Use WASD keys to drive the selected rover. Shift increases speed.
@@ -52,6 +63,7 @@ + diff --git a/server/public/src/main.js b/server/public/src/main.js index 053d7eaf..c188854d 100644 --- a/server/public/src/main.js +++ b/server/public/src/main.js @@ -2,5 +2,6 @@ requireModule('globals/socket'); requireModule('helpers/formatters'); requireModule('services/state'); requireModule('services/alertFeed'); +requireModule('services/authControls'); requireModule('services/roverUI'); requireModule('services/driveControls'); diff --git a/server/public/src/services/authControls.js b/server/public/src/services/authControls.js new file mode 100644 index 00000000..e4d3c680 --- /dev/null +++ b/server/public/src/services/authControls.js @@ -0,0 +1,41 @@ +registerModule('services/authControls', (require, exports) => { + const { socket } = require('globals/socket'); + const state = require('services/state'); + + const usernameInput = document.getElementById('username'); + const passwordInput = document.getElementById('password'); + const loginBtn = document.getElementById('loginBtn'); + const roleStatus = document.getElementById('roleStatus'); + const spectatorBtn = document.getElementById('spectatorBtn'); + + function updateRole(role) { + if (roleStatus) { + roleStatus.textContent = `Role: ${role}`; + } + state.setRole(role); + } + + loginBtn?.addEventListener('click', () => { + const username = usernameInput.value.trim(); + const password = passwordInput.value; + socket.emit('auth:login', { username, password }, (resp = {}) => { + if (!resp.success) { + alert(resp.error || 'Login failed'); + } else { + updateRole(resp.role); + } + passwordInput.value = ''; + }); + }); + + socket.on('auth:role', ({ role }) => { + updateRole(role); + }); + // initialize from default role + updateRole(state.getRole()); + + spectatorBtn?.addEventListener('click', () => { + socket.emit('role:set', { role: 'spectator' }); + updateRole('spectator'); + }); +}); diff --git a/server/public/src/services/roverUI.js b/server/public/src/services/roverUI.js index 6aab2d09..0f3467e0 100644 --- a/server/public/src/services/roverUI.js +++ b/server/public/src/services/roverUI.js @@ -8,9 +8,16 @@ registerModule('services/roverUI', (require, exports) => { const sensorOutput = document.getElementById('sensorOutput'); const requestBtn = document.getElementById('requestControl'); const lockBtn = document.getElementById('lockToggle'); + const activeDriverEl = document.getElementById('activeDriver'); let roster = []; + state.onRoleChange((role) => { + const isAdmin = role === 'admin' || role === 'lockdown'; + if (requestBtn) requestBtn.disabled = !isAdmin; + if (lockBtn) lockBtn.disabled = !isAdmin; + }); + socket.on('rovers', (list) => { roster = list; roverSelect.innerHTML = ''; @@ -48,6 +55,13 @@ registerModule('services/roverUI', (require, exports) => { sensorOutput.textContent = lines.join('\n'); }); + socket.on('activeDriver', ({ roverId, socketId }) => { + if (roverId !== state.getSelected()) return; + if (activeDriverEl) { + activeDriverEl.textContent = `Active driver: ${socketId || 'none'}`; + } + }); + requestBtn?.addEventListener('click', () => { socket.emit('requestControl', { roverId: state.getSelected() }); }); diff --git a/server/public/src/services/state.js b/server/public/src/services/state.js index f679871c..b1c55bef 100644 --- a/server/public/src/services/state.js +++ b/server/public/src/services/state.js @@ -1,5 +1,7 @@ registerModule('services/state', (require, exports) => { let selectedRover = null; + let role = 'user'; + const roleListeners = new Set(); function setSelected(roverId) { selectedRover = roverId; @@ -9,6 +11,24 @@ registerModule('services/state', (require, exports) => { return selectedRover; } + function setRole(nextRole) { + role = nextRole; + roleListeners.forEach((cb) => cb(role)); + } + + function getRole() { + return role; + } + + function onRoleChange(cb) { + roleListeners.add(cb); + cb(role); + return () => roleListeners.delete(cb); + } + exports.setSelected = setSelected; exports.getSelected = getSelected; + exports.setRole = setRole; + exports.getRole = getRole; + exports.onRoleChange = onRoleChange; }); diff --git a/server/scripts/hashPassword.js b/server/scripts/hashPassword.js new file mode 100755 index 00000000..38159875 --- /dev/null +++ b/server/scripts/hashPassword.js @@ -0,0 +1,27 @@ +#!