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basically moving docking flows to the server instead of being in the web UI

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legop3
2026-10-01 21:21:39 -04:00
parent 1ba4ebe5ff
commit ddfc889a8c
30 changed files with 482 additions and 453 deletions
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dist/hornverifier
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dist/roverd
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dist/roverd-debian-laptop
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pi/roverd/auto_charge.go
+1 -1
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@@ -7,7 +7,7 @@ import (
)
const (
autoChargeTimeout = 1 * time.Second
autoChargeTimeout = 10 * time.Second
autoChargeCooldown = 0 * time.Minute
sourceHomeBase = 1 << 1
)
server/src/services/commandService/index.js
+38 -3
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@@ -85,7 +85,7 @@ function normalizeOutboundCommandPayload(payload = {}) {
};
}
function issueCommand(roverId, payload) {
function issueCommand(roverId, payload, options = {}) {
const record = roverManager.rovers.get(roverId);
if (!record || !record.ws) {
throw new Error('Rover offline');
@@ -93,6 +93,11 @@ function issueCommand(roverId, payload) {
if (payload?.type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
throw new Error('Laser disabled while room lights are locked on');
}
if (options.dockingOwned && payload.driveDirect && getCommandMotionMagnitude('drive', payload) > 0
&& Date.now() < (driveCooldowns.get(roverId) || 0)) {
throw new Error('Drive blocked: safety cooldown');
}
payload = require('../dockingService').protectCommand(record, payload, options);
const id = uuidv4();
const normalizedPayload = normalizeOutboundCommandPayload(payload);
const message = { ...normalizedPayload, id };
@@ -124,7 +129,14 @@ overcurrentProtectionService.configureCommandIssuer((roverId, payload) => {
*/
return false;
}
issueCommand(roverId, payload);
const record = roverManager.rovers.get(roverId);
const reverseAdjustment = payload.driveDirect
&& (payload.driveDirect.left < 0 || payload.driveDirect.right < 0)
&& payload.driveDirect.left <= 0 && payload.driveDirect.right <= 0
&& require('../dockingService').canAdjustReverse(record);
// Only protection's adjustments to the active reverse inherit controller
// ownership. Zero remains an ordinary stop and cancels the sequence.
issueCommand(roverId, payload, { dockingOwned: Boolean(reverseAdjustment) });
return true;
});
@@ -315,6 +327,22 @@ function submitCommand(socket, { roverId, type, data } = {}, cb) {
if (!isSongCommand && !isRebootCommand && !isUpdateCommand && !roverManager.canDrive(roverId, socket)) {
throw new Error('Not your turn or no control');
}
const record = roverManager.rovers.get(roverId);
if (!record?.ws) throw new Error('Rover offline');
const docking = require('../dockingService');
// The controller owns wheel output during undocking. Discard all ordinary
// drive input, including neutral, before it can alter protection's intent.
if (docking.shouldIgnoreDriveInput(record, payload)) {
reply({ ignored: true, reason: 'undocking' });
return;
}
// Reject before recording held motor intent: otherwise a rejected input
// could be replayed by protection as soon as the docking lock is released.
if (!docking.intents.has(type)) {
const guarded = docking.protectCommand(record, { ...payload, type });
type = guarded.type;
payload = guarded;
}
const driveDirect = payload?.driveDirect;
if (type === 'drive' && driveDirect) {
if (!isAdminSocket) {
@@ -361,7 +389,14 @@ function submitCommand(socket, { roverId, type, data } = {}, cb) {
bypassed: isAdminSocket,
});
}
const id = issueCommand(roverId, { type, ...payload });
const isDockingIntent = docking.intents.has(type);
const id = isDockingIntent
? docking.issueIntent(roverManager.rovers.get(roverId), type, payload, socket)
: issueCommand(roverId, { ...payload, type });
if (isDockingIntent) {
// The server acknowledges accepting the intent; telemetry reports its completion.
