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legop3
2026-07-17 14:20:06 -04:00
parent 1cd0e05b4a
commit d7fb15d891
17 changed files with 1054 additions and 469 deletions
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webui/src/controls/ControlContext.jsx
+8 -47
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@@ -30,11 +30,7 @@ import { canonicalizeKeyInput } from './keymapUtils.js';
import { useSettingsNamespace } from '../settings/index.js';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { HORN_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import {
applyAuxOvercurrentScale,
applyDriveOvercurrentScale,
useOvercurrentLimiter,
} from './overcurrentLimiter.js';
import { useOvercurrentLimiter } from './overcurrentLimiter.js';
import { usePtzControlAdapter } from './ptzControlAdapter.js';
const ControlSystemContext = createContext(null);
@@ -176,15 +172,13 @@ export function ControlSystemProvider({ children }) {
);
const { homeAssistantSetState } = useSessionActions();
const overcurrentLimiter = useOvercurrentLimiter(roverId);
const driveTransform = useCallback(
(speeds) => applyDriveOvercurrentScale(speeds, overcurrentLimiter.scales, overcurrentLimiter.adminImmune),
[overcurrentLimiter.adminImmune, overcurrentLimiter.scales],
);
const auxTransform = useCallback(
(values) => applyAuxOvercurrentScale(values, overcurrentLimiter.scales, overcurrentLimiter.adminImmune),
[overcurrentLimiter.adminImmune, overcurrentLimiter.scales],
);
const pipeline = useCommandPipeline({ driveTransform, auxTransform });
/*
Motor commands now remain raw until they reach the server-owned protection
service. Applying another transform here would make non-admin commands pass
through two independent limiters and would let browser lifecycle determine
whether protection exists at all.
*/
const pipeline = useCommandPipeline();
const ptzControls = usePtzControlAdapter();
const turnOnAllLights = useCallback(() => {
@@ -288,39 +282,6 @@ export function ControlSystemProvider({ children }) {
dispatch({ type: 'control/record-intent' });
}, []);
const driveSpeedsRef = useRef(state.drive.speeds);
const auxValuesRef = useRef(state.aux);
const limiterScaleToken = useMemo(() => JSON.stringify(overcurrentLimiter.scales), [overcurrentLimiter.scales]);
const limiterDriveSentAtRef = useRef(0);
const limiterAuxSentAtRef = useRef(0);
useEffect(() => {
driveSpeedsRef.current = state.drive.speeds;
}, [state.drive.speeds]);
useEffect(() => {
auxValuesRef.current = state.aux;
}, [state.aux]);
useEffect(() => {
if (!pipeline.roverId || overcurrentLimiter.adminImmune || !overcurrentLimiter.isActive) return;
const outputRateMs = Math.max(0, Number(overcurrentLimiter?.config?.outputRateMs) || 0);
const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
const drive = driveSpeedsRef.current || { left: 0, right: 0 };
const aux = auxValuesRef.current || { main: 0, side: 0, vacuum: 0 };
const driveActive = Boolean(drive.left || drive.right);
const auxActive = Boolean(aux.main || aux.side || aux.vacuum);
if (!driveActive && !auxActive) return;
if (driveActive && now - limiterDriveSentAtRef.current >= outputRateMs) {
limiterDriveSentAtRef.current = now;
pipeline.sendDriveDirect(drive);
}
if (auxActive && now - limiterAuxSentAtRef.current >= outputRateMs) {
limiterAuxSentAtRef.current = now;
pipeline.sendAuxMotors(aux);
}
}, [limiterScaleToken, overcurrentLimiter.adminImmune, overcurrentLimiter.config, overcurrentLimiter.isActive, pipeline]);
const setDriveVector = useCallback(
(vector, meta = {}) => {
const speedOptions = { ...(meta.speedOptions || {}) };