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gowuh

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legop3
2025-12-02 14:43:56 -05:00
parent 9bc5d2d06d
commit ace39d5a70
21 changed files with 238 additions and 18 deletions
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pi/roverd/wsclient.go
+9 -1
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@@ -18,10 +18,11 @@ type WSClient struct {
events <-chan RoverEvent
media *MediaSupervisor
servo *CameraServo
nightVision *NightVisionLight
log *log.Logger
}
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events <-chan RoverEvent, media *MediaSupervisor, servo *CameraServo, logger *log.Logger) *WSClient {
func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events <-chan RoverEvent, media *MediaSupervisor, servo *CameraServo, nightVision *NightVisionLight, logger *log.Logger) *WSClient {
return &WSClient{
cfg: cfg,
adapter: adapter,
@@ -29,6 +30,7 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
events: events,
media: media,
servo: servo,
nightVision: nightVision,
log: logger,
}
}
@@ -72,6 +74,7 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
Media: c.cfg.Media,
CameraServo: c.cfg.CameraServo,
Audio: c.cfg.Audio,
NightVision: c.cfg.NightVision,
}
c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
return writeJSON(ctx, conn, msg)
@@ -153,6 +156,11 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
return c.handleServoCommand(msg.Servo)
case msg.TTS != nil:
return c.handleTTSPayload(msg.TTS)
case msg.NightVision != nil:
if c.nightVision == nil {
return fmt.Errorf("night vision disabled")
}
return c.nightVision.HandleAction(msg.NightVision.Action)
default:
return fmt.Errorf("unsupported command type: %s", msg.Type)
}