io.emit('commandAck', { roverId, id, status: 'ok' });
}
commandEvents.emit('observation', {
ts: Date.now(),
roverId: String(roverId),
server/src/services/dockingService/index.js
+273
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@@ -0,0 +1,273 @@
// Server-owned docking operations.
const { v4: uuidv4 } = require('uuid');
const io = require('../../globals/io');
const logger = require('../../globals/logger').child('dockingService');
const states = new WeakMap();
const intents = new Set(['enterDocking', 'cancelDocking', 'undock']);
const ASSIST_SPEED = 60;
const SENSOR_TIMEOUT_MS = 1500;
const UNDOCK_TIMEOUT_MS = 4000;
const REVERSE_TIMEOUT_MS = 1000;
function stateFor(record) {
if (!states.has(record)) {
states.set(record, {
contact: null, charging: false, latched: false, assist: false,
operation: null, error: null, seenAt: 0, timer: null,
});
}
return states.get(record);
}
function snapshot(record) {
const state = stateFor(record);
return {
phase: state.operation ? 'undocking' : state.contact ? (state.charging ? 'charging' : 'docked') : state.assist ? 'assisting' : 'idle',
movementLocked: Boolean(state.operation || state.latched || state.error || state.contact == null),
cameraLocked: state.assist,
error: state.error,
};
}
function publish(record) {
if (!record.lastSensor?.decoded) return;
record.lastSensor.decoded = { ...record.lastSensor.decoded, docking: snapshot(record) };
// State transitions use the same telemetry event, including failures when the
// physical sensor stream has stalled. Never manufacture a new sensor timestamp.
io.to(record.room).emit('sensorFrame', {
roverId: record.id, frame: record.lastSensor.raw, sensors: record.lastSensor.decoded,
overcurrentProtection: record.lastOvercurrentProtection || null,
});
}
function send(record, payload) {
return require('../commandService').issueCommand(record.id, payload, { dockingOwned: true });
}
function stop(record) {
// Forget the previous held intent so protection cannot replay it after unlock.
require('../overcurrentProtectionService').protectCommand(record.id, 'drive', { driveDirect: { left: 0, right: 0 } });
send(record, { type: 'drive', driveDirect: { left: 0, right: 0 } });
}
function stopAllMotion(record) {
stop(record);
const payload = { motorPwm: { main: 0, side: 0, vacuum: 0 } };
require('../overcurrentProtectionService').protectCommand(record.id, 'motors', payload);
send(record, { type: 'motors', ...payload });
}
function mode(record, opcode) {
send(record, { type: 'raw', raw: Buffer.from([opcode]).toString('base64') });
}
function camera(record, angle) {
if (record.meta?.cameraServo?.enabled) send(record, { type: 'servo', servo: { angle } });
}
function song(record, notes, slot = 0, duration = 10) {
send(record, { type: 'song', song: { slot, notes: notes.map((note) => ({ note, duration })) } });
}
function finishAssist(record) {
const state = stateFor(record);
if (!state.assist) return;
state.assist = false;
camera(record, 0);
song(record, [83, 76]);
}
function clearOperation(state) {
clearTimeout(state.timer);
state.timer = null;
state.operation = null;
}
function fail(record, code, message) {
const state = stateFor(record);
clearOperation(state);
state.error = { code, message };
state.latched = true;
try { stop(record); } catch (error) {
logger.warn('Unable to stop docking operation', { roverId: record.id, error: error.message });
}
publish(record);
}
function armDeadline(record) {
const state = stateFor(record);
clearTimeout(state.timer);
if (!state.operation) return;
const deadline = Math.min(
state.seenAt + SENSOR_TIMEOUT_MS,
state.operation.startedAt + UNDOCK_TIMEOUT_MS,
state.operation.reversingAt ? state.operation.reversingAt + REVERSE_TIMEOUT_MS : Infinity,
);
state.timer = setTimeout(() => {
const stale = Date.now() - state.seenAt >= SENSOR_TIMEOUT_MS;
fail(record, stale ? 'telemetryUnavailable' : 'undockTimeout', stale ? 'Rover telemetry stopped during undocking.' : 'Unable to leave the dock.');
}, Math.max(1, deadline - Date.now()));
state.timer.unref?.();
}
function handleIntent(record, type, payload, socket) {
const state = stateFor(record);
if (type === 'cancelDocking') {
if (state.operation) fail(record, 'undockCancelled', 'Undocking stopped.');
stop(record);
finishAssist(record);
publish(record);
return;
}
state.error = null;
require('../roverManager').stopDockGuard(record.id);
stop(record);
if (type === 'enterDocking') {
state.latched = false;
if (!state.assist) {
state.assist = true;
camera(record, record.meta?.cameraServo?.minAngle ?? -45);
song(record, [76, 83]);
}
} else {
finishAssist(record);
camera(record, 0);
state.operation = { startedAt: Date.now(), socket, backoff: payload.backoff !== false, reversing: false };
// Full mode works from an initialized OI; start only when OI is off.
