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pete

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legop3
2026-07-11 00:38:05 -04:00
parent b3001cf0a3
commit aee1a9d563
11 changed files with 389 additions and 251 deletions
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webui/src/controls/ControlContext.jsx
+16 -8
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@@ -372,10 +372,18 @@ export function ControlSystemProvider({ children }) {
const setServoAngle = useCallback(
(value, options = {}) => {
if (!pipeline.servoConfig) return;
if (!pipeline.servoConfig && !pipeline.isPtzOperator) return;
const force = Boolean(options?.force);
if (state.manualDockAssist?.active && !force) return;
const clamped = clampServoAngle(pipeline.servoConfig, value);
/*
Rover cameras need hardware min/max clamping from their servo config.
PTZ zoom reuses the same browser camera controls after the rover has
been released, so there may be no rover servo config at all; in that
case the raw numeric target is only used as a direction signal by the
command pipeline and does not represent a physical angle.
*/
const clamped = pipeline.servoConfig ? clampServoAngle(pipeline.servoConfig, value) : Number(value);
if (!Number.isFinite(clamped)) return;
dispatch({ type: 'control/set-camera-angle', payload: clamped });
pipeline.sendServoAngle(clamped);
servoAngleRef.current = clamped;
@@ -387,17 +395,17 @@ export function ControlSystemProvider({ children }) {
const nudgeServo = useCallback(
(delta = 0) => {
const config = pipeline.servoConfig;
if (!config) return;
const step = typeof delta === 'number' && delta !== 0 ? delta : config.nudgeDegrees || 1;
if (!config && !pipeline.isPtzOperator) return;
const step = typeof delta === 'number' && delta !== 0 ? delta : config?.nudgeDegrees || 1;
const baseline =
typeof servoAngleRef.current === 'number'
? servoAngleRef.current
: typeof config.homeAngle === 'number'
: typeof config?.homeAngle === 'number'
? config.homeAngle
: 0;
setServoAngle(baseline + step);
},
[pipeline.servoConfig, setServoAngle],
[pipeline.isPtzOperator, pipeline.servoConfig, setServoAngle],
);
const goServoHome = useCallback(() => {
@@ -484,7 +492,7 @@ export function ControlSystemProvider({ children }) {
const setHeadlight = useCallback(
(headlightOn) => {
if (!pipeline.headlight) return;
if (!pipeline.headlight && !pipeline.isPtzOperator) return;
// Web controls now speak in logical device state. Any electrical
// inversion needed by the actual GPIO driver is handled by roverd's
// activeLow config, so this command stays readable and direct.
@@ -501,7 +509,7 @@ export function ControlSystemProvider({ children }) {
const setLaser = useCallback(
(laserOn) => {
if (!pipeline.laser) return;
if (!pipeline.laser && !pipeline.isPtzOperator) return;
if (roomLightsLockedOn && laserOn !== false) return;
// The laser shares the same logical toggle contract as the headlight; it
// is separate only because it has its own GPIO pin, UI control, and keybind.