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gahwah

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legop3
2026-01-31 16:22:45 -05:00
parent 00d1edd11b
commit dc92785f19
12 changed files with 213 additions and 158 deletions
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server/public/assets/index-B4BVCZld.js
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server/public/assets/index-BaI6Xr6X.js
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server/public/assets/index-CQCz6Dh4.css → server/public/assets/index-Bi3rvCda.css
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server/public/index.html
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@@ -11,8 +11,8 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-B4BVCZld.js"></script> <script type="module" crossorigin src="/assets/index-BaI6Xr6X.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-CQCz6Dh4.css"> <link rel="stylesheet" crossorigin href="/assets/index-Bi3rvCda.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
webui/src/components/CameraServoPanel.jsx
+3 -2
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@@ -24,7 +24,7 @@ export default function CameraServoPanel() {
const hornAvailable = Boolean(roverId && pipeline?.horn); const hornAvailable = Boolean(roverId && pipeline?.horn);
const nightVisionKey = formatKeyLabel(keymap?.nightVisionToggle?.[0]); const nightVisionKey = formatKeyLabel(keymap?.nightVisionToggle?.[0]);
const hornKey = formatKeyLabel(keymap?.hornHonk?.[0]); const hornKey = formatKeyLabel(keymap?.hornHonk?.[0]);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now(); const hornBlocked = horn?.overheated;
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30; const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30; const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value = const value =
@@ -107,11 +107,12 @@ export default function CameraServoPanel() {
)} )}
{hornAvailable && ( {hornAvailable && (
<HornControl <HornControl
disabled={!roverId || hornCooldownActive} disabled={!roverId || hornBlocked}
onStart={startHorn} onStart={startHorn}
onStop={stopHorn} onStop={stopHorn}
keyLabel={hornKey} keyLabel={hornKey}
active={horn?.active} active={horn?.active}
heat={horn?.heat}
/> />
)} )}
{enabled && ( {enabled && (
webui/src/components/ControlSummary.jsx
+3 -2
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@@ -85,7 +85,7 @@ export function InlineCameraTilt({ keymap }) {
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision); const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState; const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn); const hornAvailable = Boolean(roverId && pipeline?.horn);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now(); const hornBlocked = horn?.overheated;
const min = typeof config?.minAngle === 'number' ? config.minAngle : -30; const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30; const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
const value = const value =
@@ -134,11 +134,12 @@ export function InlineCameraTilt({ keymap }) {
)} )}
{hornAvailable && ( {hornAvailable && (
<HornControl <HornControl
disabled={!roverId || hornCooldownActive} disabled={!roverId || hornBlocked}
onStart={startHorn} onStart={startHorn}
onStop={stopHorn} onStop={stopHorn}
keyLabel={hornLabel} keyLabel={hornLabel}
active={horn?.active} active={horn?.active}
heat={horn?.heat}
/> />
)} )}
{enabled && ( {enabled && (
webui/src/components/HornControl.jsx
+27 -3
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@@ -15,6 +15,7 @@ export default function HornControl({
onStop, onStop,
keyLabel, keyLabel,
active, active,
heat = 0,
className = '', className = '',
}) { }) {
const [pressed, setPressed] = useState(false); const [pressed, setPressed] = useState(false);
@@ -36,9 +37,10 @@ export default function HornControl({
