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horn pass

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This commit is contained in:
legop3
2026-01-31 13:44:35 -05:00
parent 92ab763b27
commit b7d636c70a
26 changed files with 676 additions and 128 deletions
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dist/hornverifier
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dist/roverd
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dist/servoverifier
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pi/roverd/command.go
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@@ -8,6 +8,7 @@ type helloMessage struct {
Media MediaConfig `json:"media"`
CameraServo CameraServoConfig `json:"cameraServo"`
Audio AudioConfig `json:"audio"`
Horn HornConfig `json:"horn"`
NightVision NightVisionConfig `json:"nightVision"`
}
@@ -27,6 +28,7 @@ type inboundMessage struct {
Media *mediaCommand `json:"media,omitempty"`
Servo *servoPayload `json:"servo,omitempty"`
TTS *ttsPayload `json:"tts,omitempty"`
Horn *hornPayload `json:"horn,omitempty"`
NightVision *nightVisionPayload `json:"nightVision,omitempty"`
Song *songPayload `json:"song,omitempty"`
}
@@ -64,6 +66,12 @@ type ttsPayload struct {
Speak bool `json:"speak,omitempty"`
}
type hornPayload struct {
Action string `json:"action"`
Waveform string `json:"waveform,omitempty"`
Freqs []float64 `json:"freqs,omitempty"`
}
type nightVisionPayload struct {
Action string `json:"action"`
}
pi/roverd/config.go
+31
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@@ -65,6 +65,14 @@ type AudioConfig struct {
DefaultPitch int `yaml:"defaultPitch" json:"defaultPitch,omitempty"`
}
type HornConfig struct {
Enabled bool `yaml:"enabled" json:"enabled"`
Volume float64 `yaml:"volume" json:"-"`
SampleRate int `yaml:"sampleRate" json:"-"`
Channels int `yaml:"channels" json:"-"`
Device string `yaml:"device" json:"-"`
}
type MediaConfig struct {
PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
AudioPublishURL string `yaml:"audioPublishUrl" json:"audioPublishUrl,omitempty"`
@@ -113,6 +121,7 @@ type Config struct {
Media MediaConfig `yaml:"media"`
CameraServo CameraServoConfig `yaml:"cameraServo"`
Audio AudioConfig `yaml:"audio"`
Horn HornConfig `yaml:"horn"`
NightVision NightVisionConfig `yaml:"nightVision" json:"nightVision"`
}
@@ -160,6 +169,12 @@ func LoadConfig(path string) (*Config, error) {
DefaultVoice: "rms",
DefaultPitch: 50,
},
Horn: HornConfig{
Enabled: false,
Volume: 0.25,
SampleRate: 48000,
Channels: 1,
},
NightVision: NightVisionConfig{
Enabled: true,
GPIOPin: 22,
@@ -221,6 +236,7 @@ func LoadConfig(path string) (*Config, error) {
return nil, fmt.Errorf("nightVision: %w", err)
}
validateAudioConfig(&cfg.Audio)
validateHornConfig(&cfg.Horn)
return &cfg, nil
}
@@ -291,6 +307,21 @@ func validateAudioConfig(cfg *AudioConfig) {
}
}
func validateHornConfig(cfg *HornConfig) {
if cfg.Volume <= 0 {
cfg.Volume = 0.25
}
if cfg.Volume > 1 {
cfg.Volume = 1
}
if cfg.SampleRate <= 0 {
cfg.SampleRate = 48000
}
if cfg.Channels <= 0 {
cfg.Channels = 1
}
}
func validateNightVisionConfig(cfg *NightVisionConfig) error {
if !cfg.Enabled {
return nil
pi/roverd/horn.go
+232
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@@ -0,0 +1,232 @@
package roverd
import (
"bufio"
"encoding/binary"
"fmt"
"log"
"math"
"os/exec"
"strings"
"sync"
"time"
)
const (
hornAttack = 20 * time.Millisecond
hornRelease = 60 * time.Millisecond
)
type HornSynth struct {