if (record.lastSensor?.decoded?.oiMode?.code === 0) mode(record, 128);
mode(record, 132);
armDeadline(record);
}
publish(record);
}
function processTelemetry(record, sensors) {
const state = stateFor(record);
if (!sensors?.chargingSources || !sensors?.oiMode) return snapshot(record);
const previousContact = state.contact;
state.seenAt = Date.now();
state.contact = Boolean(sensors.chargingSources.homeBase);
state.charging = [1, 2, 3, 4].includes(sensors.chargingState?.code);
if (previousContact == null) state.latched = state.contact;
try {
const operation = state.operation;
if (operation) {
const manager = require('../roverManager');
if (!operation.socket?.connected || !manager.canDrive(record.id, operation.socket)) {
fail(record, 'controlLost', 'Undocking stopped because control changed.');
} else if (Date.now() - operation.startedAt >= UNDOCK_TIMEOUT_MS
|| (operation.reversingAt && Date.now() - operation.reversingAt >= REVERSE_TIMEOUT_MS)) {
fail(record, 'undockTimeout', 'Unable to leave the dock.');
} else if (sensors.oiMode.label === 'full') {
if (!state.contact || !operation.backoff) {
stop(record);
clearOperation(state);
state.latched = state.contact;
} else if (!operation.reversing) {
operation.reversing = true;
operation.reversingAt = Date.now();
const speed = Math.max(1, Math.min(500, Number(record.meta?.maxWheelSpeed) || 500));
// Track the controller's own intent in existing protection so stalls
// still stop it and subsequent adjustments refer to this reverse only.
const drive = require('../overcurrentProtectionService').protectCommand(record.id, 'drive', {
driveDirect: { left: -speed, right: -speed },
}, { bypassed: require('../roleService').isAdmin(operation.socket) });
if (!drive.driveDirect.left && !drive.driveDirect.right) throw new Error('Undocking blocked by wheel protection');
send(record, { ...drive, type: 'drive' });
}
} else if (operation.reversing) {
fail(record, 'modeChanged', 'Undocking stopped because the Roomba mode changed.');
}
armDeadline(record);
} else if (state.contact) {
state.latched = true;
if (previousContact !== true) {
stopAllMotion(record);
mode(record, 143);
if (state.assist) song(record, [84], 1, 6);
}
if (state.charging) finishAssist(record);
} else if (previousContact === true && state.assist) {
song(record, [72], 1, 6);
}
} catch (error) {
fail(record, 'commandFailed', error.message);
}
return snapshot(record);
}
function shouldIgnoreDriveInput(record, payload) {
if (!stateFor(record).operation) return false;
if (payload.driveDirect) return true;
const raw = payload.raw ? Buffer.from(payload.raw, 'base64') : null;
return Boolean(raw && [137, 145].includes(raw[0]));
}
function protectCommand(record, payload, { dockingOwned = false } = {}) {
if (dockingOwned) return payload;
const state = stateFor(record);
// Raw OI drive packets must obey the same movement lock. Other raw commands,
// including mode changes, remain available and can interrupt the operation.