}, [hornSettings?.freqs, hornSettings?.waveform]); }, [hornSettings?.freqs, hornSettings?.waveform]);
const isActive = Boolean(active); const isActive = Boolean(active);
const clampedHeat = Math.max(0, Math.min(1, Number(heat) || 0));
const buttonClasses = useMemo(() => { const buttonClasses = useMemo(() => {
const base = const base =
'group flex w-full flex-col gap-0.5 rounded-xl border-2 px-1 py-1.5 text-xs font-semibold'; 'group relative flex w-full flex-col gap-0.5 overflow-hidden rounded-xl border-2 px-1 py-1.5 text-xs font-semibold';
const active = 'border-fuchsia-300/70 bg-fuchsia-700 text-fuchsia-50'; const active = 'border-fuchsia-300/70 bg-fuchsia-700 text-fuchsia-50';
const inactive = 'border-cyan-300/70 bg-cyan-900 text-cyan-50 hover:bg-cyan-800'; const inactive = 'border-cyan-300/70 bg-cyan-900 text-cyan-50 hover:bg-cyan-800';
return [base, isActive ? active : inactive, 'disabled:opacity-50', className] return [base, isActive ? active : inactive, 'disabled:opacity-50', className]
@@ -61,6 +63,12 @@ export default function HornControl({
} }
}; };
useEffect(() => {
if (!isActive && pressed) {
setPressed(false);
}
}, [isActive, pressed]);
const formattedWaveform = waveform === 'sine' ? 'sine' : 'saw'; const formattedWaveform = waveform === 'sine' ? 'sine' : 'saw';
const updateWaveform = useCallback( const updateWaveform = useCallback(
@@ -111,7 +119,23 @@ export default function HornControl({
onBlur={stop} onBlur={stop}
className={buttonClasses} className={buttonClasses}
> >
<div className="flex items-center justify-between gap-0.5"> <div
className="pointer-events-none absolute inset-0 opacity-70"
style={{
background: `linear-gradient(90deg, rgba(14,116,144,0.7) ${clampedHeat * 100}%, rgba(0,0,0,0) ${
clampedHeat * 100
}%)`,
}}
/>
<div
className={`pointer-events-none absolute inset-0 transition-opacity ${
isActive ? 'opacity-40' : 'opacity-0'
}`}
style={{
background: 'linear-gradient(90deg, rgba(217,70,239,0.75), rgba(244,114,182,0.35))',
}}
/>
<div className="relative z-10 flex items-center justify-between gap-0.5">
<span className="flex items-center gap-0.5 text-sm font-semibold"> <span className="flex items-center gap-0.5 text-sm font-semibold">
<span>Horn</span> <span>Horn</span>
{keyLabel ? ( {keyLabel ? (
@@ -128,7 +152,7 @@ export default function HornControl({
{isActive ? 'Honk' : 'Hold'} {isActive ? 'Honk' : 'Hold'}
</span> </span>
</div> </div>
<div className="grid grid-cols-[minmax(0,1.2fr)_repeat(4,minmax(0,1fr))] items-center gap-0.5 text-[0.65rem]"> <div className="relative z-10 grid grid-cols-[minmax(0,1.2fr)_repeat(4,minmax(0,1fr))] items-center gap-0.5 text-[0.65rem]">
<label className="flex items-center gap-0.5 text-slate-200"> <label className="flex items-center gap-0.5 text-slate-200">
<span className="text-slate-300">Wave</span> <span className="text-slate-300">Wave</span>
<select <select
webui/src/components/MobileControls.jsx
+3 -2
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@@ -146,7 +146,7 @@ function MobileJoystickPanel({ layout }) {
const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision); const nightVisionAvailable = Boolean(roverId && pipeline?.nightVision);
const nightVisionState = pipeline?.nightVisionState; const nightVisionState = pipeline?.nightVisionState;
const hornAvailable = Boolean(roverId && pipeline?.horn); const hornAvailable = Boolean(roverId && pipeline?.horn);
const hornCooldownActive = (horn?.cooldownUntil ?? 0) > Date.now(); const hornBlocked = horn?.overheated;
const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45; const cameraMin = typeof cameraConfig?.minAngle === 'number' ? cameraConfig.minAngle : -45;
const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45; const cameraMax = typeof cameraConfig?.maxAngle === 'number' ? cameraConfig.maxAngle : 45;
const cameraValue = const cameraValue =
@@ -228,10 +228,11 @@ function MobileJoystickPanel({ layout }) {
)} )}