cfg HornConfig
log *log.Logger
mu sync.Mutex
stop chan struct{}
done chan struct{}
active bool
}
func NewHornSynth(cfg HornConfig, logger *log.Logger) *HornSynth {
return &HornSynth{
cfg: cfg,
log: logger,
}
}
func (h *HornSynth) HandlePayload(payload *hornPayload) error {
if payload == nil {
return fmt.Errorf("horn payload required")
}
action := strings.ToLower(strings.TrimSpace(payload.Action))
switch action {
case "start", "on", "honk":
waveform := strings.ToLower(strings.TrimSpace(payload.Waveform))
if waveform != "sine" && waveform != "saw" {
waveform = "saw"
}
freqs := sanitizeHornFreqs(payload.Freqs)
if len(freqs) == 0 {
h.Stop()
return nil
}
return h.Start(waveform, freqs)
case "stop", "off":
h.Stop()
return nil
default:
return fmt.Errorf("unsupported horn action: %s", payload.Action)
}
}
func (h *HornSynth) Start(waveform string, freqs []float64) error {
h.mu.Lock()
h.stopLocked()
stop := make(chan struct{})
done := make(chan struct{})
h.stop = stop
h.done = done
h.active = true
h.mu.Unlock()
go h.run(waveform, freqs, stop, done)
return nil
}
func (h *HornSynth) Stop() {
h.mu.Lock()
h.stopLocked()
h.mu.Unlock()
}
func (h *HornSynth) stopLocked() {
if !h.active {
return
}
if h.stop != nil {
close(h.stop)
}
if h.done != nil {
<-h.done
}
h.stop = nil
h.done = nil
h.active = false
}
func (h *HornSynth) run(waveform string, freqs []float64, stop <-chan struct{}, done chan<- struct{}) {
defer close(done)
rate := h.cfg.SampleRate
if rate <= 0 {
rate = 48000
}
channels := h.cfg.Channels
if channels <= 0 {
channels = 1
}
volume := h.cfg.Volume
if volume <= 0 {
volume = 0.25
}
if volume > 1 {
volume = 1
}
args := []string{"-q", "-f", "S16_LE", "-c", fmt.Sprintf("%d", channels), "-r", fmt.Sprintf("%d", rate), "-t", "raw"}
if h.cfg.Device != "" {
args = append(args, "-D", h.cfg.Device)
}
cmd := exec.Command("aplay", args...)
stdin, err := cmd.StdinPipe()
if err != nil {
h.log.Printf("horn: aplay stdin failed: %v", err)
return
}
if err := cmd.Start(); err != nil {
h.log.Printf("horn: aplay start failed: %v", err)
_ = stdin.Close()
return
}
writer := bufio.NewWriterSize(stdin, 32*1024)
if err := h.synthLoop(writer, waveform, freqs, rate, channels, volume, stop); err != nil {
h.log.Printf("horn: synth failed: %v", err)
}
_ = writer.Flush()
_ = stdin.Close()
if err := cmd.Wait(); err != nil {
h.log.Printf("horn: aplay exit: %v", err)
}
}
func (h *HornSynth) synthLoop(writer *bufio.Writer, waveform string, freqs []float64, rate, channels int, volume float64, stop <-chan struct{}) error {
phase := make([]float64, len(freqs))
increment := make([]float64, len(freqs))
for i, f := range freqs {
increment[i] = 2 * math.Pi * f / float64(rate)
}
attackFrames := int(float64(rate) * hornAttack.Seconds())
releaseFrames := int(float64(rate) * hornRelease.Seconds())
framesPerChunk := 512
buf := make([]byte, framesPerChunk*channels*2)
scale := volume / float64(len(freqs))
stopRequested := false
releaseStart := -1
sampleIndex := 0
for {
if !stopRequested {
select {
case <-stop:
stopRequested = true
releaseStart = sampleIndex
default:
}
}
for i := 0; i < framesPerChunk; i++ {
env := 1.0
if attackFrames > 0 && sampleIndex < attackFrames {
env = float64(sampleIndex) / float64(attackFrames)
} else if stopRequested && releaseFrames > 0 {
relIndex := sampleIndex - releaseStart
if relIndex >= releaseFrames {
return nil
}
env = float64(releaseFrames-relIndex) / float64(releaseFrames)
} else if stopRequested {
