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legop3
2025-11-15 04:05:01 -05:00
parent 4d3bc09e2b
commit d64cfe2d46
42 changed files with 5011 additions and 880 deletions
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server/index.js
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@@ -17,4 +17,6 @@ require('./src/services/assignmentService');
require('./src/services/videoSessions');
require('./src/services/videoAuthService');
require('./src/services/videoSocketService');
require('./src/services/logStreamService');
require('./src/services/sessionService');
require('./src/services/httpServer');
server/public/assets/index-APFDmmUd.js
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server/public/assets/index-DoNH_msu.css
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server/public/index.html
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@@ -1,93 +1,14 @@
<!doctype html>
<html>
<html lang="en">
<head>
<meta charset="utf-8" />
<title>Multi Roomba Rover</title>
<style>
body { font-family: sans-serif; margin: 16px; }
#layout { display: flex; gap: 16px; }
#roverList { width: 240px; }
#sensorOutput { font-family: monospace; height: 320px; overflow: auto; border: 1px solid #999; padding: 8px; }
button { margin: 4px; }
.row { margin-bottom: 8px; }
#alerts { margin-top: 12px; max-width: 600px; }
.alert { background: #fff1d2; border: 1px solid #f0b651; padding: 6px 8px; margin-bottom: 6px; font-size: 0.9rem; }
#authPanel { margin: 12px 0; display: flex; gap: 8px; align-items: center; }
#authPanel input { padding: 4px; }
#activeDriver { margin-bottom: 8px; font-weight: bold; }
#videoPanel { margin-bottom: 12px; }
#videoContainer { width: 100%; background: #000; min-height: 200px; display: flex; align-items: center; justify-content: center; }
#videoContainer video { width: 100%; max-height: 320px; background: #000; }
#videoStatus { margin-top: 6px; font-size: 0.9rem; color: #444; }
</style>
<meta charset="UTF-8" />
<link rel="icon" type="image/svg+xml" href="/vite.svg" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>webui</title>
<script type="module" crossorigin src="/assets/index-APFDmmUd.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DoNH_msu.css">
</head>
<body>
<h1>Multi Roomba Rover</h1>
<div id="status">Connecting…</div>
<div id="authPanel">
<input id="username" placeholder="Username" />
<input id="password" type="password" placeholder="Password" />
<button id="loginBtn">Admin Login</button>
<span id="roleStatus">Role: user</span>
</div>
<div id="layout">
<div id="roverList">
<label for="roverSelect">Rovers</label>
<select id="roverSelect" size="10" style="width: 100%"></select>
<div class="row" id="adminControls">
<label><input type="checkbox" id="forceControl" /> Force control</label>
<button id="lockToggle">Lock/Unlock</button>
</div>
<div class="row" id="modeControls" style="display:none">
<label for="modeSelect">Server mode</label>
<select id="modeSelect">
<option value="open">Open</option>
<option value="turns">Turns</option>
<option value="admin">Admin</option>
<option value="lockdown">Lockdown</option>
</select>
</div>
<div class="row">
<button data-oi="start">Start OI</button>
<button data-oi="safe">Safe</button>
<button data-oi="full">Full</button>
<button data-oi="passive">Passive</button>
<button data-oi="dock">Dock</button>
</div>
<div class="row">
<button id="sensorToggle">Enable Sensor Stream</button>
</div>
<div class="row">
<button id="motorsStop">Stop Motors</button>
</div>
</div>
<div style="flex: 1">
<h3>Sensor Frames</h3>
<div id="currentRover">Active rover: --</div>
<div id="activeDriver">Driver: --</div>
<div id="videoPanel">
<div id="videoContainer">
<video id="driverVideo" muted playsinline></video>
</div>
<div id="videoStatus">No rover selected</div>
<button id="videoReconnect">Reconnect Video</button>
</div>
<pre id="sensorOutput"></pre>
<p>Use WASD keys to drive the selected rover. Shift increases speed.</p>
<div id="alerts"></div>
</div>
</div>
<script src="/socket.io/socket.io.js"></script>
<script src="loader.js"></script>
<script src="src/globals/socket.js"></script>
<script src="src/helpers/formatters.js"></script>
<script src="src/services/state.js"></script>
<script src="src/services/alertFeed.js"></script>
<script src="src/services/authControls.js"></script>
<script src="src/services/videoPlayer.js"></script>
<script src="src/services/roverUI.js"></script>
<script src="src/services/driveControls.js"></script>
<script src="src/main.js"></script>
<p><a href="/spectate/">Open spectator view</a></p>
<div id="root"></div>
</body>
</html>
server/public/loader.js
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@@ -1,22 +0,0 @@
(function () {
const modules = {};
const cache = {};