{hornAvailable && ( {hornAvailable && (
<HornControl <HornControl
disabled={disabled || hornCooldownActive} disabled={disabled || hornBlocked}
onStart={startHorn} onStart={startHorn}
onStop={stopHorn} onStop={stopHorn}
active={horn?.active} active={horn?.active}
heat={horn?.heat}
/> />
)} )}
{cameraEnabled && ( {cameraEnabled && (
webui/src/controls/ControlContext.jsx
+43 -23
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@@ -2,7 +2,15 @@ import { createContext, useCallback, useContext, useEffect, useMemo, useReducer,
import { controlReducer, initialControlState } from './controlReducer.js'; import { controlReducer, initialControlState } from './controlReducer.js';
import { computeDifferentialSpeeds, clamp } from './controlMath.js'; import { computeDifferentialSpeeds, clamp } from './controlMath.js';
import { useCommandPipeline } from './commandPipeline.js'; import { useCommandPipeline } from './commandPipeline.js';
import { DEFAULT_KEYMAP, DEFAULT_MACROS, HORN_COOLDOWN_RATIO, HORN_MAX_MS, SONG_DEFAULT_NOTE } from './constants.js'; import {
DEFAULT_KEYMAP,
DEFAULT_MACROS,
HORN_HEAT_COOL_PER_SEC,
HORN_HEAT_RESUME_THRESHOLD,
HORN_HEAT_UP_PER_SEC,
HORN_MAX_MS,
SONG_DEFAULT_NOTE,
} from './constants.js';
import { canonicalizeKeyInput } from './keymapUtils.js'; import { canonicalizeKeyInput } from './keymapUtils.js';
import { useSettingsNamespace } from '../settings/index.js'; import { useSettingsNamespace } from '../settings/index.js';
import { useSession } from '../context/SessionContext.jsx'; import { useSession } from '../context/SessionContext.jsx';
@@ -34,8 +42,8 @@ export function ControlSystemProvider({ children }) {
const pendingLightsRef = useRef(false); const pendingLightsRef = useRef(false);
const servoAngleRef = useRef(initialControlState.camera.angle); const servoAngleRef = useRef(initialControlState.camera.angle);
const hornAutoStopRef = useRef(null); const hornAutoStopRef = useRef(null);
const hornCooldownRef = useRef(null);
const hornStartAtRef = useRef(0); const hornStartAtRef = useRef(0);
const hornHeatTickRef = useRef(0);
const { const {
value: controlSettings, value: controlSettings,
save: saveControlSettings, save: saveControlSettings,
@@ -367,10 +375,10 @@ export function ControlSystemProvider({ children }) {
const startHorn = useCallback(() => { const startHorn = useCallback(() => {
if (!pipeline.horn) return; if (!pipeline.horn) return;
const now = Date.now(); if (state.horn?.overheated) return false;
const cooldownUntil = state.horn?.cooldownUntil ?? 0; if ((state.horn?.heat ?? 0) >= 1) return false;
if (cooldownUntil && now < cooldownUntil) return false;
if (state.horn?.active) return false; if (state.horn?.active) return false;
const now = Date.now();
pipeline.sendHorn({ action: 'start', ...normalizedHornSettings }); pipeline.sendHorn({ action: 'start', ...normalizedHornSettings });
dispatch({ type: 'control/set-horn-active', payload: true }); dispatch({ type: 'control/set-horn-active', payload: true });
hornStartAtRef.current = now; hornStartAtRef.current = now;
@@ -383,7 +391,7 @@ export function ControlSystemProvider({ children }) {
}, HORN_MAX_MS); }, HORN_MAX_MS);
recordControlIntent(); recordControlIntent();
return true; return true;
}, [dispatch, normalizedHornSettings, pipeline, recordControlIntent, state.horn?.active, state.horn?.cooldownUntil]); }, [dispatch, normalizedHornSettings, pipeline, recordControlIntent, state.horn?.active, state.horn?.heat, state.horn?.overheated]);
const stopHorn = useCallback(() => { const stopHorn = useCallback(() => {
if (!pipeline.horn) return; if (!pipeline.horn) return;
@@ -393,26 +401,38 @@ export function ControlSystemProvider({ children }) {
clearTimeout(hornAutoStopRef.current); clearTimeout(hornAutoStopRef.current);
hornAutoStopRef.current = null; hornAutoStopRef.current = null;
} }
const now = Date.now();
const holdMs = Math.max(0, now - (hornStartAtRef.current || now));