/usr/bin/env node +const bcrypt = require('bcrypt'); +const readline = require('readline'); + +const passwordFromArg = process.argv[2]; + +async function hashPassword(password) { + try { + const hash = await bcrypt.hash(password, 10); + console.log(`Password: ${password}`); + console.log(`Hash: ${hash}`); + process.exit(0); + } catch (err) { + console.error('Error hashing password:', err.message); + process.exit(1); + } +} + +if (passwordFromArg) { + hashPassword(passwordFromArg); +} else { + const rl = readline.createInterface({ input: process.stdin, output: process.stdout }); + rl.question('Password to hash: ', (answer) => { + rl.close(); + hashPassword(answer); + }); +} diff --git a/server/src/helpers/configLoader.js b/server/src/helpers/configLoader.js new file mode 100644 index 00000000..d225be03 --- /dev/null +++ b/server/src/helpers/configLoader.js @@ -0,0 +1,20 @@ +const fs = require('fs'); +const path = require('path'); +const yaml = require('js-yaml'); + +const CONFIG_PATH = process.env.SERVER_CONFIG || path.join(__dirname, '..', '..', 'config.yaml'); + +let cachedConfig; + +function loadConfig() { + if (cachedConfig) { + return cachedConfig; + } + const file = fs.readFileSync(CONFIG_PATH, 'utf8'); + cachedConfig = yaml.load(file); + return cachedConfig; +} + +module.exports = { + loadConfig, +}; diff --git a/server/src/services/authService.js b/server/src/services/authService.js index a0ff7b5f..854b005d 100644 --- a/server/src/services/authService.js +++ b/server/src/services/authService.js @@ -1,12 +1,63 @@ -function isAdmin(/* socket */) { - return false; +const bcrypt = require('bcrypt'); +const io = require('../globals/io'); +const { loadConfig } = require('../helpers/configLoader'); +const { clearLockdownTimer } = require('./lockdownGuard'); +const { setRole, roleEvents } = require('./roleService'); + +const config = loadConfig(); +const admins = config.admins || []; + +function findAdmin(username) { + return admins.find((admin) => admin.username === username); } -function isLockdownAdmin(/* socket */) { - return false; +async function authenticate(username, password) { + const admin = findAdmin(username); + if (!admin) { + throw new Error('Invalid credentials'); + } + const ok = await bcrypt.compare(password, admin.password_hash); + if (!ok) { + throw new Error('Invalid credentials'); + } + return admin; } +function isAdmin(socket) { + return socket?.data?.role === 'admin' || socket?.data?.role === 'lockdown'; +} + +function isLockdownAdmin(socket) { + return socket?.data?.role === 'lockdown'; +} + +io.on('connection', (socket) => { + setRole(socket, 'user'); + socket.emit('auth:role', { role: 'user' }); + socket.on('auth:login', async ({ username, password }, cb = () => {}) => { + try { + const admin = await authenticate(username, password); + const role = admin.lockdown ? 'lockdown' : 'admin'; + socket.data.user = { username: admin.username, discordId: admin.discord_id }; + setRole(socket, role); + socket.emit('auth:role', { role }); + clearLockdownTimer(socket); + cb({ success: true, role: socket.data.role }); + } catch (err) { + cb({ success: false, error: err.message }); + } + }); + + socket.on('role:set', ({ role }) => { + if (role === 'spectator' || role === 'user') { + setRole(socket, role); + socket.emit('auth:role', { role }); + } + }); +}); + module.exports = { isAdmin, isLockdownAdmin, + authenticate, }; diff --git a/server/src/services/commandService.js b/server/src/services/commandService.js index 606d61ac..7988d7c8 100644 --- a/server/src/services/commandService.js +++ b/server/src/services/commandService.js @@ -1,7 +1,6 @@ const { v4: