
||||
seekDock,
|
||||
setAuxMotors,
|
||||
driveWithVector,
|
||||
};
|
||||
}
|
||||
@@ -0,0 +1,30 @@
|
||||
import { useEffect, useState } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
|
||||
export function useSpectatorMode() {
|
||||
const { session, setRole, subscribeAll } = useSession();
|
||||
const [ready, setReady] = useState(false);
|
||||
|
||||
useEffect(() => {
|
||||
let cancelled = false;
|
||||
async function ensureSpectator() {
|
||||
try {
|
||||
if (session?.role !== 'spectator') {
|
||||
await setRole('spectator');
|
||||
}
|
||||
await subscribeAll();
|
||||
if (!cancelled) {
|
||||
setReady(true);
|
||||
}
|
||||
} catch (err) {
|
||||
console.error('Failed to enter spectator mode', err);
|
||||
}
|
||||
}
|
||||
ensureSpectator();
|
||||
return () => {
|
||||
cancelled = true;
|
||||
};
|
||||
}, [session?.role, setRole, subscribeAll]);
|
||||
|
||||
return ready;
|
||||
}
|
||||
@@ -0,0 +1,43 @@
|
||||
import { useEffect, useMemo, useState } from 'react';
|
||||
import { useSocket } from '../context/SocketContext.jsx';
|
||||
|
||||
export function useVideoRequests(roverIds = []) {
|
||||
const socket = useSocket();
|
||||
const [sources, setSources] = useState({});
|
||||
const normalizedKey = Array.isArray(roverIds) ? roverIds.filter(Boolean).join('|') : '';
|
||||
|
||||
useEffect(() => {
|
||||
if (!normalizedKey) {
|
||||
return undefined;
|
||||
}
|
||||
const ids = normalizedKey.split('|');
|
||||
let cancelled = false;
|
||||
ids.forEach((roverId) => {
|
||||
socket.emit('video:request', { roverId }, (resp = {}) => {
|
||||
if (cancelled) return;
|
||||
setSources((prev) => ({
|
||||
...prev,
|
||||
[roverId]: resp,
|
||||
}));
|
||||
});
|
||||
});
|
||||
|
||||
return () => {
|
||||
cancelled = true;
|
||||
};
|
||||
}, [socket, normalizedKey]);
|
||||
|
||||
const filtered = useMemo(() => {
|
||||
if (!normalizedKey) return {};
|
||||
const ids = normalizedKey.split('|');
|
||||
const next = {};
|
||||
ids.forEach((id) => {
|
||||
if (sources[id]) {
|
||||
next[id] = sources[id];
|
||||
}
|
||||
});
|
||||
return next;
|
||||
}, [normalizedKey, sources]);
|
||||
|
||||
return filtered;
|
||||
}
|
||||
@@ -0,0 +1,16 @@
|
||||
@tailwind base;
|
||||
@tailwind components;
|
||||
@tailwind utilities;
|
||||
|
||||
:root {
|
||||
font-family: 'Inter', system-ui, -apple-system, BlinkMacSystemFont, 'Segoe UI',
|
||||
sans-serif;
|
||||
color: #0f172a;
|
||||
background-color: #f8fafc;
|
||||
}
|
||||
|
||||
body {
|
||||
margin: 0;
|
||||
min-height: 100vh;
|
||||
background-color: #0f172a;
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
import { io } from 'socket.io-client';
|
||||
|
||||
const configured = import.meta.env.VITE_ROVERD_URL?.trim();
|
||||
const resolvedUrl = configured && configured.length > 0 ? configured : window.location.origin;
|
||||
console.info('[socket] connecting to', resolvedUrl);
|
||||
export const socket = io(resolvedUrl, {
|
||||
transports: ['polling', 'websocket'],
|
||||
timeout: 15000,
|
||||
});
|
||||
socket.on('connect_error', (err) => console.error('connect_error', err.code, err.message, err.data));
|
||||
@@ -0,0 +1,139 @@
|
||||
/* global Buffer */
|
||||
|
||||
const RTC_CONFIG = {
|
||||
iceServers: [
|
||||
{ urls: 'stun:stun.l.google.com:19302' },
|
||||
{ urls: 'turn:your.turn.server:3478', username: 'user', credential: 'pass' },
|
||||
],
|
||||
bundlePolicy: 'max-bundle',
|
||||
rtcpMuxPolicy: 'require',
|
||||
};
|
||||
|
||||
|
||||
function encodeBase64(value) {
|
||||
if (typeof btoa === 'function') {