hornStartAtRef.current = 0; hornStartAtRef.current = 0;
const cooldownMs = Math.max(0, Math.round(holdMs * HORN_COOLDOWN_RATIO));
const cooldownUntil = cooldownMs > 0 ? now + cooldownMs : 0;
dispatch({ type: 'control/set-horn-cooldown', payload: cooldownUntil });
if (hornCooldownRef.current) {
clearTimeout(hornCooldownRef.current);
}
if (cooldownMs > 0) {
hornCooldownRef.current = setTimeout(() => {
dispatch({ type: 'control/set-horn-cooldown', payload: 0 });
hornCooldownRef.current = null;
}, cooldownMs);
} else {
dispatch({ type: 'control/set-horn-cooldown', payload: 0 });
hornCooldownRef.current = null;
}
}, [dispatch, pipeline]); }, [dispatch, pipeline]);
useEffect(() => {
const tickMs = 100;
const interval = setInterval(() => {
const now = Date.now();
const last = hornHeatTickRef.current || now;
hornHeatTickRef.current = now;
const dt = Math.min(1000, Math.max(0, now - last)) / 1000;
const currentHeat = state.horn?.heat ?? 0;
const active = Boolean(state.horn?.active);
const overheated = Boolean(state.horn?.overheated);
const delta = dt * (active ? HORN_HEAT_UP_PER_SEC : -HORN_HEAT_COOL_PER_SEC);
let nextHeat = Math.max(0, Math.min(1, currentHeat + delta));
let nextOverheated = overheated;
if (nextHeat >= 1) {
nextHeat = 1;
nextOverheated = true;
if (active) {
stopHorn();
}
} else if (nextOverheated && nextHeat <= HORN_HEAT_RESUME_THRESHOLD) {
nextOverheated = false;
}
if (nextHeat !== currentHeat || nextOverheated !== overheated) {
dispatch({ type: 'control/set-horn-heat', payload: { heat: nextHeat, overheated: nextOverheated } });
}
}, tickMs);
return () => clearInterval(interval);
}, [dispatch, state.horn?.active, state.horn?.heat, state.horn?.overheated, stopHorn]);
const registerInputState = useCallback((source, data) => { const registerInputState = useCallback((source, data) => {
dispatch({ type: 'control/register-input-state', payload: { source, state: data } }); dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
}, []); }, []);
webui/src/controls/constants.js
+3 -1
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@@ -18,7 +18,9 @@ export const SONG_DEFAULT_DURATION = 8;
export const SONG_REPEAT_MS = 250; export const SONG_REPEAT_MS = 250;
export const HORN_MAX_MS = 1200; export const HORN_MAX_MS = 1200;
export const HORN_COOLDOWN_RATIO = 0.9; export const HORN_HEAT_UP_PER_SEC = 1.0;
export const HORN_HEAT_COOL_PER_SEC = 0.35;
export const HORN_HEAT_RESUME_THRESHOLD = 0.7;
export const OI_COMMANDS = { export const OI_COMMANDS = {
start: [128], start: [128],
webui/src/controls/controlReducer.js
+5 -3
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@@ -30,7 +30,8 @@ function createSongState() {
function createHornState() { function createHornState() {
return { return {
active: false, active: false,
cooldownUntil: 0, heat: 0,
overheated: false,
}; };
} }
@@ -145,12 +146,13 @@ export function controlReducer(state, action) {
active: Boolean(action.payload), active: Boolean(action.payload),
}, },
}; };
case 'control/set-horn-cooldown': case 'control/set-horn-heat':
return { return {
...state, ...state,
horn: { horn: {
...(state.horn || createHornState()), ...(state.horn || createHornState()),
cooldownUntil: typeof action.payload === 'number' ? action.payload : 0, heat: typeof action.payload?.heat === 'number' ? action.payload.heat : 0,
overheated: Boolean(action.payload?.overheated),
}, },
}; };
case 'control/record-intent': case 'control/record-intent':
webui/src/controls/inputs/KeyboardInputManager.jsx
+4
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@@ -443,6 +443,10 @@ export default function KeyboardInputManager() {
latestResetAllRef.current(); latestResetAllRef.current();
}, [state.roverId]); }, [state.roverId]);
useEffect(() => {
hornActiveRef.current = Boolean(state.horn?.active);
}, [state.horn?.active]);
useEffect( useEffect(
() => () => { () => () => {
stopServoLoop(); stopServoLoop();