return nil
}
sample := 0.0
for j := range freqs {
switch waveform {
case "sine":
sample += math.Sin(phase[j])
default:
sample += sawFromPhase(phase[j])
}
phase[j] += increment[j]
if phase[j] > 2*math.Pi {
phase[j] -= 2 * math.Pi
}
}
sample *= scale * env
if sample > 1.0 {
sample = 1.0
} else if sample < -1.0 {
sample = -1.0
}
intSample := int16(sample * math.MaxInt16)
offset := i * channels * 2
for ch := 0; ch < channels; ch++ {
binary.LittleEndian.PutUint16(buf[offset+ch*2:], uint16(intSample))
}
sampleIndex++
}
if _, err := writer.Write(buf); err != nil {
return err
}
}
}
func sanitizeHornFreqs(freqs []float64) []float64 {
if len(freqs) == 0 {
return nil
}
out := make([]float64, 0, 4)
for _, f := range freqs {
if len(out) >= 4 {
break
}
if f <= 0 {
continue
}
out = append(out, f)
}
return out
}
func sawFromPhase(phase float64) float64 {
return 2.0*(phase/(2*math.Pi)) - 1.0
}
pi/roverd/roverd.sample.yaml
+5
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@@ -45,6 +45,11 @@ audio:
defaultEngine: flite
defaultVoice: rms
defaultPitch: 50
horn:
enabled: false
volume: 0.25
sampleRate: 48000
channels: 1
nightVision:
enabled: true
gpioPin: 22
pi/roverd/wsclient.go
+12
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@@ -20,6 +20,7 @@ type WSClient struct {
events chan RoverEvent
media *MediaSupervisor
servo *CameraServo
horn *HornSynth
nightVision *NightVisionLight
log *log.Logger
recoverMu sync.Mutex
@@ -38,6 +39,10 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
if cfg.Audio.TTSEnabled {
ttsQueue = make(chan *ttsPayload, 2)
}
var horn *HornSynth
if cfg.Horn.Enabled {
horn = NewHornSynth(cfg.Horn, logger)
}
return &WSClient{
cfg: cfg,
adapter: adapter,
@@ -45,6 +50,7 @@ func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, even
events: events,
media: media,
servo: servo,
horn: horn,
nightVision: nightVision,
log: logger,
ttsQueue: ttsQueue,
@@ -101,6 +107,7 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
Media: c.cfg.Media,
CameraServo: c.cfg.CameraServo,
Audio: c.cfg.Audio,
Horn: c.cfg.Horn,
NightVision: c.cfg.NightVision,
}
c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
@@ -180,6 +187,11 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
return c.handleServoCommand(msg.Servo)
case msg.TTS != nil:
return c.enqueueTTS(msg.TTS)
case msg.Horn != nil:
if c.horn == nil {
return fmt.Errorf("horn disabled")
}
return c.horn.HandlePayload(msg.Horn)
case msg.NightVision != nil:
if c.nightVision == nil {
return fmt.Errorf("night vision disabled")
server/public/assets/index-B5cgjyeo.css
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server/public/assets/index-BCh_wcG5.js
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server/public/assets/index-BPUZmTmb.css
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server/public/assets/index-CJ2tCddN.js
-119
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server/public/index.html
+2 -2
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@@ -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-CJ2tCddN.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BPUZmTmb.css">
<script type="module" crossorigin src="/assets/index-BCh_wcG5.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-B5cgjyeo.css">
</head>
<body>
<div id="root"></div>
server/src/services/roverManager.js
+1
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@@ -151,6 +151,7 @@ function getRoster() {
media: record.meta?.media,