|
||||
return btoa(value);
|
||||
}
|
||||
if (typeof Buffer !== 'undefined') {
|
||||
return Buffer.from(value).toString('base64');
|
||||
}
|
||||
throw new Error('No base64 encoder available');
|
||||
}
|
||||
|
||||
function buildAuthHeader(token) {
|
||||
if (!token) return {};
|
||||
const credential = `${token}:${token}`;
|
||||
const encoded = encodeBase64(credential);
|
||||
return { Authorization: `Basic ${encoded}` };
|
||||
}
|
||||
|
||||
export class WhepPlayer {
|
||||
constructor({ url, token, video, onStatus }) {
|
||||
this.url = url;
|
||||
this.token = token;
|
||||
this.video = video;
|
||||
this.pc = null;
|
||||
this.abortController = null;
|
||||
this.onStatus = onStatus;
|
||||
}
|
||||
|
||||
notify(status, detail) {
|
||||
if (typeof this.onStatus === 'function') {
|
||||
this.onStatus(status, detail);
|
||||
}
|
||||
}
|
||||
|
||||
configureVideoElement() {
|
||||
if (!this.video) return;
|
||||
this.video.playsInline = true;
|
||||
this.video.autoplay = true;
|
||||
this.video.disableRemotePlayback = true;
|
||||
if ('latencyHint' in HTMLMediaElement.prototype) {
|
||||
this.video.latencyHint = 'interactive';
|
||||
}
|
||||
}
|
||||
|
||||
async start() {
|
||||
if (!this.url || !this.video) {
|
||||
throw new Error('Video target missing');
|
||||
}
|
||||
this.stop();
|
||||
this.notify('connecting');
|
||||
this.configureVideoElement();
|
||||
this.abortController = new AbortController();
|
||||
const pc = new RTCPeerConnection(RTC_CONFIG);
|
||||
this.pc = pc;
|
||||
const stream = new MediaStream();
|
||||
pc.ontrack = (event) => {
|
||||
event.streams[0]?.getTracks().forEach((mediaTrack) => stream.addTrack(mediaTrack));
|
||||
this.video.srcObject = stream;
|
||||
if (event.track?.kind === 'video' && 'playoutDelayHint' in event.receiver) {
|
||||
event.receiver.playoutDelayHint = 0;
|
||||
}
|
||||
};
|
||||
pc.addTransceiver('video', { direction: 'recvonly' });
|
||||
pc.addTransceiver('audio', { direction: 'recvonly' });
|
||||
|
||||
pc.onconnectionstatechange = () => {
|
||||
const state = pc.connectionState;
|
||||
this.notify(state);
|
||||
};
|
||||
pc.oniceconnectionstatechange = () => {
|
||||
const state = pc.iceConnectionState;
|
||||
if (state === 'failed' || state === 'disconnected') {
|
||||
this.notify(state);
|
||||
}
|
||||
};
|
||||
|
||||
try {
|
||||
const offer = await pc.createOffer({
|
||||
offerToReceiveAudio: true,
|
||||
offerToReceiveVideo: true,
|
||||
});
|
||||
await pc.setLocalDescription(offer);
|
||||
|
||||
const response = await fetch(this.url, {
|
||||
method: 'POST',
|
||||
headers: {
|
||||
'Content-Type': 'application/sdp',
|
||||
...buildAuthHeader(this.token),
|
||||
},
|
||||
body: offer.sdp,
|
||||
signal: this.abortController.signal,
|
||||
});
|
||||
if (!response.ok) {
|
||||
throw new Error(`WHEP request failed: ${response.status}`);
|
||||
}
|
||||
const answerSdp = await response.text();
|
||||
await pc.setRemoteDescription({ type: 'answer', sdp: answerSdp });
|
||||
pc.getReceivers().forEach((receiver) => {
|
||||
if ('playoutDelayHint' in receiver) {
|
||||
receiver.playoutDelayHint = 0;
|
||||
}
|
||||
});
|
||||
await this.video.play().catch(() => {});
|
||||
this.notify('playing');
|
||||
} catch (err) {
|
||||
this.notify('error', err.message);
|
||||
this.stop();
|
||||
throw err;
|
||||
}
|
||||
}
|
||||
|
||||
stop() {
|
||||
if (this.abortController) {
|
||||
this.abortController.abort();
|
||||
this.abortController = null;
|
||||
}
|
||||
if (this.pc) {
|
||||