const raw = payload.raw ? Buffer.from(payload.raw, 'base64') : null;
if (state.operation && raw && [128, 131, 132, 133, 134, 135, 136, 143].includes(raw[0])) {
// Explicit mode commands remain available and take precedence over an
// automatic sequence, including while it is still waiting for full mode.
fail(record, 'modeChanged', 'Undocking stopped by a Roomba mode command.');
}
if (raw && [137, 145].includes(raw[0])) {
if (raw.length !== 5) throw new Error('Invalid raw drive command');
const first = raw.readInt16BE(1);
const second = raw.readInt16BE(3);
if (raw[0] === 137 && first !== 0 && state.assist && !snapshot(record).movementLocked) {
const limited = Buffer.from(raw);
limited.writeInt16BE(Math.max(-ASSIST_SPEED, Math.min(ASSIST_SPEED, first)), 1);
return { ...payload, raw: limited.toString('base64') };
}
if (raw[0] === 145) {
return protectCommand(record, { type: 'drive', driveDirect: { left: second, right: first } });
}
if (first === 0 && state.operation) fail(record, 'undockStopped', 'Undocking stopped by a stop command.');
if (first !== 0 && snapshot(record).movementLocked) throw new Error('Drive blocked while docked or undocking');
}
// User drive input is discarded at submitCommand before reaching here.
// Internal safety stops still interrupt the controller through this path.
if (payload.driveDirect) {
const { left, right } = payload.driveDirect;
if (!Number(left) && !Number(right) && state.operation) {
fail(record, 'undockStopped', 'Undocking stopped by a stop command.');
}
if ((Number(left) || Number(right)) && snapshot(record).movementLocked) throw new Error('Drive blocked while docked or undocking');
if (state.assist) {
const scale = Math.min(1, ASSIST_SPEED / Math.max(Math.abs(left), Math.abs(right), 1));
return { ...payload, driveDirect: { left: Math.round(left * scale), right: Math.round(right * scale) } };
}
}
if (payload.servo && state.assist) throw new Error('Camera locked during dock assist');
return payload;
}
function disconnect(record) {
const state = stateFor(record);
if (state.operation) fail(record, 'roverDisconnected', 'Rover disconnected during undocking.');
clearOperation(state);
state.seenAt = 0;
state.contact = null;
state.assist = false;
}
function canAdjustReverse(record) {
return Boolean(record && stateFor(record).operation?.reversing);
}
function issueIntent(record, type, payload, socket) {
const state = stateFor(record);
// Validate before mutating, so duplicate/rejected requests cannot disturb an
// operation that is already in progress.
if (type !== 'cancelDocking') {
if (state.operation) throw new Error('Undocking is already in progress');
if (Date.now() - state.seenAt >= SENSOR_TIMEOUT_MS || state.contact == null) {
throw new Error('Waiting for current rover telemetry');
}
if (type === 'enterDocking' && state.contact) throw new Error('Rover is already docked');
}
const id = uuidv4();
try {
handleIntent(record, type, payload, socket);
} catch (error) {
fail(record, 'commandFailed', error.message);
throw error;
}
return id;
}
module.exports = { shouldIgnoreDriveInput, canAdjustReverse, snapshot, intents, issueIntent, processTelemetry, protectCommand, disconnect };
server/src/services/roverManager/index.js
+1
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@@ -274,6 +274,7 @@ odometerService.odometerEvents.on('update', ({ roverId, odometer }) => {
setInterval(tickPrivateAutoClose, PRIVATE_AUTO_CLOSE_TICK_MS);
module.exports = {
stopDockGuard,
upsertRover,
removeRover,
lockRover,
server/src/services/roverManager/rosterLifecycle.js
+1
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@@ -117,6 +117,7 @@ function createRosterLifecycle(deps) {
offline, while removeRoverDrivers still receives the captured record so
it can clean the reverse membership index and Socket.IO room membership.