cameraServo: record.meta?.cameraServo,
audio: record.meta?.audio,
horn: record.meta?.horn,
nightVision: record.meta?.nightVision
? { ...record.meta.nightVision, state: record.nightVisionState }
: record.meta?.nightVision,
webui/src/components/CameraServoPanel.jsx
+13 -2
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@@ -2,6 +2,7 @@ import { useEffect, useRef, useState } from 'react';
import { useControlSystem } from '../controls/index.js';
import { formatKeyLabel } from '../controls/keymapUtils.js';
import NightVisionControl from './NightVisionControl.jsx';
import HornControl from './HornControl.jsx';
const SLIDER_THROTTLE_MS = 150;
@@ -14,13 +15,15 @@ export default function CameraServoPanel() {
const {
state: { roverId, camera, keymap },
pipeline,
actions: { setServoAngle, nudgeServo, goServoHome, setNightVision },
actions: { setServoAngle, nudgeServo, goServoHome, setNightVision, startHorn, stopHorn },
} = useControlSystem();
const config = camera?.config;
const enabled = Boolean(roverId && camera?.enabled && config);
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn);
const nightVisionKey = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
const hornKey = formatKeyLabel(keymap?.hornHonk?.[0]);
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
@@ -30,7 +33,7 @@ export default function CameraServoPanel() {
? config.homeAngle
: (min + max) / 2;
if (!enabled && !nightVisionAvailable) return null;
if (!enabled && !nightVisionAvailable && !hornAvailable) return null;
const [pendingAngle, setPendingAngle] = useState(value);
const throttleRef = useRef(null);
@@ -101,6 +104,14 @@ export default function CameraServoPanel() {
keyLabel={nightVisionKey}
/>
)}
{hornAvailable && (
<HornControl
disabled={!roverId}
onStart={startHorn}
onStop={stopHorn}
keyLabel={hornKey}
/>
)}
{enabled && (
<>
<div className="flex items-center justify-between text-sm text-slate-300">
webui/src/components/ControlSummary.jsx
+8 -2
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@@ -7,6 +7,7 @@ import TopDownMap from './TopDownMap.jsx';
import RoverRoster from './RoverRoster.jsx';
import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
import NightVisionControl from './NightVisionControl.jsx';
import HornControl from './HornControl.jsx';
export function RoverRosterPanel({ title = 'Rovers' }) {
const { session, requestControl } = useSession();
@@ -76,13 +77,14 @@ export function InlineCameraTilt({ keymap }) {
const {
state: { roverId, camera },
pipeline,
actions: { setServoAngle, setNightVision },
actions: { setServoAngle, setNightVision, startHorn, stopHorn },
} = useControlSystem();
const config = camera?.config;
const enabled = Boolean(roverId && camera?.enabled && config);
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn);
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
@@ -113,10 +115,11 @@ export function InlineCameraTilt({ keymap }) {
draggingRef.current = false;
};
if (!enabled && !nightVisionAvailable) return null;
if (!enabled && !nightVisionAvailable && !hornAvailable) return null;
const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);
const nightVisionLabel = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
const hornLabel = formatKeyLabel(keymap?.hornHonk?.[0]);
return (
<div className="surface space-y-0.5 p-0 text-sm text-slate-200">
@@ -128,6 +131,9 @@ export function InlineCameraTilt({ keymap }) {
keyLabel={nightVisionLabel}
/>
)}
{hornAvailable && (
