horn pass

webui/src/controls/ControlContext.jsx

@@ -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

@@ -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

@@ -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

@@ -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,
   ]);