*/
require('../dockingService').disconnect(record);
rovers.delete(id);
removeRoverDrivers(id, record);
stopDockGuard(id);
server/src/services/roverManager/sensorPipeline.js
+13
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@@ -389,6 +389,10 @@ function createSensorPipeline(deps) {
function evaluateDockGuard(record, sensors) {
if (!record || !sensors) return;
if (sensors.docking?.phase === 'undocking' || sensors.docking?.phase === 'assisting') {
stopDockGuard(record.id);
return;
}
const state = getDockGuardState(record.id);
const now = Date.now();
const docked = Boolean(sensors?.chargingSources?.homeBase);
@@ -564,6 +568,10 @@ function createSensorPipeline(deps) {
};
record.lastSensor = { raw: frame, decoded };
}
if (decoded) {
decoded = { ...decoded, docking: require('../dockingService').processTelemetry(record, decoded) };
record.lastSensor = { raw: frame, decoded };
}
/*
Rover manager remains responsible only for decoding and routing sensor
frames. The dedicated service receives the completed sensor object after
@@ -577,6 +585,7 @@ function createSensorPipeline(deps) {
const overcurrentProtection = decoded && typeof processOvercurrentTelemetry === 'function'
? processOvercurrentTelemetry(roverId, decoded)
: null;
record.lastOvercurrentProtection = overcurrentProtection;
updateMovement(record, decoded);
const hasDockInfo = decoded?.chargingSources != null;
if (hasDockInfo) {
@@ -589,6 +598,10 @@ function createSensorPipeline(deps) {
if (bumps?.bumpLeft || bumps?.bumpRight) record.lastBumpAt = Date.now();
handlePrivateButtonHold(record, decoded);
evaluatePrivateSafety(record, decoded);
if (decoded) {
decoded = { ...decoded, docking: require('../dockingService').snapshot(record) };
record.lastSensor = { raw: frame, decoded };
}
io.to(record.room).volatile.emit('sensorFrame', {
roverId,
frame,
webui/src/components/DriveDockAction/driveDockState.js
+3 -3
View File
@@ -11,10 +11,10 @@ export function deriveDriveDockStateFromTelemetry(dockTelemetry) {
const oiNormalized = oiLabel.toLowerCase();
const chargingLabel = dockTelemetry?.chargingStateLabel || '';
const docked = Boolean(dockTelemetry?.homeBase);
const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== '';
const driving = oiNormalized === 'full';
const charging = dockTelemetry?.dockingPhase === 'charging';
const driving = oiNormalized === 'full' && !dockTelemetry?.movementLocked;
const dockedNotCharging = docked && !charging;
const dockingInProgress = !docked && !charging && oiNormalized === 'passive';
const dockingInProgress = !docked && !charging && oiNormalized === 'passive' && dockTelemetry?.dockingPhase !== 'undocking';
return { driving, docked, charging, dockedNotCharging, dockingInProgress, oiLabel, chargingLabel };
}
webui/src/components/DriveDockAction/index.jsx
+15 -44
View File
@@ -1,13 +1,12 @@
// Drive Dock Action
// Purpose: Defines the Drive Dock Action module and the local helpers/components used in this file.
// Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit.