<HornControl disabled={!roverId} onStart={startHorn} onStop={stopHorn} keyLabel={hornLabel} />
)}
{enabled && (
<div className="space-y-0.5 px-1 py-1">
<div className="flex items-center justify-between text-xs text-slate-300">
webui/src/components/HornControl.jsx
+72
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@@ -0,0 +1,72 @@
import { useMemo, useState } from 'react';
export default function HornControl({
disabled,
onStart,
onStop,
keyLabel,
className = '',
}) {
const [pressed, setPressed] = useState(false);
const buttonClasses = useMemo(() => {
const base =
'group flex w-full items-center justify-between rounded-xl border-2 px-1 py-0.75 text-xs font-semibold';
const active = 'border-rose-300/70 bg-rose-800 text-rose-50 hover:bg-rose-700';
const inactive = 'border-amber-300/70 bg-amber-900 text-amber-50 hover:bg-amber-800';
return [base, pressed ? active : inactive, 'disabled:opacity-50', className]
.filter(Boolean)
.join(' ');
}, [className, pressed]);
const start = () => {
if (disabled) return;
if (!pressed) {
setPressed(true);
onStart?.();
}
};
const stop = () => {
if (pressed) {
setPressed(false);
onStop?.();
}
};
return (
<button
type="button"
onPointerDown={(event) => {
event.preventDefault();
start();
}}
onPointerUp={(event) => {
event.preventDefault();
stop();
}}
onPointerLeave={stop}
onPointerCancel={stop}
onBlur={stop}
disabled={disabled}
aria-pressed={pressed}
className={buttonClasses}
>
<span className="flex items-center gap-0.5">
<span>Horn</span>
{keyLabel ? (
<span className="rounded bg-slate-800 px-1 py-0.5 text-[0.6rem] font-semibold text-slate-200">
{keyLabel}
</span>
) : null}
</span>
<span
className={`rounded px-1 py-0.5 text-[0.65rem] font-semibold ${
pressed ? 'bg-rose-400 text-rose-950' : 'bg-slate-700 text-slate-200'
}`}
>
{pressed ? 'HONK' : 'Hold'}
</span>
</button>
);
}
webui/src/components/HornSettings.jsx
+85
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@@ -0,0 +1,85 @@
import { useCallback, useEffect, useMemo, useState } from 'react';
import { useSettingsNamespace } from '../settings/index.js';
import { HORN_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
function clampFreq(value) {
const num = Number(value);
if (!Number.isFinite(num)) return 0;
if (num <= 0) return 0;
return Math.min(5000, Math.round(num));
}
export default function HornSettings() {
const { value: hornSettings, save: saveHornSettings } = useSettingsNamespace(
'horn',
HORN_SETTINGS_DEFAULTS,
);
const [waveform, setWaveform] = useState(hornSettings?.waveform || HORN_SETTINGS_DEFAULTS.waveform);
const [freqs, setFreqs] = useState(() => {
const base = Array.isArray(hornSettings?.freqs) ? hornSettings.freqs : HORN_SETTINGS_DEFAULTS.freqs;
return [...base, 0, 0, 0, 0].slice(0, 4).map((f) => clampFreq(f));
});
useEffect(() => {
setWaveform(hornSettings?.waveform || HORN_SETTINGS_DEFAULTS.waveform);
if (Array.isArray(hornSettings?.freqs)) {
setFreqs([...hornSettings.freqs, 0, 0, 0, 0].slice(0, 4).map((f) => clampFreq(f)));
}
}, [hornSettings?.freqs, hornSettings?.waveform]);
const formattedWaveform = useMemo(
() => (waveform === 'sine' ? 'sine' : 'saw'),
[waveform],
);
const updateWaveform = useCallback(
(event) => {
const next = event.target.value === 'sine' ? 'sine' : 'saw';
setWaveform(next);
saveHornSettings((current) => ({ ...(current ?? {}), waveform: next }));
},
[saveHornSettings],
);
const updateFreq = useCallback(
(index, value) => {
setFreqs((prev) => {