window.registerModule = function (name, factory) {
modules[name] = factory;
};
window.requireModule = function (name) {
if (cache[name]) {
return cache[name];
}
const factory = modules[name];
if (!factory) {
throw new Error(`Module ${name} not found`);
}
const exports = {};
cache[name] = exports;
factory(requireModule, exports);
return exports;
};
})();
server/public/spectate/index.html
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@@ -1,33 +0,0 @@
<!doctype html>
<html>
<head>
<meta charset="utf-8" />
<title>Rover Spectator</title>
<style>
body { font-family: sans-serif; margin: 16px; }
#status { margin-bottom: 12px; }
#grid { display: grid; grid-template-columns: repeat(auto-fill, minmax(280px, 1fr)); gap: 12px; }
.rover-card { border: 1px solid #ccc; padding: 12px; border-radius: 6px; background: #fdfdfd; }
.rover-card h3 { margin: 0 0 8px 0; }
.sensor { font-family: monospace; white-space: pre-wrap; word-break: break-word; }
.meta { font-size: 0.9rem; color: #555; margin-bottom: 8px; }
.video-wrap { background: #000; min-height: 160px; margin-bottom: 6px; display: flex; align-items: center; justify-content: center; }
.video-wrap video { width: 100%; max-height: 200px; background: #000; }
.video-status { font-size: 0.85rem; color: #444; margin-bottom: 4px; }
</style>
</head>
<body>
<h1>Rover Spectator</h1>
<div id="status">Connecting…</div>
<div id="grid"></div>
<script src="/socket.io/socket.io.js"></script>
<script>
window.__desiredRole = 'spectator';
</script>
<script src="../loader.js"></script>
<script src="../src/globals/socket.js"></script>
<script src="../src/services/videoPlayer.js"></script>
<script src="spectator.js"></script>
</body>
</html>
server/public/spectate/spectator.js
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@@ -1,131 +0,0 @@
registerModule('spectator/main', (require, exports) => {
const { socket } = require('globals/socket');
const videoPlayer = require('services/videoPlayer');
const statusEl = document.getElementById('status');
const grid = document.getElementById('grid');
const cards = new Map();
socket.on('connect', () => {
statusEl.textContent = 'Connected';
});
socket.on('disconnect', () => {
statusEl.textContent = 'Disconnected';
stopAllVideos();
});
socket.on('lockdown', ({ message }) => {
statusEl.textContent = message || 'Spectator mode disabled';
stopAllVideos();
});
socket.on('rovers', (list) => {
list.forEach((rover) => {
const card = ensureCard(rover.id);
card.querySelector('.meta').textContent = `Locked: ${rover.locked ? 'yes' : 'no'} | Last seen: ${new Date(rover.lastSeen).toLocaleTimeString()}`;
if (!card.dataset.videoActive) {
connectVideo(rover.id);
}
});
Array.from(cards.keys()).forEach((id) => {
if (!list.find((r) => r.id === id)) {
removeCard(id);
}
});
});
socket.on('sensorFrame', ({ roverId, sensors }) => {
const card = ensureCard(roverId);
card.querySelector('.sensor').textContent = sensors ? JSON.stringify(sensors, null, 2) : 'No data';
});
function ensureCard(roverId) {
if (cards.has(roverId)) {
return cards.get(roverId);
}
const card = document.createElement('div');
card.className = 'rover-card';
card.dataset.videoActive = '';
card.innerHTML = `
<h3>${roverId}</h3>
<div class="meta"></div>
<div class="video-wrap"></div>
<div class="video-status">Video not connected</div>
<button class="video-reconnect">Reconnect video</button>
<pre class="sensor">Waiting for data...</pre>
`;
const reconnectBtn = card.querySelector('.video-reconnect');
reconnectBtn.addEventListener('click', () => connectVideo(roverId, true));
grid.appendChild(card);
cards.set(roverId, card);
connectVideo(roverId, true);
return card;
}
function connectVideo(roverId, force = false) {
const card = ensureCard(roverId);
const status = card.querySelector('.video-status');
const wrap = card.querySelector('.video-wrap');
const playerId = `spectator-${roverId}`;
if (!force && card.dataset.videoActive === 'yes') {
return;
}
status.textContent = 'Connecting video…';
socket.emit('video:request', { roverId }, (resp = {}) => {
if (resp.error) {
status.textContent = `Video error: ${resp.error}`;
videoPlayer.stopStream(playerId);
card.dataset.videoActive = '';
return;
}
videoPlayer
.startStream(playerId, {
url: resp.url,
token: resp.token,
mount: wrap,
onStatus: (state, detail) => {
if (state === 'playing') {
status.textContent = 'Video live';
card.dataset.videoActive = 'yes';
} else if (state === 'connecting') {
status.textContent = 'Connecting video…';
} else if (state === 'error') {
status.textContent = `Video error: ${detail}`;
card.dataset.videoActive = '';
} else if (state === 'stopped') {
status.textContent = 'Video stopped';
card.dataset.videoActive = '';
}
},
})
.catch((err) => {
status.textContent = `Video error: ${err.message}`;
