gowuh

pi/roverd/cmd/roverd/main.go

@@ -69,10 +69,19 @@ func main() {
 		defer cameraServo.Close()
 	}
 
+	var nightVision *roverd.NightVisionLight
+	if cfg.NightVision.Enabled {
+		nightVision, err = roverd.NewNightVisionLight(cfg.NightVision, logger)
+		if err != nil {
+			logger.Fatalf("init night vision: %v", err)
+		}
+		defer nightVision.Close()
+	}
+
 	autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
 	go autoCharge.Run(ctx, sensorSamples)
 
-	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, logger)
+	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, nightVision, logger)
 
 	retryDelay := time.Second
 	for ctx.Err() == nil {

pi/roverd/command.go

@@ -8,6 +8,7 @@ type helloMessage struct {
 	Media         MediaConfig       `json:"media"`
 	CameraServo   CameraServoConfig `json:"cameraServo"`
 	Audio         AudioConfig       `json:"audio"`
+	NightVision   NightVisionConfig `json:"nightVision"`
 }
 
 type sensorMessage struct {
@@ -26,6 +27,7 @@ type inboundMessage struct {
 	Media        *mediaCommand        `json:"media,omitempty"`
 	Servo        *servoPayload        `json:"servo,omitempty"`
 	TTS          *ttsPayload          `json:"tts,omitempty"`
+	NightVision  *nightVisionPayload  `json:"nightVision,omitempty"`
 }
 
 type driveDirectPayload struct {
@@ -61,6 +63,10 @@ type ttsPayload struct {
 	Speak  bool   `json:"speak,omitempty"`
 }
 
+type nightVisionPayload struct {
+	Action string `json:"action"`
+}
+
 type ackMessage struct {
 	Type   string `json:"type"`
 	ID     string `json:"id"`

pi/roverd/config.go

@@ -95,6 +95,13 @@ type CameraServoConfig struct {
 	AllowRawPulse bool    `yaml:"allowRawPulse" json:"allowRawPulse"`
 }
 
+type NightVisionConfig struct {
+	Enabled   bool   `yaml:"enabled" json:"enabled"`
+	GPIOPin   int    `yaml:"gpioPin" json:"gpioPin"`
+	GPIOChip  string `yaml:"gpioChip" json:"gpioChip"`
+	InitialOn bool   `yaml:"initialOn" json:"initialOn"`
+}
+
 type Config struct {
 	Name        string            `yaml:"name"`
 	ServerURL   string            `yaml:"serverUrl"`
@@ -105,6 +112,7 @@ type Config struct {
 	Media       MediaConfig       `yaml:"media"`
 	CameraServo CameraServoConfig `yaml:"cameraServo"`
 	Audio       AudioConfig       `yaml:"audio"`
+	NightVision NightVisionConfig `yaml:"nightVision" json:"nightVision"`
 }
 
 func LoadConfig(path string) (*Config, error) {
@@ -154,6 +162,12 @@ func LoadConfig(path string) (*Config, error) {
 			DefaultVoice:   "rms",
 			DefaultPitch:   50,
 		},
+		NightVision: NightVisionConfig{
+			Enabled:   true,
+			GPIOPin:   22,
+			GPIOChip:  "gpiochip0",
+			InitialOn: true,
+		},
 	}
 	if err := yaml.Unmarshal(data, &cfg); err != nil {
 		return nil, err
@@ -214,6 +228,9 @@ func LoadConfig(path string) (*Config, error) {
 	if err := validateServoConfig(&cfg.CameraServo); err != nil {
 		return nil, fmt.Errorf("cameraServo: %w", err)
 	}
+	if err := validateNightVisionConfig(&cfg.NightVision); err != nil {
+		return nil, fmt.Errorf("nightVision: %w", err)
+	}
 	validateAudioConfig(&cfg.Audio)
 	return &cfg, nil
 }
@@ -278,6 +295,19 @@ func validateAudioConfig(cfg *AudioConfig) {
 	}
 }
 
+func validateNightVisionConfig(cfg *NightVisionConfig) error {
+	if !cfg.Enabled {
+		return nil
+	}
+	if cfg.GPIOPin <= 0 {
+		return errors.New("gpioPin must be > 0")
+	}
+	if cfg.GPIOChip == "" {
+		cfg.GPIOChip = "gpiochip0"
+	}
+	return nil
+}
+
 func derivePublishURL(serverURL, streamName string, port int) (string, error) {
 	if streamName == "" {
 		return "", errors.New("missing stream name for publishUrl")