uuidv4 } = require('uuid'); const io = require('../globals/io'); const roverManager = require('./roverManager'); -const { isAdmin } = require('./authService'); const pendingCommands = new Map(); // id -> { roverId } @@ -40,8 +39,8 @@ io.on('connection', (socket) => { if (!roverId) { throw new Error('roverId required'); } - if (!roverManager.isDriver(roverId, socket) && !isAdmin(socket)) { - throw new Error('Not controlling this rover'); + if (!roverManager.canDrive(roverId, socket)) { + throw new Error('Not your turn or no control'); } const payload = data ? { ...data } : {}; const id = issueCommand(roverId, { type, ...payload }); diff --git a/server/src/services/lockdownGuard.js b/server/src/services/lockdownGuard.js new file mode 100644 index 00000000..b3b0f2e3 --- /dev/null +++ b/server/src/services/lockdownGuard.js @@ -0,0 +1,46 @@ +const io = require('../globals/io'); +const { MODES, getMode, modeEvents } = require('./modeManager'); +const { isLockdownAdmin } = require('./roleService'); + +function disconnectForLockdown(socket) { + socket.emit('lockdown', { message: 'Server is in lockdown mode' }); + socket.disconnect(true); +} + +function clearLockdownTimer(socket) { + if (socket?.data?.lockdownTimer) { + clearTimeout(socket.data.lockdownTimer); + socket.data.lockdownTimer = null; + } +} + +function enforceLockdown() { + for (const socket of io.sockets.sockets.values()) { + if (!isLockdownAdmin(socket)) { + disconnectForLockdown(socket); + } + } +} + +io.on('connection', (socket) => { + if (getMode() === MODES.LOCKDOWN && !isLockdownAdmin(socket)) { + socket.data.lockdownTimer = setTimeout(() => { + if (!isLockdownAdmin(socket)) { + disconnectForLockdown(socket); + } + }, 10000); + socket.once('disconnect', () => clearLockdownTimer(socket)); + } +}); + +module.exports = { + enforceLockdown, + disconnectForLockdown, + clearLockdownTimer, +}; + +modeEvents.on('change', (mode) => { + if (mode === MODES.LOCKDOWN) { + enforceLockdown(); + } +}); diff --git a/server/src/services/modeManager.js b/server/src/services/modeManager.js index 8ee15fac..1a8876da 100644 --- a/server/src/services/modeManager.js +++ b/server/src/services/modeManager.js @@ -1,6 +1,7 @@ +const EventEmitter = require('events'); const io = require('../globals/io'); const { sendAlert, COLORS } = require('./alertService'); -const { isAdmin, isLockdownAdmin } = require('./authService'); +const { isAdmin, isLockdownAdmin } = require('./roleService'); const MODES = { OPEN: 'open', @@ -10,6 +11,7 @@ const MODES = { }; let currentMode = MODES.OPEN; +const modeEvents = new EventEmitter(); function canChangeMode(socket, nextMode) { if (nextMode === MODES.LOCKDOWN) { @@ -34,6 +36,7 @@ function setMode(nextMode, socket) { title: 'Mode Changed', message: `Server mode set to ${nextMode}`, }); + modeEvents.emit('change', currentMode); return currentMode; } @@ -45,6 +48,7 @@ module.exports = { MODES, getMode, setMode, + modeEvents, }; io.on('connection', (socket) => { diff --git a/server/src/services/roleService.js b/server/src/services/roleService.js new file mode 100644 index 00000000..097f06bb --- /dev/null +++ b/server/src/services/roleService.js @@ -0,0 +1,33 @@ +const EventEmitter = require('events'); + +const roleEvents = new EventEmitter(); + +function getRole(socket) { + return socket?.data?.role || 'user'; +} + +function setRole(socket, role) { + socket.data = socket.data || {}; + if (socket.data.role === role) { + return; + } + socket.data.role = role; + roleEvents.emit('change', { socket, role }); +} + +function isAdmin(socket) { + const role = getRole(socket); + return role === 'admin' || role === 'lockdown'; +} + +function isLockdownAdmin(socket) { + return getRole(socket) === 'lockdown'; +} + +module.exports = { + getRole, + setRole, + isAdmin, + isLockdownAdmin, + roleEvents, +}; diff --git a/server/src/services/roverManager.js b/server/src/services/roverManager.js index 3d6c383a..756944f8 100644 --- a/server/src/services/roverManager.js +++ b/server/src/services/roverManager.js @@ -3,10 +3,12 @@ const logger = require('../globals/logger'); const { sendAlert, COLORS } = require('./alertService'); const { parseSensorFrame } = require('../helpers/sensorDecoder'); const { MODES, getMode } = require('./modeManager'); -const { isAdmin } = require('./authService'); +const { isAdmin, roleEvents } = require('./roleService'); const rovers = new Map(); // roverId -> record const socketToRovers = new Map(); // socketId -> Set(roverId) +const spectatorSockets = new Set(); +const turnService = require('./turnService'); function ensureRecord(id) { if (!rovers.has(id)) { @@ -31,6 +33,10 @@ function upsertRover(meta, ws) { record.ws = ws; record.lastSeen = Date.now(); rovers.set(id, record); + spectatorSockets.forEach((socketId) => { + const sock = io.sockets.sockets.get(socketId); + sock?.join(record.room); + }); broadcastRoster(); return record; } @@ -39,6 +45,11 @@ function removeRover(id) { const record = rovers.get(id); if (!record) return; rovers.delete(id); + turnService.cleanupRover(id); + spectatorSockets.forEach((socketId) => { + const sock = io.sockets.sockets.get(socketId); + sock?.leave(record.room); + }); broadcastRoster(); } @@ -89,14 +100,19 @@ function handleSensorFrame(roverId, frame) { function removeSocket(socket) { const joined = socketToRovers.get(socket.id); - if (!joined) return; + if (!joined) { + disableSpectator(socket); + return; + } for (const roverId of joined) { const record = rovers.get(roverId); if (record) { record.drivers.delete(socket.id); } + turnService.driverRemoved(roverId, socket.id); } socketToRovers.delete(socket.id); + disableSpectator(socket); } function requestControl(roverId, socket) { @@ -104,6 +120,9 @@ function requestControl(roverId, socket) { if (!record) { throw new Error('Unknown rover'); } + if (!isAdmin(socket)) { + throw new Error('Only admins can request control'); + } if (record.locked && !isAdmin(socket)) { throw new Error('Rover locked'); } @@ -114,13 +133,13 @@ function requestControl(roverId, socket) { if (mode === MODES.LOCKDOWN && !isAdmin(socket)) { throw new Error('Server in lockdown'); } - // TODO: future turns logic record.drivers.add(socket.id); if (!socketToRovers.has(socket.id)) { socketToRovers.set(socket.id, new Set()); } socketToRovers.get(socket.id).add(roverId); socket.join(record.room); + turnService.driverAdded(roverId, socket.id); sendAlert({ color: COLORS.success, title: 'Control Granted', @@ -141,6 +160,7 @@ function releaseControl(roverId, socket) { } } socket.leave(record.room); + turnService.driverRemoved(roverId, socket.id); } function isDriver(roverId, socket) { @@ -149,6 +169,10 @@ function isDriver(roverId, socket) { return record.drivers.has(socket.id); } +function canDrive(roverId, socket) { + return turnService.canDrive(roverId, socket) || isAdmin(socket); +} + module.exports = { upsertRover, removeRover, @@ -160,10 +184,26 @@ module.exports = { releaseControl, removeSocket, isDriver, + canDrive, + enableSpectator, + disableSpectator, rovers, }; +roleEvents.on('change', ({ socket, role }) => { + if (role === 'spectator') { + enableSpectator(socket); + } else { + disableSpectator(socket); + } +}); + io.on('connection', (socket) => { + socket.emit('rovers', getRoster()); + if (socket.data?.role === 'spectator') { + enableSpectator(socket); + } + socket.on('requestControl', ({ roverId } = {}) => { try { const targetId = roverId || Array.from(rovers.keys())[0]; @@ -192,6 +232,9 @@ io.on('connection', (socket) => { }); socket.on('subscribeAll', () => { + if (socket.data?.role !