this.pc.getSenders().forEach((sender) => sender.track?.stop());
|
||||
this.pc.getReceivers().forEach((receiver) => receiver.track?.stop());
|
||||
this.pc.close();
|
||||
this.pc = null;
|
||||
}
|
||||
if (this.video) {
|
||||
this.video.srcObject = null;
|
||||
}
|
||||
this.notify('stopped');
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,26 @@
|
||||
import { StrictMode } from 'react'
|
||||
import { createRoot } from 'react-dom/client'
|
||||
import { BrowserRouter, Route, Routes } from 'react-router-dom'
|
||||
import './index.css'
|
||||
import App from './App.jsx'
|
||||
import { SocketProvider } from './context/SocketContext.jsx'
|
||||
import { SessionProvider } from './context/SessionContext.jsx'
|
||||
import { TelemetryProvider } from './context/TelemetryContext.jsx'
|
||||
import SpectatorApp from './spectate/SpectatorApp.jsx'
|
||||
|
||||
createRoot(document.getElementById('root')).render(
|
||||
<StrictMode>
|
||||
<SocketProvider>
|
||||
<SessionProvider>
|
||||
<TelemetryProvider>
|
||||
<BrowserRouter>
|
||||
<Routes>
|
||||
<Route path="/" element={<App />} />
|
||||
<Route path="/spectate" element={<SpectatorApp />} />
|
||||
</Routes>
|
||||
</BrowserRouter>
|
||||
</TelemetryProvider>
|
||||
</SessionProvider>
|
||||
</SocketProvider>
|
||||
</StrictMode>,
|
||||
)
|
||||
@@ -0,0 +1,127 @@
|
||||
import { useMemo } from 'react';
|
||||
import { useSession } from '../context/SessionContext.jsx';
|
||||
import { useSpectatorMode } from '../hooks/useSpectatorMode.js';
|
||||
import { useTelemetryFrames } from '../context/TelemetryContext.jsx';
|
||||
import { useVideoRequests } from '../hooks/useVideoRequests.js';
|
||||
import VideoTile from '../components/VideoTile.jsx';
|
||||
|
||||
function SpectatorStatus({ connected, ready, rosterCount }) {
|
||||
return (
|
||||
<div className="flex flex-wrap items-center gap-3 text-sm">
|
||||
<span className={`rounded-full px-3 py-1 font-semibold ${connected ? 'bg-emerald-500/20 text-emerald-200' : 'bg-red-500/20 text-red-200'}`}>
|
||||
{connected ? 'Connected' : 'Disconnected'}
|
||||
</span>
|
||||
<span className={`rounded-full px-3 py-1 ${ready ? 'bg-blue-600/40 text-blue-100' : 'bg-slate-700 text-slate-200'}`}>
|
||||
Spectator mode {ready ? 'active' : 'pending…'}
|
||||
</span>
|
||||
<span className="rounded-full bg-slate-800 px-3 py-1 text-slate-200">
|
||||
Rovers: {rosterCount}
|
||||
</span>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
|
||||
function LogStream({ logs }) {
|
||||
return (
|
||||
<section className="rounded-3xl border border-slate-800 bg-slate-900/70 p-4">
|
||||
<header className="mb-3 flex items-center justify-between">
|
||||
<h2 className="text-lg font-semibold text-white">Server logs</h2>
|
||||
<span className="text-xs uppercase tracking-[0.3em] text-slate-500">latest {logs.length}</span>
|
||||
</header>
|
||||
<div className="h-60 overflow-y-auto rounded-2xl bg-slate-950/40 p-3 text-xs font-mono text-slate-300">
|
||||
{logs.length === 0 ? (
|
||||
<p>No log entries yet.</p>
|
||||
) : (
|
||||
logs
|
||||
.slice()
|
||||
.reverse()
|
||||
.map((entry) => (
|
||||
<div key={entry.id} className="mb-2">
|
||||
<span className="text-slate-500">{entry.timestamp}</span>{' '}
|
||||
<span className="text-cyan-300">[{entry.level}]</span>{' '}
|
||||
{entry.label && <span className="text-pink-300">[{entry.label}]</span>}{' '}
|
||||
<span>{entry.message}</span>
|
||||
</div>
|
||||
))
|
||||
)}
|
||||
</div>
|
||||
</section>
|
||||
);
|
||||
}
|
||||
|
||||
function formatSensors(sensors = {}) {