pi/roverd/nightvision.go

@@ -0,0 +1,97 @@
+//go:build !dummy
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+	"strings"
+	"sync"
+
+	gpiocdev "github.com/warthog618/go-gpiocdev"
+)
+
+type NightVisionLight struct {
+	cfg    NightVisionConfig
+	logger *log.Logger
+	line   *gpiocdev.Line
+	mu     sync.Mutex
+	on     bool
+	closed bool
+}
+
+func NewNightVisionLight(cfg NightVisionConfig, logger *log.Logger) (*NightVisionLight, error) {
+	if !cfg.Enabled {
+		return nil, fmt.Errorf("night vision disabled")
+	}
+	chip := cfg.GPIOChip
+	if chip == "" {
+		chip = "gpiochip0"
+	}
+	initial := 0
+	if cfg.InitialOn {
+		initial = 1
+	}
+	line, err := gpiocdev.RequestLine(
+		chip,
+		cfg.GPIOPin,
+		gpiocdev.AsOutput(initial),
+		gpiocdev.WithConsumer("roverd-nightvision"),
+	)
+	if err != nil {
+		return nil, fmt.Errorf("gpio request: %w", err)
+	}
+	nv := &NightVisionLight{
+		cfg:    cfg,
+		logger: logger,
+		line:   line,
+		on:     cfg.InitialOn,
+	}
+	logger.Printf("night vision LED on GPIO %d (initial=%v)", cfg.GPIOPin, cfg.InitialOn)
+	return nv, nil
+}
+
+func (n *NightVisionLight) Close() {
+	n.mu.Lock()
+	defer n.mu.Unlock()
+	if n.closed {
+		return
+	}
+	_ = n.line.SetValue(boolToGPIO(n.on))
+	n.line.Close()
+	n.closed = true
+}
+
+func (n *NightVisionLight) HandleAction(action string) error {
+	n.mu.Lock()
+	defer n.mu.Unlock()
+	if n.closed {
+		return fmt.Errorf("night vision controller closed")
+	}
+	act := strings.ToLower(strings.TrimSpace(action))
+	switch act {
+	case "", "toggle":
+		return n.setLocked(!n.on)
+	case "on":
+		return n.setLocked(true)
+	case "off":
+		return n.setLocked(false)
+	default:
+		return fmt.Errorf("unknown action %q", action)
+	}
+}
+
+func (n *NightVisionLight) setLocked(on bool) error {
+	if err := n.line.SetValue(boolToGPIO(on)); err != nil {
+		return err
+	}
+	n.on = on
+	return nil
+}
+
+func boolToGPIO(value bool) int {
+	if value {
+		return 1
+	}
+	return 0
+}

pi/roverd/nightvision_dummy.go

@@ -0,0 +1,20 @@
+//go:build dummy
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type NightVisionLight struct{}
+
+func NewNightVisionLight(cfg NightVisionConfig, logger *log.Logger) (*NightVisionLight, error) {
+	return nil, fmt.Errorf("night vision not supported in dummy build")
+}
+
+func (n *NightVisionLight) Close() {}
+
+func (n *NightVisionLight) HandleAction(action string) error {
+	return fmt.Errorf("night vision not supported in dummy build")
+}

pi/roverd/roverd.sample.yaml

@@ -47,3 +47,8 @@ audio:
   defaultEngine: flite
   defaultVoice: rms
   defaultPitch: 50
+nightVision:
+  enabled: true
+  gpioPin: 22
+  gpioChip: gpiochip0
+  initialOn: true

pi/roverd/wsclient.go

@@ -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)
 	}

server/public/index.html

@@ -11,8 +11,8 @@
     <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
     <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
     <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-CnvHZcbU.js"></script>
+    <script type="module" crossorigin src="/assets/index-D8Lb2mUY.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-B1UrCI1T.css">
+    <link rel="stylesheet" crossorigin href="/assets/index-DQ1jpCiS.css">
   </head>
   <body>
     <div id="root"></div>

server/src/services/roverManager.js

@@ -119,6 +119,7 @@ function getRoster() {
     media: record.meta?.media,
     cameraServo: record.meta?.cameraServo,
     audio: record.meta?.audio,
+    nightVision: record.meta?.nightVision,
     locked: record.locked,
     lockReason: record.lockReason,
     lastSeen: record.lastSeen,

webui/src/components/KeymapSettings.jsx

@@ -19,6 +19,7 @@ const KEY_ACTIONS = [
   { id: 'auxAllForward', label: 'All Aux Forward', group: 'Aux Motors' },
   { id: 'cameraUp', label: 'Camera Up', group: 'Camera' },
   { id: 'cameraDown', label: 'Camera Down', group: 'Camera' },
+  { id: 'nightVisionToggle', label: 'Toggle Night Vision', group: 'Camera' },
   { id: 'driveMacro', label: 'Drive Macro', group: 'Macros' },
   { id: 'dockMacro', label: 'Dock Macro', group: 'Macros' },
   { id: 'chatFocus', label: 'Toggle Chat', group: 'Chat' },

webui/src/components/MobileControls.jsx

@@ -133,11 +133,13 @@ function FloatingJoystick({ disabled, layout, radius, onMove, onStop }) {
 function MobileJoystickPanel({ layout }) {
   const {
     state: { roverId, camera },
-    actions: { setDriveVector, registerInputState, stopAllMotion, setServoAngle },
+    pipeline,
+    actions: { setDriveVector, registerInputState, stopAllMotion, setServoAngle, toggleNightVision },
   } = useControlSystem();
   const disabled = !roverId;
   const cameraConfig = camera?.config;
   const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
+  const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
   const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
   const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
   const cameraValue =
@@ -198,6 +200,16 @@ function MobileJoystickPanel({ layout }) {
     <div className="flex flex-col gap-0.5 text-slate-100">
       