== 'spectator') { + return; + } for (const record of rovers.values()) { socket.join(record.room); } @@ -201,3 +244,19 @@ io.on('connection', (socket) => { removeSocket(socket); }); }); + +function enableSpectator(socket) { + if (!socket?.id || spectatorSockets.has(socket.id)) return; + spectatorSockets.add(socket.id); + for (const record of rovers.values()) { + socket.join(record.room); + } +} + +function disableSpectator(socket) { + if (!socket?.id || !spectatorSockets.has(socket.id)) return; + spectatorSockets.delete(socket.id); + for (const record of rovers.values()) { + socket.leave(record.room); + } +} diff --git a/server/src/services/turnService.js b/server/src/services/turnService.js new file mode 100644 index 00000000..d8cb5d32 --- /dev/null +++ b/server/src/services/turnService.js @@ -0,0 +1,129 @@ +const io = require('../globals/io'); +const { sendAlert, COLORS } = require('./alertService'); +const { MODES, getMode, modeEvents } = require('./modeManager'); + +const driverQueues = new Map(); // roverId -> { queue: [], current: socketId, timer: Timeout | null } +const activeDrivers = new Map(); +const TURN_DURATION_MS = 60 * 1000; + +function driverAdded(roverId, socketId) { + const queue = ensureQueue(roverId); + if (!queue.queue.includes(socketId)) { + queue.queue.push(socketId); + } + if (!queue.current) { + queue.current = socketId; + } + syncState(roverId); +} + +function driverRemoved(roverId, socketId) { + const queue = driverQueues.get(roverId); + if (!queue) return; + queue.queue = queue.queue.filter((id) => id !== socketId); + if (queue.current === socketId) { + advanceTurn(roverId); + } +} + +function cleanupRover(roverId) { + const queue = driverQueues.get(roverId); + if (queue) { + clearTimeout(queue.timer); + } + driverQueues.delete(roverId); + activeDrivers.delete(roverId); +} + +function canDrive(roverId, socket) { + if (!socket) return false; + const queue = driverQueues.get(roverId); + if (!queue || getMode() !== MODES.TURNS || queue.queue.length <= 1) { + return true; + } + return activeDrivers.get(roverId) === socket.id; +} + +function ensureQueue(roverId) { + if (!driverQueues.has(roverId)) { + driverQueues.set(roverId, { queue: [], current: null, timer: null }); + } + return driverQueues.get(roverId); +} + +function syncState(roverId) { + const mode = getMode(); + const queue = ensureQueue(roverId); + if (mode !== MODES.TURNS || queue.queue.length <= 1) { + queue.current = queue.queue[0] || null; + setActiveDriver(roverId, queue.current); + clearTimeout(queue.timer); + return; + } + if (!queue.current) { + queue.current = queue.queue[0]; + } + setActiveDriver(roverId, queue.current); + scheduleNextTurn(roverId); +} + +function scheduleNextTurn(roverId) { + const queue = driverQueues.get(roverId); + if (!queue) return; + clearTimeout(queue.timer); + queue.timer = setTimeout(() => advanceTurn(roverId), TURN_DURATION_MS); +} + +function advanceTurn(roverId) { + const queue = driverQueues.get(roverId); + if (!queue) return; + if (queue.queue.length === 0) { + clearTimeout(queue.timer); + setActiveDriver(roverId, null); + return; + } + const mode = getMode(); + if (mode !== MODES.TURNS || queue.queue.length <= 1) { + queue.current = queue.queue[0] || null; + setActiveDriver(roverId, queue.current); + clearTimeout(queue.timer); + return; + } + const idx = queue.queue.findIndex((id) => id === queue.current); + const nextIdx = idx === -1 ? 0 : (idx + 1) % queue.queue.length; + queue.current = queue.queue[nextIdx]; + setActiveDriver(roverId, queue.current); + sendAlert({ color: COLORS.info, title: 'Turn switch', message: `${queue.current} now controls ${roverId}` }); + stopRover(roverId); + scheduleNextTurn(roverId); +} + +function setActiveDriver(roverId, socketId) { + if (!socketId) { + activeDrivers.delete(roverId); + } else { + activeDrivers.set(roverId, socketId); + } + io.emit('activeDriver', { roverId, socketId }); +} + +function stopRover(roverId) { + try { + const { issueCommand } = require('./commandService'); + issueCommand(roverId, { type: 'drive', driveDirect: { left: 0, right: 0 } }); + issueCommand(roverId, { type: 'motors', motorPwm: { main: 0, side: 0, vacuum: 0 } }); + } catch (err) { + // best effort; log elsewhere if needed + } +} + +modeEvents.on('change', (mode) => { + driverQueues.forEach((_, roverId) => syncState(roverId)); +}); + +module.exports = { + driverAdded, + driverRemoved, + cleanupRover, + canDrive, +};