card.dataset.videoActive = '';
});
});
}
function removeCard(roverId) {
const card = cards.get(roverId);
if (card) {
videoPlayer.stopStream(`spectator-${roverId}`);
card.remove();
cards.delete(roverId);
}
}
function stopAllVideos() {
Array.from(cards.keys()).forEach((id) => {
videoPlayer.stopStream(`spectator-${id}`);
const card = cards.get(id);
if (card) {
const status = card.querySelector('.video-status');
status.textContent = 'Video stopped';
card.dataset.videoActive = '';
}
});
}
});
requireModule('spectator/main');
server/public/src/globals/socket.js
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@@ -1,8 +0,0 @@
registerModule('globals/socket', (require, exports) => {
const query = {};
if (window.__desiredRole) {
query.role = window.__desiredRole;
}
const socket = io(query.role ? { query } : undefined);
exports.socket = socket;
});
server/public/src/helpers/formatters.js
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@@ -1,11 +0,0 @@
registerModule('helpers/formatters', (require, exports) => {
function formatHex(base64) {
if (!base64) return '';
const buffer = Uint8Array.from(atob(base64), (c) => c.charCodeAt(0));
return Array.from(buffer)
.map((b) => b.toString(16).padStart(2, '0'))
.join(' ');
}
exports.formatHex = formatHex;
});
server/public/src/main.js
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@@ -1,7 +0,0 @@
requireModule('globals/socket');
requireModule('helpers/formatters');
requireModule('services/state');
requireModule('services/alertFeed');
requireModule('services/authControls');
requireModule('services/roverUI');
requireModule('services/driveControls');
server/public/src/services/alertFeed.js
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@@ -1,25 +0,0 @@
registerModule('services/alertFeed', (require, exports) => {
const { socket } = require('globals/socket');
const container = document.getElementById('alerts');
if (!container) return;
function pushAlert({ color = '#2196f3', title, message, ts }) {
const div = document.createElement('div');
div.className = 'alert';
div.style.borderColor = color;
div.style.background = color + '22';
div.innerHTML = `<strong>${title || 'Notice'}</strong> - ${message || ''}`;
container.prepend(div);
while (container.children.length > 5) {
container.removeChild(container.lastChild);
}
setTimeout(() => {
if (div.parentElement === container) {
container.removeChild(div);
}
}, 15000);
}
socket.on('alert', pushAlert);
});
server/public/src/services/authControls.js
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@@ -1,35 +0,0 @@
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');
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());
});
server/public/src/services/driveControls.js
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@@ -1,127 +0,0 @@
registerModule('services/driveControls', (require, exports) => {
const { socket } = require('globals/socket');
const state = require('services/state');
const motorsStopBtn = document.getElementById('motorsStop');
const sensorToggleBtn = document.getElementById('sensorToggle');
const modeButtons = document.querySelectorAll('[data-oi]');
let sensorEnabled = false;
let lastDrive = { left: 0, right: 0 };
const keys = new Set();
window.addEventListener('keydown', (event) => {
const key = event.key.toLowerCase();
if (keys.has(key)) return;
keys.add(key);
maybeSendDriveUpdate();
});
window.addEventListener('keyup', (event) => {
const key = event.key.toLowerCase();
if (!keys.has(key)) return;
keys.delete(key);
maybeSendDriveUpdate();
});
function maybeSendDriveUpdate() {
const roverId = state.getSelected();
if (!roverId) return;
const speeds = computeDrive();
if (speeds.left === lastDrive.left && speeds.right === lastDrive.right) return;
lastDrive = speeds;
socket.emit('command', {
roverId,
type: 'drive',
data: { driveDirect: speeds },
});
}
function computeDrive() {
const forward = keys.has('w');
const backward = keys.has('s');
const left = keys.has('a');
const right = keys.has('d');
const fast = keys.has('shift');
const base = fast ? 300 : 150;
let leftSpeed = 0;
let rightSpeed = 0;
if (forward && !backward) {
leftSpeed += base;
rightSpeed += base;
} else if (backward && !forward) {
leftSpeed -= base;
rightSpeed -= base;
}
if (left && !right) {
leftSpeed -= base;
rightSpeed += base;
} else if (right && !left) {
leftSpeed += base;
rightSpeed -= base;
}
if (!forward && !backward && (left || right)) {
leftSpeed = left ? -base : base;
rightSpeed = left ? base : -base;
}
return {
left: clamp(leftSpeed, -500, 500),
right: clamp(rightSpeed, -500, 500),
};
}
function clamp(value, min, max) {
return Math.max(min, Math.min(max, value));
}
motorsStopBtn?.addEventListener('click', () => {
const roverId = state.getSelected();
if (!roverId) return;
socket.emit('command', {