const next = [...prev];
next[index] = clampFreq(value);
saveHornSettings((current) => ({ ...(current ?? {}), freqs: next }));
return next;
});
},
[saveHornSettings],
);
return (
<section className="panel-section space-y-0.5 text-sm">
<p className="text-slate-400">Horn</p>
<label className="flex items-center justify-between gap-0.5 text-slate-200">
<span>Waveform</span>
<select value={formattedWaveform} onChange={updateWaveform} className="field-input text-sm">
<option value="saw">Saw</option>
<option value="sine">Sine</option>
</select>
</label>
<div className="grid grid-cols-2 gap-0.5">
{freqs.map((freq, idx) => (
<label key={`horn-freq-${idx}`} className="surface-muted flex items-center justify-between gap-0.5">
<span className="text-[0.7rem] text-slate-300">Freq {idx + 1}</span>
<input
type="number"
min={0}
max={5000}
step={1}
value={freq}
onChange={(event) => updateFreq(idx, event.target.value)}
className="w-20 rounded border border-slate-700 bg-slate-900 px-1 py-[2px] text-right text-[0.75rem] font-mono text-slate-100"
/>
</label>
))}
</div>
<p className="text-xs text-slate-500">Set a frequency to 0 to disable that oscillator.</p>
</section>
);
}
webui/src/components/KeymapSettings.jsx
+1
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@@ -22,6 +22,7 @@ const KEY_ACTIONS = [
{ id: 'cameraUp', label: 'Camera Up', group: 'Camera' },
{ id: 'cameraDown', label: 'Camera Down', group: 'Camera' },
{ id: 'nightVisionToggle', label: 'Toggle Night Vision', group: 'Camera' },
{ id: 'hornHonk', label: 'Horn (Hold)', group: 'Audio' },
{ 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
+6 -1
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@@ -3,6 +3,7 @@ import { useControlSystem } from '../controls/index.js';
import { clampUnit } from '../controls/controlMath.js';
import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
import NightVisionControl from './NightVisionControl.jsx';
import HornControl from './HornControl.jsx';
const SOURCE = 'mobile-joystick';
const JOYSTICK_RADIUS = 80;
@@ -135,7 +136,7 @@ function MobileJoystickPanel({ layout }) {
const {
state: { roverId, camera },
pipeline,
actions: { setDriveVector, registerInputState, setServoAngle, setNightVision },
actions: { setDriveVector, registerInputState, setServoAngle, setNightVision, startHorn, stopHorn },
} = useControlSystem();
const driveDockState = useDriveDockState(roverId);
const dockedNotDriving = driveDockState.docked && !driveDockState.driving;
@@ -144,6 +145,7 @@ function MobileJoystickPanel({ layout }) {
const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn);
const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
const cameraValue =
@@ -223,6 +225,9 @@ function MobileJoystickPanel({ layout }) {
onToggle={handleNightVisionToggle}
/>
)}
{hornAvailable && (
<HornControl disabled={disabled} onStart={startHorn} onStop={stopHorn} />
)}
{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/components/SettingsPanel.jsx
+2
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@@ -8,6 +8,7 @@ import OvercurrentLimiterPanel from './OvercurrentLimiterPanel.jsx';
import Tabs, { Tab, TabList, TabPanel, TabPanels } from './Tabs.jsx';
import SessionSnapshot from './SessionSnapshot.jsx';
import SocketLogPanel from './SocketLogPanel.jsx';
import HornSettings from './HornSettings.jsx';
import { useHudMapSetting } from '../hooks/useHudMapSetting.js';
import { useSettingsNamespace } from '../settings/index.js';