|
||||
return Object.entries(sensors).map(([key, value]) => ({
|
||||
key,
|
||||
value: typeof value === 'object' ? JSON.stringify(value) : value,
|
||||
}));
|
||||
}
|
||||
|
||||
function RoverSpectatorCard({ rover, frame, videoInfo }) {
|
||||
const sensorList = formatSensors(frame?.sensors);
|
||||
return (
|
||||
<article className="space-y-4 rounded-3xl border border-slate-800 bg-slate-900/70 p-5">
|
||||
<header className="flex flex-col gap-1">
|
||||
<h3 className="text-2xl font-semibold text-white">{rover.name}</h3>
|
||||
<p className="text-sm text-slate-400">
|
||||
{frame?.receivedAt ? `Updated ${new Date(frame.receivedAt).toLocaleTimeString()}` : 'Waiting for telemetry…'}
|
||||
</p>
|
||||
</header>
|
||||
<VideoTile sessionInfo={videoInfo} label={rover.name} forceMute />
|
||||
<section className="rounded-2xl border border-slate-800/80 bg-slate-950/50 p-4">
|
||||
<p className="text-xs uppercase tracking-[0.3em] text-slate-500">Telemetry</p>
|
||||
{sensorList.length === 0 ? (
|
||||
<p className="mt-3 text-sm text-slate-400">No sensor data yet.</p>
|
||||
) : (
|
||||
<dl className="mt-3 grid gap-2 text-sm text-slate-200">
|
||||
{sensorList.map(({ key, value }) => (
|
||||
<div key={key} className="flex justify-between gap-4">
|
||||
<dt className="text-slate-500">{key}</dt>
|
||||
<dd className="text-right font-semibold text-white">{value}</dd>
|
||||
</div>
|
||||
))}
|
||||
</dl>
|
||||
)}
|
||||
</section>
|
||||
</article>
|
||||
);
|
||||
}
|
||||
|
||||
export default function SpectatorApp() {
|
||||
const { connected, session, logs } = useSession();
|
||||
const spectatorReady = useSpectatorMode();
|
||||
const frames = useTelemetryFrames();
|
||||
const roster = session?.roster ?? [];
|
||||
const videoSources = useVideoRequests(roster.map((rover) => rover.id));
|
||||
|
||||
const status = useMemo(
|
||||
() => ({ connected, ready: spectatorReady, rosterCount: roster.length }),
|
||||
[connected, spectatorReady, roster.length],
|
||||
);
|
||||
|
||||
return (
|
||||
<div className="min-h-screen bg-slate-950 text-slate-50">
|
||||
<main className="mx-auto flex max-w-7xl flex-col gap-6 px-6 py-10">
|
||||
<header className="space-y-3">
|
||||
<h1 className="text-4xl font-semibold text-white">Spectator Console</h1>
|
||||
<p className="text-slate-400">Live rover telemetry & logs. This view is read-only.</p>
|
||||
<SpectatorStatus {...status} />
|
||||
</header>
|
||||
<section className="grid gap-6 lg:grid-cols-3">
|
||||
{roster.length === 0 ? (
|
||||
<p className="col-span-full text-slate-400">No rovers registered.</p>
|
||||
) : (
|
||||
roster.map((rover) => (
|
||||
<RoverSpectatorCard
|
||||
key={rover.id}
|
||||
rover={rover}
|
||||
frame={frames[rover.id]}
|
||||
videoInfo={videoSources[rover.id]}
|
||||
/>
|
||||
))
|
||||
)}
|
||||
</section>
|
||||
<LogStream logs={logs} />
|
||||
</main>
|
||||
</div>
|
||||
);
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
/** @type {import('tailwindcss').Config} */
|
||||
export default {
|
||||
content: [
|
||||
"./index.html",
|
||||
"./src/**/*.{js,ts,jsx,tsx}",
|
||||
],
|
||||
theme: {
|
||||
extend: {},
|
||||
},
|
||||
plugins: [],
|
||||
}
|
||||
@@ -0,0 +1,11 @@
|
||||
import { defineConfig } from 'vite'
|
||||
import react from '@vitejs/plugin-react'
|
||||
|
||||
// https://vite.dev/config/
|
||||
export default defineConfig({
|
||||
plugins: [react()],
|
||||
build: {
|
||||
outDir: '../server/public',
|
||||
emptyOutDir: true,
|
||||
},
|
||||
})
|
||||
Reference in New Issue
Block a user