roverId,
type: 'motors',
data: { motorPwm: { main: 0, side: 0, vacuum: 0 } },
});
});
sensorToggleBtn?.addEventListener('click', () => {
sensorEnabled = !sensorEnabled;
sensorToggleBtn.textContent = sensorEnabled ? 'Disable Sensor Stream' : 'Enable Sensor Stream';
const roverId = state.getSelected();
socket.emit('command', {
roverId,
type: 'sensorStream',
data: { sensorStream: { enable: sensorEnabled } },
});
});
const OI_COMMANDS = {
start: [128],
safe: [131],
full: [132],
passive: [128],
dock: [143],
};
modeButtons.forEach((btn) => {
btn.addEventListener('click', () => {
const cmd = btn.dataset.oi;
const bytes = OI_COMMANDS[cmd];
if (!bytes) return;
const roverId = state.getSelected();
socket.emit('command', {
roverId,
type: 'raw',
data: { raw: bytesToBase64(bytes) },
});
});
});
function bytesToBase64(bytes) {
return btoa(String.fromCharCode(...bytes));
}
});
server/public/src/services/roverUI.js
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@@ -1,185 +0,0 @@
registerModule('services/roverUI', (require, exports) => {
const { socket } = require('globals/socket');
const { formatHex } = require('helpers/formatters');
const videoPlayer = require('services/videoPlayer');
const state = require('services/state');
const statusEl = document.getElementById('status');
const roverSelect = document.getElementById('roverSelect');
const sensorOutput = document.getElementById('sensorOutput');
const lockBtn = document.getElementById('lockToggle');
const forceCheckbox = document.getElementById('forceControl');
const adminControls = document.getElementById('adminControls');
const modeControls = document.getElementById('modeControls');
const modeSelect = document.getElementById('modeSelect');
const activeDriverEl = document.getElementById('activeDriver');
const currentRoverEl = document.getElementById('currentRover');
const videoContainer = document.getElementById('videoContainer');
const driverVideo = document.getElementById('driverVideo');
const videoStatus = document.getElementById('videoStatus');
const videoReconnect = document.getElementById('videoReconnect');
let roster = [];
let lastSelection = null;
let currentVideoRover = null;
state.onRoleChange((role) => {
const isAdmin = role === 'admin' || role === 'lockdown';
if (lockBtn) lockBtn.disabled = !isAdmin;
if (roverSelect) roverSelect.disabled = !isAdmin;
if (adminControls) {
adminControls.style.display = isAdmin ? 'flex' : 'none';
}
if (modeControls) {
modeControls.style.display = isAdmin ? 'block' : 'none';
if (modeSelect) modeSelect.disabled = !isAdmin;
}
});
socket.on('rovers', (list) => {
roster = list;
roverSelect.innerHTML = '';
list.forEach((rover) => {
const option = document.createElement('option');
option.value = rover.id;
option.textContent = `${rover.name}${rover.locked ? ' (locked)' : ''}`;
roverSelect.appendChild(option);
});
const selected = state.getSelected();
if ((!selected || !list.find((r) => r.id === selected)) && list.length) {
state.setSelected(list[0].id);
} else if (!list.length) {
state.setSelected(null);
}
renderSelection(true);
});
roverSelect.addEventListener('change', () => {
const roverId = roverSelect.value;
const role = state.getRole();
state.setSelected(roverId);
renderSelection(true);
if (role === 'admin' || role === 'lockdown') {
socket.emit('requestControl', { roverId, force: !!forceCheckbox?.checked });
}
});
socket.on('controlGranted', ({ roverId }) => {
state.setSelected(roverId);
renderSelection(true);
statusEl.textContent = `Driving ${roverId}`;
maybeConnectVideo(true);
});
socket.on('sensorFrame', ({ roverId, frame, sensors }) => {
if (roverId !== state.getSelected()) return;
const lines = [];
if (sensors) {
Object.entries(sensors).forEach(([key, value]) => {
lines.push(`${key}: ${typeof value === 'object' ? JSON.stringify(value) : value}`);
});
}
lines.push('', 'raw:', formatHex(frame?.data));
sensorOutput.textContent = lines.join('\n');
});
socket.on('activeDriver', ({ roverId, socketId }) => {
if (roverId !== state.getSelected()) return;
if (activeDriverEl) {
activeDriverEl.textContent = `Active driver: ${socketId || 'none'}`;
}
});
lockBtn?.addEventListener('click', () => {
const roverId = state.getSelected();
const rover = roster.find((r) => r.id === roverId);
if (!rover) return;
socket.emit('lockRover', { roverId, locked: !rover.locked });
});
modeSelect?.addEventListener('change', () => {
socket.emit('setMode', { mode: modeSelect.value });
});
socket.on('mode', ({ mode }) => {
if (modeSelect) {
modeSelect.value = mode;
}
});
videoReconnect?.addEventListener('click', () => maybeConnectVideo(true));
socket.on('connect', () => {
statusEl.textContent = 'Connected';
});
socket.on('disconnect', () => {
statusEl.textContent = 'Disconnected';
});