import { useSocket } from '../context/SocketContext.jsx';
@@ -67,6 +68,7 @@ export default function SettingsPanel() {
<TabPanel id="keybindings">
<div className="space-y-0.5">
<KeymapSettings />
<HornSettings />
</div>
</TabPanel>
<TabPanel id="controller">
webui/src/controls/ControlContext.jsx
+31
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@@ -6,6 +6,7 @@ import { DEFAULT_KEYMAP, DEFAULT_MACROS, SONG_DEFAULT_NOTE } from './constants.j
import { canonicalizeKeyInput } from './keymapUtils.js';
import { useSettingsNamespace } from '../settings/index.js';
import { useSession } from '../context/SessionContext.jsx';
import { HORN_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import {
applyAuxOvercurrentScale,
applyDriveOvercurrentScale,
@@ -36,6 +37,7 @@ export function ControlSystemProvider({ children }) {
value: controlSettings,
save: saveControlSettings,
} = useSettingsNamespace('controls', { keymap: DEFAULT_KEYMAP, macros: DEFAULT_MACROS });
const { value: hornSettings } = useSettingsNamespace('horn', HORN_SETTINGS_DEFAULTS);
const { session, homeAssistantSetState } = useSession();
const roverId = session?.assignment?.roverId ?? null;
const overcurrentLimiter = useOvercurrentLimiter(roverId);
@@ -346,6 +348,31 @@ export function ControlSystemProvider({ children }) {
[pipeline],
);
const normalizedHornSettings = useMemo(() => {
const base = hornSettings ?? HORN_SETTINGS_DEFAULTS;
const waveform = base.waveform === 'sine' ? 'sine' : 'saw';
const freqs = Array.isArray(base.freqs) ? base.freqs : HORN_SETTINGS_DEFAULTS.freqs;
const normalized = [...freqs, 0, 0, 0, 0]
.slice(0, 4)
.map((value) => {
const num = Number(value);
if (!Number.isFinite(num)) return 0;
return num <= 0 ? 0 : Math.min(5000, Math.round(num));
});
return { waveform, freqs: normalized };
}, [hornSettings]);
const startHorn = useCallback(() => {
if (!pipeline.horn) return;
pipeline.sendHorn({ action: 'start', ...normalizedHornSettings });
recordControlIntent();
}, [normalizedHornSettings, pipeline, recordControlIntent]);
const stopHorn = useCallback(() => {
if (!pipeline.horn) return;
pipeline.sendHorn({ action: 'stop' });
}, [pipeline]);
const registerInputState = useCallback((source, data) => {
dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
}, []);
@@ -374,6 +401,8 @@ export function ControlSystemProvider({ children }) {
registerInputState,
setSongNote,
sendSong,
startHorn,
stopHorn,
},
}),
[
@@ -397,6 +426,8 @@ export function ControlSystemProvider({ children }) {
registerInputState,
setSongNote,
sendSong,
startHorn,
stopHorn,
],
);
webui/src/controls/commandPipeline.js
+21
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@@ -32,6 +32,11 @@ export function useCommandPipeline(options = {}) {
return rosterEntry.nightVision;
}, [rosterEntry]);
const horn = useMemo(() => {
if (!rosterEntry?.horn || !rosterEntry.horn.enabled) return null;
return rosterEntry.horn;
}, [rosterEntry]);
const nightVisionState = useMemo(() => rosterEntry?.nightVision?.state ?? null, [rosterEntry]);
const emitCommand = useCallback(
@@ -172,6 +177,18 @@ export function useCommandPipeline(options = {}) {
[emitCommand, nightVision, roverId],
);
const sendHorn = useCallback(
(payload) => {
if (!roverId) return null;
emitCommand({
type: 'horn',
data: { horn: payload },
});
return payload;
},
[emitCommand, roverId],
);
const sendSong = useCallback(
(notes = [], options = {}) => {
if (!roverId) return null;
