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horn limits and such

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legop3
2026-01-31 16:11:24 -05:00
parent 92c9ae4834
commit c24ae71e63
16 changed files with 203 additions and 142 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/config.go
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@@ -73,6 +73,7 @@ type HornConfig struct {
Device string `yaml:"device" json:"-"`
SineGain float64 `yaml:"sineGain" json:"-"`
SawGain float64 `yaml:"sawGain" json:"-"`
MaxDuration Duration `yaml:"maxDuration" json:"-"`
}
type MediaConfig struct {
@@ -178,6 +179,7 @@ func LoadConfig(path string) (*Config, error) {
Channels: 1,
SineGain: 1.0,
SawGain: 0.7,
MaxDuration: Duration{Duration: 1200 * time.Millisecond},
},
NightVision: NightVisionConfig{
Enabled: true,
@@ -330,6 +332,9 @@ func validateHornConfig(cfg *HornConfig) {
if cfg.SawGain <= 0 {
cfg.SawGain = 0.7
}
if cfg.MaxDuration.Duration <= 0 {
cfg.MaxDuration = Duration{Duration: 1200 * time.Millisecond}
}
}
func validateNightVisionConfig(cfg *NightVisionConfig) error {
pi/roverd/horn.go
+10 -2
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@@ -135,7 +135,11 @@ func (h *HornSynth) run(waveform string, freqs []float64, stop <-chan struct{})
h.mu.Unlock()
writer := bufio.NewWriterSize(stdin, 32*1024)
if err := h.synthLoop(writer, waveform, freqs, rate, channels, volume, stop); err != nil {
maxFrames := 0
if h.cfg.MaxDuration.Duration > 0 {
maxFrames = int(float64(rate) * h.cfg.MaxDuration.Duration.Seconds())
}
if err := h.synthLoop(writer, waveform, freqs, rate, channels, volume, maxFrames, stop); err != nil {
h.log.Printf("horn: synth failed: %v", err)
}
_ = writer.Flush()
@@ -151,7 +155,7 @@ func (h *HornSynth) run(waveform string, freqs []float64, stop <-chan struct{})
h.mu.Unlock()
}
func (h *HornSynth) synthLoop(writer *bufio.Writer, waveform string, freqs []float64, rate, channels int, volume float64, stop <-chan struct{}) error {
func (h *HornSynth) synthLoop(writer *bufio.Writer, waveform string, freqs []float64, rate, channels int, volume float64, maxFrames int, stop <-chan struct{}) error {
phase := make([]float64, len(freqs))
increment := make([]float64, len(freqs))
for i, f := range freqs {
@@ -182,6 +186,10 @@ func (h *HornSynth) synthLoop(writer *bufio.Writer, waveform string, freqs []flo
}
}
for i := 0; i < framesPerChunk; i++ {
if maxFrames > 0 && sampleIndex >= maxFrames && !stopRequested {
stopRequested = true
releaseStart = sampleIndex
}
env := 1.0
if attackFrames > 0 && sampleIndex < attackFrames {
env = float64(sampleIndex) / float64(attackFrames)
pi/roverd/roverd.sample.yaml
+1
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@@ -52,6 +52,7 @@ horn:
channels: 1
sineGain: 1.0
sawGain: 0.7
maxDuration: 1.2s
nightVision:
enabled: true
gpioPin: 22
server/public/assets/index-CoJQOHy3.js
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server/public/assets/index-CqhqXcs8.js
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server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<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-CqhqXcs8.js"></script>
<script type="module" crossorigin src="/assets/index-CoJQOHy3.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-CQCz6Dh4.css">
</head>
<body>
webui/src/components/CameraServoPanel.jsx
+2 -1
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@@ -24,6 +24,7 @@ export default function CameraServoPanel() {
const hornAvailable = Boolean(roverId && pipeline?.horn);
const nightVisionKey = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
const hornKey = formatKeyLabel(keymap?.hornHonk?.[0]);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now();
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
@@ -106,7 +107,7 @@ export default function CameraServoPanel() {
)}
{hornAvailable && (
<HornControl
disabled={!roverId}
disabled={!roverId || hornCooldownActive}
onStart={startHorn}
onStop={stopHorn}
keyLabel={hornKey}
webui/src/components/ControlSummary.jsx
+2 -1
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@@ -85,6 +85,7 @@ export function InlineCameraTilt({ keymap }) {
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now();
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value =
@@ -133,7 +134,7 @@ export function InlineCameraTilt({ keymap }) {
)}
{hornAvailable && (
<HornControl
disabled={!roverId}
disabled={!roverId || hornCooldownActive}
onStart={startHorn}
onStop={stopHorn}
keyLabel={hornLabel}
webui/src/components/MobileControls.jsx
+7 -1
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@@ -146,6 +146,7 @@ function MobileJoystickPanel({ layout }) {