function renderSelection(clearOutput) {
const roverId = state.getSelected();
if (roverSelect && roverId) {
roverSelect.value = roverId;
} else if (roverSelect && !roverId) {
roverSelect.value = '';
}
if (currentRoverEl) {
currentRoverEl.textContent = `Active rover: ${roverId || '--'}`;
}
if (sensorOutput && (clearOutput || roverId !== lastSelection)) {
sensorOutput.textContent = roverId ? 'Waiting for sensor data...' : '';
}
lastSelection = roverId;
maybeConnectVideo(clearOutput);
}
function maybeConnectVideo(force = false) {
const roverId = state.getSelected();
if (!roverId) {
currentVideoRover = null;
videoPlayer.stopStream('driver');
setVideoStatus('No rover selected');
return;
}
if (!force && roverId === currentVideoRover) {
return;
}
currentVideoRover = roverId;
setVideoStatus('Connecting video…');
socket.emit('video:request', { roverId }, (resp = {}) => {
if (resp.error) {
setVideoStatus(`Video error: ${resp.error}`);
videoPlayer.stopStream('driver');
return;
}
const { url, token } = resp;
videoPlayer
.startStream('driver', {
url,
token,
mount: videoContainer,
videoEl: driverVideo,
onStatus: (state, detail) => {
if (state === 'playing') {
setVideoStatus('Video live');
} else if (state === 'connecting') {
setVideoStatus('Connecting video…');
} else if (state === 'error') {
setVideoStatus(`Video error: ${detail}`);
} else if (state === 'stopped') {
setVideoStatus('Video stopped');
}
},
})
.catch((err) => {
setVideoStatus(`Video error: ${err.message}`);
});
});
}
function setVideoStatus(message) {
if (videoStatus) {
videoStatus.textContent = message;
}
}
});
server/public/src/services/state.js
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@@ -1,34 +0,0 @@
registerModule('services/state', (require, exports) => {
let selectedRover = null;
let role = 'user';
const roleListeners = new Set();
function setSelected(roverId) {
selectedRover = roverId;
}
function getSelected() {
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;
});
server/public/src/services/videoPlayer.js
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@@ -1,152 +0,0 @@
registerModule('services/videoPlayer', (require, exports) => {
const players = new Map();
class Player {
constructor(id, options = {}) {
this.id = id;
this.options = options;
this.onStatus = options.onStatus || (() => {});
this.mount = options.mount || null;
this.externalVideo = options.videoEl || null;
this.video = this.externalVideo || this.createVideoElement();
this.video.muted = true;
this.status('idle');
}
createVideoElement() {
const el = document.createElement('video');
el.autoplay = true;
el.playsInline = true;
el.controls = false;
el.muted = true;
el.style.width = '100%';
el.style.maxHeight = '360px';
if (this.mount) {
this.mount.innerHTML = '';
this.mount.appendChild(el);
}
return el;
}
attachAutoPlayLoop() {
this.autoPlayTimer = window.setInterval(() => {
if (!this.video) return;
if (!this.video.paused && !this.video.muted) {
clearInterval(this.autoPlayTimer);
this.autoPlayTimer = null;
return;
}
const attempt = () => this.video.play().catch(() => {});
if (this.video.paused) {
attempt();
}
if (this.video.muted) {
this.video.muted = false;
attempt();
}
}, 2500);
}
status(state, detail) {
this.onStatus(state, detail);
}
async start(url, token) {
this.stopPeer();
this.status('connecting');
this.pc = new RTCPeerConnection();
this.stream = new MediaStream();
this.video.srcObject = this.stream;
this.pc.addTransceiver('video', { direction: 'recvonly' });
this.pc.addTransceiver('audio', { direction: 'recvonly' });
this.pc.ontrack = (event) => {
const [remoteStream] = event.streams;
if (remoteStream) {
this.video.srcObject = remoteStream;
} else {
this.stream.addTrack(event.track);
}
this.video.play().catch(() => {});
};
this.attachAutoPlayLoop();
if (!token) {
throw new Error('Missing video session token');
}
const offer = await this.pc.createOffer();
await this.pc.setLocalDescription(offer);
const response = await fetch(url, {
method: 'POST',
headers: {
'Content-Type': 'application/sdp',
Authorization: `Basic ${btoa(`${token}:${token}`)}`,
},
body: offer.sdp,
});
if (!response.ok) {
throw new Error(`WHEP HTTP ${response.status}`);
}
const answer = await response.text();
await this.pc.setRemoteDescription({ type: 'answer', sdp: answer });
this.status('playing');
}
stopPeer() {
if (this.autoPlayTimer) {
clearInterval(this.autoPlayTimer);
this.autoPlayTimer = null;
}
if (this.pc) {
this.pc.getSenders().forEach((sender) => sender.track && sender.track.stop());
this.pc.getReceivers().forEach((receiver) => receiver.track && receiver.track.stop());
this.pc.close();
this.pc = null;
}
if (this.video) {
const tracks = this.video.srcObject?.getTracks() || [];
tracks.forEach((t) => t.stop());
this.video.pause();
this.video.srcObject = null;
}
}