@@ -205,6 +222,7 @@ export function useCommandPipeline(options = {}) {
servoConfig,
nightVision,
nightVisionState,
horn,
emitCommand,
enableSensorStream,
sendDriveDirect,
@@ -212,6 +230,7 @@ export function useCommandPipeline(options = {}) {
sendServoAngle,
sendOiCommand,
sendNightVision,
sendHorn,
sendSong,
runMacroSteps,
}),
@@ -221,6 +240,7 @@ export function useCommandPipeline(options = {}) {
servoConfig,
nightVision,
nightVisionState,
horn,
emitCommand,
enableSensorStream,
sendDriveDirect,
@@ -228,6 +248,7 @@ export function useCommandPipeline(options = {}) {
sendServoAngle,
sendOiCommand,
sendNightVision,
sendHorn,
runMacroSteps,
],
);
webui/src/controls/constants.js
+1
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@@ -42,6 +42,7 @@ export const DEFAULT_KEYMAP = {
cameraUp: ['u'],
cameraDown: ['j'],
nightVisionToggle: ['e'],
hornHonk: ['h'],
driveMacro: ['f'],
dockMacro: ['g'],
chatFocus: ['enter'],
webui/src/controls/inputs/KeyboardInputManager.jsx
+20 -1
View File
@@ -126,6 +126,8 @@ export default function KeyboardInputManager() {
stopAllMotion,
registerInputState,
toggleNightVision,
startHorn,
stopHorn,
setSongNote,
sendSong,
},
@@ -174,6 +176,7 @@ export default function KeyboardInputManager() {
const lastAuxRef = useRef(ZERO_AUX);
const servoIntervalRef = useRef(null);
const songIntervalRef = useRef(null);
const hornActiveRef = useRef(false);
const driveFromKeys = useCallback(() => {
const tokensSnapshot = new Set(activeTokensRef.current);
@@ -299,9 +302,13 @@ export default function KeyboardInputManager() {
lastAuxRef.current = ZERO_AUX;
stopServoLoop();
stopSongLoop();
if (hornActiveRef.current) {
hornActiveRef.current = false;
stopHorn();
}
stopAllMotion();
registerInputState(SOURCE, { keys: [], vector: ZERO_VECTOR, aux: ZERO_AUX });
}, [registerInputState, stopAllMotion, stopServoLoop, stopSongLoop]);
}, [registerInputState, stopAllMotion, stopHorn, stopServoLoop, stopSongLoop]);
const triggerHomeAssistantCycle = useCallback(
(targetState) => {
@@ -364,6 +371,11 @@ export default function KeyboardInputManager() {
runMacro('seek-dock');
} else if (newlyPressed.some((token) => keymap.nightVisionToggle?.has(token))) {
toggleNightVision();
} else if (newlyPressed.some((token) => keymap.hornHonk?.has(token))) {
if (!hornActiveRef.current) {
hornActiveRef.current = true;
startHorn();
}
} else if (newlyPressed.some((token) => keymap.homeAssistantOn?.has(token))) {
triggerHomeAssistantCycle('on');
} else if (newlyPressed.some((token) => keymap.homeAssistantOff?.has(token))) {
@@ -379,6 +391,10 @@ export default function KeyboardInputManager() {
function handleKeyUp(event) {
const tokens = tokensForEvent(event);
tokens.forEach((token) => activeTokensRef.current.delete(token));
if (hornActiveRef.current && !bindingActive(keymap.hornHonk, activeTokensRef.current)) {
hornActiveRef.current = false;
stopHorn();
}
ensureServoLoop();
ensureSongLoop();
driveFromKeys();
@@ -407,11 +423,14 @@ export default function KeyboardInputManager() {
keymap.chatFocus,
keymap.dockMacro,
keymap.driveMacro,
keymap.hornHonk,
resetAll,
runMacro,
setMode,
stopAllMotion,
stopSongLoop,
startHorn,
stopHorn,
triggerHomeAssistantCycle,
]);
webui/src/settings/namespaces.js
+5
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@@ -85,3 +85,8 @@ export const GAMEPAD_SETTINGS_DEFAULTS = {
profile: GAMEPAD_PROFILE_DEFAULT,
},
};
export const HORN_SETTINGS_DEFAULTS = {
waveform: 'saw',
freqs: [440, 550, 660, 0],
};