import { useState } from 'react';
import { useEffect, useState } from 'react';
import '../MobileControls/mobileControls.css';
import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
import ControlHint from '../ControlHint/index.jsx';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import { deriveDriveDockStateFromTelemetry } from './driveDockState.js';
import { triggerTouchHaptic } from '../../lib/touchHaptics.js';
@@ -91,14 +90,13 @@ export default function DriveDockAction({
const isMobile = layout === 'mobile';
const roverId = useControlSelector((control) => control.state.roverId);
const actions = useControlActions();
const dockAssist = useManualDockAssist();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const state = driveDockState ?? deriveDriveDockStateFromTelemetry(dockTelemetry);
const { driving, docked, charging, dockingInProgress } = state;
const [pending, setPending] = useState(null);
const pending = dockTelemetry.dockingPhase === 'undocking' ? 'drive' : null;
const [confirmOpen, setConfirmOpen] = useState(false);
const [showModal, setShowModal] = useState(false);
const manualAssistActive = Boolean(dockAssist.active);
const manualAssistActive = Boolean(dockTelemetry.cameraLocked);
const driveDisabled = !roverId || pending !== null;
const dockDisabled = !roverId || pending !== null;
@@ -124,64 +122,37 @@ export default function DriveDockAction({
const chargeValue = charging ? 'Charging' : docked ? 'Charging soon...' : '—';
const chargeTone = charging ? 'good' : docked ? 'warn' : 'bad';
const handleReturnToDrive = async () => {
if (!roverId || pending) return;
if (isMobile) triggerTouchHaptic('button');
setPending('drive');
try {
dockAssist.exitAssist();
actions.setMode('drive');
await actions.runMacro('drive-sequence');
} catch (err) {
alert(err.message);
} finally {
setPending(null);
}
};
const handleStartDrive = async () => {
const handleStartDrive = () => {
if (!roverId || pending) return;
if (isMobile) triggerTouchHaptic('button');
setConfirmOpen(false);
setShowModal(false);
setPending('drive');
try {
dockAssist.exitAssist();
actions.setMode('drive');
await actions.runMacro('drive-sequence');
} catch (err) {
alert(err.message);
} finally {
setPending(null);
}
actions.undock();
};
const handleConfirmDock = async () => {
const handleConfirmDock = () => {
if (!roverId || pending) return;
if (isMobile) triggerTouchHaptic('button');
setPending('dock');
try {
dockAssist.enterAssist();
} catch (err) {
alert(err.message);
} finally {
setPending(null);
setConfirmOpen(false);
setShowModal(false);
}
actions.sendCommand('enterDocking');
setConfirmOpen(false);
setShowModal(false);
};
const handleOpenDock = () => {
if (dockDisabled) return;
if (isMobile) triggerTouchHaptic('button');
if (manualAssistActive) {
dockAssist.exitAssist();
actions.sendCommand('cancelDocking');
return;
}
setShowModal(true);
setConfirmOpen(true);
};
useEffect(() => {
if (dockTelemetry.dockingError) alert(dockTelemetry.dockingError);
}, [dockTelemetry.dockingError]);
// The drive/dock card appears inside the mobile controls and can be held or
// tapped repeatedly; attach mobile touch suppression directly to the card so
// Safari does not select labels or open callouts during those interactions.
@@ -254,7 +225,7 @@ export default function DriveDockAction({
<button
type="button"
disabled={driveDisabled}
onClick={handleReturnToDrive}
onClick={handleStartDrive}
onContextMenu={(event) => event.preventDefault()}
className={`${baseCardClasses} ${filledHeight} ${compactHeight} ${ctaText} ${layoutClass} ${ctaSize} ${amberCta}`}
>
webui/src/components/DriverVideo/index.jsx
+1 -1
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@@ -48,7 +48,7 @@ export default function DriverVideo({ layoutFormat = 'desktop' }) {
mobileHud={mobileHud}
labelScale={1}
/>
<ManualDockAssistOverlay mobileHud={mobileHud} />
<ManualDockAssistOverlay roverId={roverId} mobileHud={mobileHud} />
<HudChatInput compact={mobileHud} />
<OvercurrentOverlay compact={mobileHud} />
<LowBatteryOverlay compact={mobileHud} />
webui/src/components/GamepadMappingSettings/constants.js
+1 -1
View File
@@ -56,7 +56,7 @@ export const ACTIONS = [