stop() {
this.stopPeer();
if (!this.externalVideo && this.video && this.video.parentElement) {
this.video.parentElement.removeChild(this.video);
}
this.status('stopped');
}
}
async function startStream(id, { url, token, mount, videoEl, onStatus } = {}) {
stopStream(id);
const player = new Player(id, { mount, videoEl, onStatus });
players.set(id, player);
try {
await player.start(url, token);
return player.video;
} catch (err) {
player.status('error', err.message);
player.stop();
players.delete(id);
throw err;
}
}
function stopStream(id) {
const existing = players.get(id);
if (existing) {
existing.stop();
players.delete(id);
}
}
function stopAll() {
Array.from(players.keys()).forEach(stopStream);
}
exports.startStream = startStream;
exports.stopStream = stopStream;
exports.stopAll = stopAll;
});
server/public/vite.svg
+1
View File
@@ -0,0 +1 @@
<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" aria-hidden="true" role="img" class="iconify iconify--logos" width="31.88" height="32" preserveAspectRatio="xMidYMid meet" viewBox="0 0 256 257"><defs><linearGradient id="IconifyId1813088fe1fbc01fb466" x1="-.828%" x2="57.636%" y1="7.652%" y2="78.411%"><stop offset="0%" stop-color="#41D1FF"></stop><stop offset="100%" stop-color="#BD34FE"></stop></linearGradient><linearGradient id="IconifyId1813088fe1fbc01fb467" x1="43.376%" x2="50.316%" y1="2.242%" y2="89.03%"><stop offset="0%" stop-color="#FFEA83"></stop><stop offset="8.333%" stop-color="#FFDD35"></stop><stop offset="100%" stop-color="#FFA800"></stop></linearGradient></defs><path fill="url(#IconifyId1813088fe1fbc01fb466)" d="M255.153 37.938L134.897 252.976c-2.483 4.44-8.862 4.466-11.382.048L.875 37.958c-2.746-4.814 1.371-10.646 6.827-9.67l120.385 21.517a6.537 6.537 0 0 0 2.322-.004l117.867-21.483c5.438-.991 9.574 4.796 6.877 9.62Z"></path><path fill="url(#IconifyId1813088fe1fbc01fb467)" d="M185.432.063L96.44 17.501a3.268 3.268 0 0 0-2.634 3.014l-5.474 92.456a3.268 3.268 0 0 0 3.997 3.378l24.777-5.718c2.318-.535 4.413 1.507 3.936 3.838l-7.361 36.047c-.495 2.426 1.782 4.5 4.151 3.78l15.304-4.649c2.372-.72 4.652 1.36 4.15 3.788l-11.698 56.621c-.732 3.542 3.979 5.473 5.943 2.437l1.313-2.028l72.516-144.72c1.215-2.423-.88-5.186-3.54-4.672l-25.505 4.922c-2.396.462-4.435-1.77-3.759-4.114l16.646-57.705c.677-2.35-1.37-4.583-3.769-4.113Z"></path></svg>
Side by Side

After

Width:  |  Height:  |  Size: 1.5 KiB

server/src/globals/logger.js
+36
View File
@@ -1,8 +1,37 @@
const sinks = new Set();
function notifySinks(level, label, args) {
if (!sinks.size) return;
const entry = {
level,
label: label || null,
args,
message: args.map((value) => {
if (typeof value === 'string') return value;
try {
return JSON.stringify(value);
} catch (err) {
return String(value);
}
}).join(' '),
timestamp: new Date().toISOString(),
};
sinks.forEach((sink) => {
try {
sink(entry);
} catch (err) {
// avoid recursive logging
console.error(entry.timestamp, '[ERROR]', '[logger]', 'Log sink failed', err);
}
});
}
function stamp(level, label, args) {
const fields = [new Date().toISOString(), `[${level}]`];
if (label) {
fields.push(`[${label}]`);
}
notifySinks(level, label, args);
return [...fields, ...args];
}
@@ -14,7 +43,14 @@ function baseLogger(label) {
};
}
function registerSink(fn) {
if (typeof fn !== 'function') return () => {};
sinks.add(fn);
return () => sinks.delete(fn);
}
module.exports = {
...baseLogger(),
child: (label) => baseLogger(label),
registerSink,
};
server/src/services/assignmentService.js
+26
View File
@@ -1,3 +1,4 @@
const EventEmitter = require('events');
const io = require('../globals/io');
const logger = require('../globals/logger').child('assignment');
const { MODES, getMode, modeEvents } = require('./modeManager');
@@ -7,6 +8,7 @@ const roverManager = require('./roverManager');
const socketRefs = new Map(); // socketId -> socket
const assignments = new Map(); // socketId -> roverId
const waiting = new Set(); // socketIds waiting for placement
const assignmentEvents = new EventEmitter();
io.on('connection', (socket) => {
socketRefs.set(socket.id, socket);
@@ -64,6 +66,7 @@ function assignSocket(socket) {
if (!target) {
waiting.add(socket.id);
logger.info('No rover available, user waiting', socket.id);
assignmentEvents.emit('update', socket.id);
return;
}
try {
@@ -71,9 +74,11 @@ function assignSocket(socket) {
assignments.set(socket.id, target.id);
waiting.delete(socket.id);
logger.info('Assigned user to rover', socket.id, target.id);
assignmentEvents.emit('update', socket.id);
} catch (err) {
logger.warn('Failed to assign user', err.message);
waiting.add(socket.id);
assignmentEvents.emit('update', socket.id);
}
}
@@ -84,6 +89,8 @@ function unassignSocket(socket) {
if (roverId) {
roverManager.releaseControl(roverId, socket);
