guh

2026-09-17 18:10:47 -04:00 · 2025-11-17 21:18:43 -05:00
parent 2303fd3c7b
commit dc6a4b3c3a
22 changed files with 1318 additions and 493 deletions
@@ -0,0 +1,166 @@
+import { DEFAULT_KEYMAP, DEFAULT_MACROS } from './constants.js';
+
+function createDriveState() {
+  return {
+    vector: { x: 0, y: 0, boost: false },
+    speeds: { left: 0, right: 0 },
+    source: null,
+    lastUpdatedAt: 0,
+  };
+}
+
+function createAuxState() {
+  return { main: 0, side: 0, vacuum: 0 };
+}
+
+function createCameraState() {
+  return {
+    enabled: false,
+    angle: null,
+    config: null,
+  };
+}
+
+export const initialControlState = {
+  roverId: null,
+  mode: 'drive',
+  drive: createDriveState(),
+  aux: createAuxState(),
+  camera: createCameraState(),
+  macros: DEFAULT_MACROS,
+  keymap: DEFAULT_KEYMAP,
+  inputs: {},
+  settings: {
+    status: 'idle',
+    error: null,
+    lastLoadedAt: null,
+    lastSavedAt: null,
+    data: null,
+  },
+};
+
+function mergeSettings(state, payload) {
+  const nextSettings = {
+    status: 'ready',
+    error: null,
+    lastLoadedAt: Date.now(),
+    lastSavedAt: state.settings.lastSavedAt,
+    data: payload ?? state.settings.data,
+  };
+  const nextState = { ...state, settings: nextSettings };
+  if (payload?.keymap) {
+    nextState.keymap = { ...state.keymap, ...payload.keymap };
+  }
+  if (payload?.macros) {
+    nextState.macros = payload.macros;
+  }
+  return nextState;
+}
+
+export function controlReducer(state, action) {
+  switch (action.type) {
+    case 'control/set-rover':
+      return {
+        ...state,
+        roverId: action.payload ?? null,
+        drive: action.payload ? state.drive : createDriveState(),
+        aux: action.payload ? state.aux : createAuxState(),
+      };
+    case 'control/set-mode':
+      return state.mode === action.payload
+        ? state
+        : { ...state, mode: action.payload === 'dock' ? 'dock' : 'drive' };
+    case 'control/update-drive': {
+      const { vector, speeds, source } = action.payload;
+      return {
+        ...state,
+        drive: {
+          vector: vector ?? state.drive.vector,
+          speeds: speeds ?? state.drive.speeds,
+          source: source ?? state.drive.source,
+          lastUpdatedAt: Date.now(),
+        },
+      };
+    }
+    case 'control/set-aux-motors':
+      return {
+        ...state,
+        aux: {
+          ...state.aux,
+          ...action.payload,
+        },
+      };
+    case 'control/set-camera-config':
+      return {
+        ...state,
+        camera: {
+          ...state.camera,
+          enabled: Boolean(action.payload?.config),
+          config: action.payload?.config ?? null,
+          angle:
+            typeof action.payload?.angle === 'number'
+              ? action.payload.angle
+              : action.payload?.config
+              ? action.payload.config.homeAngle ?? state.camera.angle
+              : null,
+        },
+      };
+    case 'control/set-camera-angle':
+      return {
+        ...state,
+        camera: { ...state.camera, angle: action.payload },
+      };
+    case 'control/register-input-state': {
+      const sourceKey = action.payload?.source || 'unknown';
+      return {
+        ...state,
+        inputs: {
+          ...state.inputs,
+          [sourceKey]: {
+            ...(state.inputs[sourceKey] ?? {}),
+            ...action.payload?.state,
+            updatedAt: Date.now(),
+          },
+        },
+      };
+    }
+    case 'control/settings/loading':
+      return {
+        ...state,
+        settings: {
+          ...state.settings,
+          status: 'loading',
+          error: null,
+        },
+      };
+    case 'control/settings/loaded':
+      return mergeSettings(state, action.payload);
+    case 'control/settings/error':
+      return {
+        ...state,
+        settings: {
+          ...state.settings,
+          status: 'error',
+          error: action.payload,
+        },
+      };
+    case 'control/set-keymap':
+      return {
+        ...state,
+        keymap: { ...state.keymap, ...(action.payload ?? {}) },
+      };
+    case 'control/set-macros':
+      return {
+        ...state,
+        macros: Array.isArray(action.payload) ? action.payload : state.macros,
+      };
+    case 'control/reset':
+      return {
+        ...state,
+        drive: createDriveState(),
+        aux: createAuxState(),
+      };
+    default:
+      return state;
+  }
+}