From b86eec88f8b7dc8aba30fbedbb90c4991707857b Mon Sep 17 00:00:00 2001
From: legop3 <minecratfd8@gmail.com>
Date: Fri, 17 Jul 2026 23:33:46 -0400
Subject: [PATCH] trying to fix zoom stopping camera

---
 server/src/services/ptzCameraService/index.js | 30 +++++++++----------
 to-do.md                                      |  9 ++++--
 2 files changed, 21 insertions(+), 18 deletions(-)

diff --git a/server/src/services/ptzCameraService/index.js b/server/src/services/ptzCameraService/index.js
index 5e7c2cca..0942d923 100644
--- a/server/src/services/ptzCameraService/index.js
+++ b/server/src/services/ptzCameraService/index.js
@@ -1223,19 +1223,7 @@ function requestMotionCommands({ fullStop = false, panTilt = false, zoom = false
         const zoom = desiredMotion.zoom;
         try {
           await initialize();
-          if (!zoom) {
-            /*
-              Zero zoom velocity is the axis-local release. The camera's Stop
-              implementation is over-broad and halts pan/tilt even when the
-              request includes only Zoom=true.
-            */
-            await callOnvif('continuousMove', {
-              profileToken: state.profileToken,
-              zoom: 0,
-              onlySendZoom: true,
-              timeout: ZOOM_PULSE_TIMEOUT_MS,
-            });
-          } else {
+          if (zoom) {
             /*
               The TrackMix does not advertise continuous zoom, but physical
               testing showed each accepted zoom-only ContinuousMove advances one
@@ -1290,7 +1278,7 @@ function syncZoomRepeater() {
   }, ZOOM_REPEAT_MS);
 }
 
-function queueMotionIntent(motion, reason = 'input', options = {}) {
+function queueMotionIntent(motion, reason = 'input') {
   const nextMotion = normalizeMotionIntent(motion);
   const panTiltChanged = !panTiltMatches(nextMotion, desiredMotion);
   const zoomChanged = nextMotion.zoom !== desiredMotion.zoom;
@@ -1315,10 +1303,20 @@ function queueMotionIntent(motion, reason = 'input', options = {}) {
     either motor scheduler: pan/tilt already has a long continuous command, and
     zoom has its own 120 ms axis-only repeater.
   */
-  const sendPanTilt = panTiltChanged || Boolean(options.forceAxes);
-  const sendZoom = zoomChanged || Boolean(options.forceAxes);
+  const sendPanTilt = panTiltChanged;
+  /*
+    A live-camera recording proved that both Stop(Zoom=true) and a zero-velocity
+    zoom ContinuousMove halt pan/tilt on this firmware. Zoom itself is step-based:
+    each non-zero pulse advances once and then settles. Releasing zoom therefore
+    means clearing its timer and any coalesced-but-unsent pulse, with no camera
+    command at all. The last transmitted pulse retains its finite one-second
+    timeout as a backstop.
+  */
+  if (zoomChanged && !nextMotion.zoom) pendingZoomCommand = false;
+  const sendZoom = Boolean(nextMotion.zoom) && zoomChanged;
   if (sendPanTilt) armPanTiltRenewal();
   if (sendZoom) syncZoomRepeater();
+  if (zoomChanged && !nextMotion.zoom) clearZoomRepeat();
   const pending = requestMotionCommands({ panTilt: sendPanTilt, zoom: sendZoom });
   pending.catch(() => {});
   return { ok: true, motion: desiredMotion, reason };
diff --git a/to-do.md b/to-do.md
index ffd3fb16..a977c112 100644
--- a/to-do.md
+++ b/to-do.md
@@ -1,7 +1,12 @@
 1. assign rovers based on battery percentage, give people highest one
 2. add admin ui for VIP and private requests instead of only through discord
-3. add more background gap themes
-4.  fix this:
+3. add flag in roverd for video aspect ratio
+   1. either 4:3 or 16:9
+   2. default is 4:3
+   3. all it does is tell the web UI to make the rover video 16:9 or 4:3 shaped
+      1. web UI should default to 4:3 if that rover doesnt yet have that config yet
+4. add more background gap themes
+5.  fix this:
 `Jun 18 15:14:18 roombaserver.local node[216731]: /home/daniel/MultiRoombaRover/server/src/services/roverManager/socketHandlers.js:92
 Jun 18 15:14:18 roombaserver.local node[216731]:         cb({ error: err.message });
 Jun 18 15:14:18 roombaserver.local node[216731]:         ^