assignments.delete(socket.id);
logger.info('Unassigned socket from rover', socket.id, roverId);
assignmentEvents.emit('update', socket.id);
}
}
@@ -98,6 +105,7 @@ function reassignFromRover(roverId) {
roverManager.releaseControl(rid, socket);
assignments.delete(socketId);
assignSocket(socket);
assignmentEvents.emit('update', socketId);
}
}
@@ -109,6 +117,7 @@ function reassignWaiting() {
} else {
waiting.delete(socketId);
}
assignmentEvents.emit('update', socketId);
}
}
@@ -116,6 +125,8 @@ function releaseAssignment(socket, roverId) {
roverManager.releaseControl(roverId, socket);
assignments.delete(socket.id);
waiting.add(socket.id);
logger.info('Released assignment back to queue', socket.id, roverId);
assignmentEvents.emit('update', socket.id);
}
function pickRover() {
@@ -133,3 +144,18 @@ function pickRover() {
candidates.sort((a, b) => a.drivers.size - b.drivers.size);
return candidates[0];
}
function describeAssignment(socketId) {
const roverId = assignments.get(socketId) || null;
const waitingIndex = waiting.has(socketId) ? Array.from(waiting).indexOf(socketId) : -1;
return {
roverId,
status: roverId ? 'assigned' : waiting.has(socketId) ? 'waiting' : null,
queuePosition: waitingIndex >= 0 ? waitingIndex + 1 : null,
};
}
module.exports = {
assignmentEvents,
describeAssignment,
};
server/src/services/authService.js
+12 -2
View File
@@ -36,6 +36,7 @@ io.on('connection', (socket) => {
const requestedRole = socket.handshake?.query?.role;
const initialRole = requestedRole === 'spectator' ? 'spectator' : 'user';
setRole(socket, initialRole);
logger.info('Socket connected with role', socket.id, initialRole);
socket.emit('auth:role', { role: initialRole });
socket.on('auth:login', async ({ username, password }, cb = () => {}) => {
try {
@@ -45,18 +46,27 @@ io.on('connection', (socket) => {
setRole(socket, role);
socket.emit('auth:role', { role });
clearLockdownTimer(socket);
logger.info('Login success', socket.id, role);
cb({ success: true, role: socket.data.role });
} catch (err) {
logger.warn('Login failed', socket.id, err.message);
cb({ success: false, error: err.message });
}
});
socket.on('role:set', ({ role }) => {
function handleRoleChange({ role } = {}, cb = () => {}) {
if (role === 'spectator' || role === 'user') {
setRole(socket, role);
socket.emit('auth:role', { role });
logger.info('Role changed via client request', socket.id, role);
cb({ success: true, role });
} else {
cb({ error: 'Invalid role' });
}
});
}
socket.on('role:set', handleRoleChange);
socket.on('session:setRole', handleRoleChange);
});
module.exports = {
server/src/services/commandService.js
+10 -2
View File
@@ -1,6 +1,7 @@
const { v4: uuidv4 } = require('uuid');
const io = require('../globals/io');
const roverManager = require('./roverManager');
const logger = require('../globals/logger').child('commandService');
const pendingCommands = new Map(); // id -> { roverId }
@@ -13,6 +14,7 @@ function issueCommand(roverId, payload) {
const message = { ...payload, id };
record.ws.send(JSON.stringify(message));
pendingCommands.set(id, { roverId, ts: Date.now(), type: payload.type });
logger.info('Issued command', roverId, payload.type, id);
return id;
}
@@ -20,6 +22,7 @@ function handleAck(msg) {
const pending = pendingCommands.get(msg.id);
if (!pending) return;
pendingCommands.delete(msg.id);
logger.info('Command acknowledged', pending.roverId, pending.type, msg.status);
io.emit('commandAck', {
roverId: pending.roverId,
id: msg.id,
@@ -34,7 +37,7 @@ module.exports = {
};
io.on('connection', (socket) => {
socket.on('command', ({ roverId, type, data } = {}, cb = () => {}) => {
function handleCommand({ roverId, type, data } = {}, cb = () => {}) {
try {
if (!roverId) {
throw new Error('roverId required');
@@ -44,9 +47,14 @@ io.on('connection', (socket) => {
}
const payload = data ? { ...data } : {};
const id = issueCommand(roverId, { type, ...payload });
logger.info('Queued command', socket.id, roverId, type);
cb({ id });
} catch (err) {
logger.warn('Command rejected', socket.id, err.message);
cb({ error: err.message });
}
});
}
socket.on('command', handleCommand);
socket.on('command:issue', handleCommand);
});
server/src/services/logStreamService.js
+40
View File
@@ -0,0 +1,40 @@
const { v4: uuidv4 } = require('uuid');
const io = require('../globals/io');
const loggerRoot = require('../globals/logger');
const logger = loggerRoot.child('logStream');
const MAX_HISTORY = 200;
const history = [];
function pushEntry(entry) {
history.push(entry);
if (history.length > MAX_HISTORY) {
history.shift();
}
}
function broadcast(entry) {
io.emit('log:entry', entry);
}
function hydrateSocket(socket) {
if (!socket) return;
socket.emit('log:init', history);
}
loggerRoot.registerSink(({ level, label, message, timestamp }) => {