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now();
const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
const cameraValue =
@@ -226,7 +227,12 @@ function MobileJoystickPanel({ layout }) {
/>
)}
{hornAvailable && (
<HornControl disabled={disabled} onStart={startHorn} onStop={stopHorn} active={horn?.active} />
<HornControl
disabled={disabled || hornCooldownActive}
onStart={startHorn}
onStop={stopHorn}
active={horn?.active}
/>
)}
{cameraEnabled && (
<div className="bg-zinc-950 p-0.5 text-xs">
webui/src/controls/ControlContext.jsx
+29 -2
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@@ -2,7 +2,7 @@ import { createContext, useCallback, useContext, useEffect, useMemo, useReducer,
import { controlReducer, initialControlState } from './controlReducer.js';
import { computeDifferentialSpeeds, clamp } from './controlMath.js';
import { useCommandPipeline } from './commandPipeline.js';
import { DEFAULT_KEYMAP, DEFAULT_MACROS, SONG_DEFAULT_NOTE } from './constants.js';
import { DEFAULT_KEYMAP, DEFAULT_MACROS, HORN_COOLDOWN_MS, HORN_MAX_MS, SONG_DEFAULT_NOTE } from './constants.js';
import { canonicalizeKeyInput } from './keymapUtils.js';
import { useSettingsNamespace } from '../settings/index.js';
import { useSession } from '../context/SessionContext.jsx';
@@ -33,6 +33,8 @@ export function ControlSystemProvider({ children }) {
const prevModeRef = useRef(null);
const pendingLightsRef = useRef(false);
const servoAngleRef = useRef(initialControlState.camera.angle);
const hornAutoStopRef = useRef(null);
const hornCooldownRef = useRef(null);
const {
value: controlSettings,
save: saveControlSettings,
@@ -364,15 +366,40 @@ export function ControlSystemProvider({ children }) {
const startHorn = useCallback(() => {
if (!pipeline.horn) return;
const now = Date.now();
const cooldownUntil = state.horn?.cooldownUntil ?? 0;
if (cooldownUntil && now < cooldownUntil) return false;
if (state.horn?.active) return false;
pipeline.sendHorn({ action: 'start', ...normalizedHornSettings });
dispatch({ type: 'control/set-horn-active', payload: true });
if (hornAutoStopRef.current) {
clearTimeout(hornAutoStopRef.current);
hornAutoStopRef.current = null;
}
hornAutoStopRef.current = setTimeout(() => {
stopHorn();
}, HORN_MAX_MS);
recordControlIntent();
}, [dispatch, normalizedHornSettings, pipeline, recordControlIntent]);
return true;
}, [dispatch, normalizedHornSettings, pipeline, recordControlIntent, state.horn?.active, state.horn?.cooldownUntil]);
const stopHorn = useCallback(() => {
if (!pipeline.horn) return;
pipeline.sendHorn({ action: 'stop' });
dispatch({ type: 'control/set-horn-active', payload: false });
if (hornAutoStopRef.current) {
clearTimeout(hornAutoStopRef.current);
hornAutoStopRef.current = null;
}
const cooldownUntil = Date.now() + HORN_COOLDOWN_MS;
dispatch({ type: 'control/set-horn-cooldown', payload: cooldownUntil });
if (hornCooldownRef.current) {
clearTimeout(hornCooldownRef.current);
}
hornCooldownRef.current = setTimeout(() => {
dispatch({ type: 'control/set-horn-cooldown', payload: 0 });
hornCooldownRef.current = null;
}, HORN_COOLDOWN_MS);
}, [dispatch, pipeline]);
const registerInputState = useCallback((source, data) => {
webui/src/controls/constants.js
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@@ -17,6 +17,9 @@ export const SONG_DEFAULT_NOTE = 60;
export const SONG_DEFAULT_DURATION = 8;
export const SONG_REPEAT_MS = 250;
export const HORN_MAX_MS = 1200;
export const HORN_COOLDOWN_MS = 2500;
export const OI_COMMANDS = {
start: [128],
safe: [131],
webui/src/controls/controlReducer.js
+9
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@@ -30,6 +30,7 @@ function createSongState() {
function createHornState() {
return {
active: false,
cooldownUntil: 0,
};
}
@@ -144,6 +145,14 @@ export function controlReducer(state, action) {
active: Boolean(action.payload),
},
};
case 'control/set-horn-cooldown':
return {
...state,
horn: {
...(state.horn || createHornState()),
cooldownUntil: typeof action.payload === 'number' ? action.payload : 0,
},
};
case 'control/record-intent':
return {
...state,
webui/src/controls/inputs/KeyboardInputManager.jsx
+2 -2
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@@ -373,8 +373,8 @@ export default function KeyboardInputManager() {
toggleNightVision();
} else if (newlyPressed.some((token) => keymap.hornHonk?.has(token))) {
if (!hornActiveRef.current) {
hornActiveRef.current = true;
startHorn();
const started = startHorn();
hornActiveRef.current = Boolean(started);
}
} else if (newlyPressed.some((token) => keymap.homeAssistantOn?.has(token))) {
triggerHomeAssistantCycle('on');