       <DriveModeToggle size="compact" />
+      {nightVisionAvailable && (
+        <button
+          type="button"
+          onClick={() => toggleNightVision()}
+          disabled={disabled}
+          className="bg-amber-600 px-0.5 py-1 text-sm font-semibold text-amber-50 transition hover:bg-amber-500 disabled:opacity-40"
+        >
+          Toggle Night Vision
+        </button>
+      )}
       {cameraEnabled && (
         <div className="bg-zinc-950 p-0.5 text-xs">
           <div className="flex items-center justify-between text-[0.75rem] text-slate-400">

webui/src/controls/ControlContext.jsx

@@ -254,6 +254,10 @@ export function ControlSystemProvider({ children }) {
     [pipeline],
   );
 
+  const toggleNightVision = useCallback(() => {
+    pipeline.sendNightVision('toggle');
+  }, [pipeline]);
+
   const registerInputState = useCallback((source, data) => {
     dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
   }, []);
@@ -274,6 +278,7 @@ export function ControlSystemProvider({ children }) {
         stopAllMotion,
         sendOiCommand,
         setSensorStream,
+        toggleNightVision,
         updateKeyBinding,
         resetKeyBindings,
         registerInputState,
@@ -292,6 +297,7 @@ export function ControlSystemProvider({ children }) {
       stopAllMotion,
       sendOiCommand,
       setSensorStream,
+      toggleNightVision,
       updateKeyBinding,
       resetKeyBindings,
       registerInputState,

webui/src/controls/commandPipeline.js

@@ -19,6 +19,11 @@ export function useCommandPipeline() {
     return rosterEntry.cameraServo;
   }, [rosterEntry]);
 
+  const nightVision = useMemo(() => {
+    if (!rosterEntry?.nightVision || !rosterEntry.nightVision.enabled) return null;
+    return rosterEntry.nightVision;
+  }, [rosterEntry]);
+
   const emitCommand = useCallback(
     (payload, cb) => {
       if (!roverId) return;
@@ -134,29 +139,45 @@ export function useCommandPipeline() {
     [roverId, sendOiCommand, sendDriveDirect, sendAuxMotors, sendServoAngle],
   );
 
+  const sendNightVision = useCallback(
+    (action = 'toggle') => {
+      if (!roverId || !nightVision) return null;
+      emitCommand({
+        type: 'nightVision',
+        data: { nightVision: { action } },
+      });
+      return action;
+    },
+    [emitCommand, nightVision, roverId],
+  );
+
   return useMemo(
     () => ({
       roverId,
       rosterEntry,
       servoConfig,
+      nightVision,
       emitCommand,
       enableSensorStream,
       sendDriveDirect,
       sendAuxMotors,
       sendServoAngle,
       sendOiCommand,
+      sendNightVision,
       runMacroSteps,
     }),
     [
       roverId,
       rosterEntry,
       servoConfig,
+      nightVision,
       emitCommand,
       enableSensorStream,
       sendDriveDirect,
       sendAuxMotors,
       sendServoAngle,
       sendOiCommand,
+      sendNightVision,
       runMacroSteps,
     ],
   );

webui/src/controls/constants.js

@@ -36,6 +36,7 @@ export const DEFAULT_KEYMAP = {
   auxAllForward: [","],
   cameraUp: ['u'],
   cameraDown: ['j'],
+  nightVisionToggle: ['e'],
   driveMacro: ['f'],
   dockMacro: ['g'],
   chatFocus: ['enter'],

webui/src/controls/inputs/KeyboardInputManager.jsx

@@ -86,6 +86,7 @@ export default function KeyboardInputManager() {
       runMacro,
       stopAllMotion,
       registerInputState,
+      toggleNightVision,
     },
   } = useControlSystem();
   const { focusChat, blurChat, isChatFocused } = useChat();
@@ -208,6 +209,8 @@ export default function KeyboardInputManager() {
         } else if (newlyPressed.some((token) => keymap.dockMacro?.has(token))) {
           setMode('dock');
           runMacro('seek-dock');
+        } else if (newlyPressed.some((token) => keymap.nightVisionToggle?.has(token))) {
+          toggleNightVision();
         }
       }