const entry = {
id: uuidv4(),
level,
label,
message,
timestamp,
};
pushEntry(entry);
broadcast(entry);
});
io.on('connection', (socket) => {
logger.info('Hydrating log history for', socket.id);
hydrateSocket(socket);
});
server/src/services/roverManager.js
+48 -19
View File
@@ -212,43 +212,72 @@ io.on('connection', (socket) => {
enableSpectator(socket);
}
socket.on('requestControl', ({ roverId, force } = {}) => {
function handleRequestControl({ roverId, force } = {}, cb = () => {}) {
try {
const targetId = roverId || Array.from(rovers.keys())[0];
if (!targetId) {
throw new Error('No rovers available');
}
logger.info('Request control', socket.id, targetId, { force });
requestControl(targetId, socket, { force: Boolean(force) });
socket.emit('controlGranted', { roverId: targetId });
cb({ success: true, roverId: targetId });
} catch (err) {
logger.warn('Request control failed', socket.id, err.message);
sendAlert({ color: COLORS.warn, title: 'Control denied', message: err.message });
cb({ error: err.message });
}
});
}
socket.on('releaseControl', ({ roverId }) => {
if (!roverId) return;
releaseControl(roverId, socket);
});
socket.on('lockRover', ({ roverId, locked }) => {
if (!isAdmin(socket)) return;
try {
lockRover(roverId, locked);
} catch (err) {
sendAlert({ color: COLORS.error, title: 'Lock failed', message: err.message });
}
});
socket.on('subscribeAll', () => {
if (socket.data?.role !== 'spectator') {
function handleReleaseControl({ roverId } = {}, cb = () => {}) {
if (!roverId) {
cb({ error: 'roverId required' });
return;
}
logger.info('Release control', socket.id, roverId);
releaseControl(roverId, socket);
cb({ success: true, roverId });
}
function handleLockToggle({ roverId, locked } = {}, cb = () => {}) {
if (!isAdmin(socket)) {
cb({ error: 'Not authorized' });
return;
}
try {
lockRover(roverId, locked);
logger.info('Lock state changed', roverId, locked);
cb({ success: true });
} catch (err) {
logger.warn('Lock change failed', roverId, err.message);
sendAlert({ color: COLORS.error, title: 'Lock failed', message: err.message });
cb({ error: err.message });
}
}
function handleSubscribeAll(_, cb = () => {}) {
if (socket.data?.role !== 'spectator') {
cb({ error: 'Spectator role required' });
return;
}
logger.info('Spectator subscribing to all rovers', socket.id);
for (const record of rovers.values()) {
socket.join(record.room);
}
});
cb({ success: true });
}
socket.on('requestControl', handleRequestControl);
socket.on('session:requestControl', handleRequestControl);
socket.on('releaseControl', handleReleaseControl);
socket.on('session:releaseControl', handleReleaseControl);
socket.on('lockRover', handleLockToggle);
socket.on('session:lockRover', handleLockToggle);
socket.on('subscribeAll', handleSubscribeAll);
socket.on('session:subscribeAll', handleSubscribeAll);
socket.on('disconnect', () => {
logger.info('Socket disconnected', socket.id);
removeSocket(socket);
});
});
server/src/services/sessionService.js
+68
View File
@@ -0,0 +1,68 @@
const io = require('../globals/io');
const logger = require('../globals/logger').child('sessionService');
const { getRole, roleEvents } = require('./roleService');
const { getMode, modeEvents } = require('./modeManager');
const roverManager = require('./roverManager');
const { managerEvents } = roverManager;
const assignmentService = require('./assignmentService');
function buildSession(socket) {
return {
role: getRole(socket),
mode: getMode(),
roster: roverManager.getRoster(),
assignment: assignmentService.describeAssignment(socket?.id || ''),
};
}
function syncSocket(socket) {
if (!socket) return;
const payload = buildSession(socket);
logger.info('Syncing session', socket.id, payload.role, payload.assignment);
socket.emit('session:sync', payload);
}
function syncAll() {
logger.info('Broadcasting session sync to all sockets');
io.sockets.sockets.forEach((socket) => syncSocket(socket));
}
io.on('connection', (socket) => {
logger.info('New socket connected', socket.id);
syncSocket(socket);
});
roleEvents.on('change', ({ socket }) => {
if (!socket) return;
logger.info('Role changed; syncing session', socket.id);
syncSocket(socket);
});
assignmentService.assignmentEvents.on('update', (socketId) => {
const socket = io.sockets.sockets.get(socketId);
if (socket) {
logger.info('Assignment update; syncing session', socketId);
syncSocket(socket);
}
});
modeEvents.on('change', () => {
logger.info('Mode change detected; syncing all clients');
syncAll();
});
managerEvents.on('rover', () => {
logger.info('Rover roster change; syncing all clients');
syncAll();
});
managerEvents.on('lock', ({ roverId, locked }) => {
logger.info('Rover lock change', roverId, locked);
syncAll();
});
module.exports = {
buildSession,
syncSocket,
syncAll,
};