{ id: 'allAux', label: 'All cleaning motors', kind: 'button', section: 'Aux buttons' },
{ id: 'mainReverse', label: 'Main reverse toggle', kind: 'button', section: 'Brush toggles' },
{ id: 'sideReverse', label: 'Side reverse toggle', kind: 'button', section: 'Brush toggles' },
{ id: 'driveMacro', label: 'Drive / undock sequence', kind: 'button', section: 'Mode controls' },
{ id: 'driveMacro', label: 'Drive / undock', kind: 'button', section: 'Mode controls' },
{ id: 'dockMacro', label: 'Manual docking assist', kind: 'button', section: 'Mode controls' },
{ id: 'headlightToggle', label: 'Headlight toggle', kind: 'button', section: 'Camera' },
{ id: 'laserToggle', label: 'Laser toggle', kind: 'button', section: 'Camera' },
webui/src/components/HudOverlays/ManualDockAssistOverlay/index.jsx
+16 -15
View File
@@ -1,23 +1,24 @@
import { dockTelemetryEqual, selectDockTelemetry } from '../../../context/telemetryViews.js';
import { useTelemetrySelector } from '../../../context/TelemetryContext.jsx';
import React, { useEffect, useRef, useState } from 'react';
import { useManualDockAssist } from '../../../features/manualDockAssist/useManualDockAssist.js';
function ManualDockAssistOverlay({ mobileHud = false }) {
const { visible, statusLabel, statusTone, active, charging } = useManualDockAssist({ manageLifecycle: true });
function ManualDockAssistOverlay({ roverId, mobileHud = false }) {
const telemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const active = telemetry.cameraLocked;
const charging = telemetry.dockingPhase === 'charging';
const visible = active || telemetry.homeBase;
const statusLabel = charging ? 'Docked and charging' : telemetry.homeBase ? 'Docked' : 'Docking assist active';
const statusTone = charging ? 'good' : telemetry.homeBase ? 'warn' : 'active';
const [popupMessage, setPopupMessage] = useState('');
const timerRef = useRef(null);
const prevActiveRef = useRef(active);
const [previousActive, setPreviousActive] = useState(active);
useEffect(() => {
const prevActive = prevActiveRef.current;
const enabledNow = active && !prevActive;
const autoDisabledOnCharge = !active && prevActive && charging;
if (enabledNow) {
setPopupMessage('Dock assist mode enabled');
} else if (autoDisabledOnCharge) {
setPopupMessage('Docking successful! Thank you!');
}
prevActiveRef.current = active;
}, [active, charging]);
// These messages are presentation only; telemetry owns the operation itself.
if (previousActive !== active) {
setPreviousActive(active);
if (active) setPopupMessage('Dock assist mode enabled');
else if (charging) setPopupMessage('Docking successful! Thank you!');
}
useEffect(() => {
if (!popupMessage) return undefined;
webui/src/components/HudOverlays/newgen/CornerPods/BottomRightPod.jsx
+5 -3
View File
@@ -1,3 +1,5 @@
import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
import { selectDockTelemetry, dockTelemetryEqual } from '../../../../context/telemetryViews.js';
// Bottom-right Corner Pod
// Purpose: Provides a compact circular camera-tilt control using the existing servo command path.
import { useCallback } from 'react';
@@ -31,7 +33,7 @@ export default function BottomRightPod({ roverId }) {
const layout = useLayout();
const [open, setOpen] = usePodVisibility('camera', true);
const camera = useControlSelector((control) => control.state.camera);
const dockAssistActive = useControlSelector((control) => Boolean(control.state.manualDockAssist?.active));
const { cameraLocked } = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const { setServoAngle } = useControlActions();
const canControl = useCanControlRover(roverId);
const config = camera?.config;
@@ -47,7 +49,7 @@ export default function BottomRightPod({ roverId }) {
const cameraPodOpen = showCameraControls && enabled && open;
const updateFromPointer = useCallback((event) => {
if (!canControl || !enabled || dockAssistActive || !(max > min)) return;
if (!canControl || !enabled || cameraLocked || !(max > min)) return;
const bounds = event.currentTarget.getBoundingClientRect();
const x = ((event.clientX - bounds.left) / bounds.width) * 144;
const y = ((event.clientY - bounds.top) / bounds.height) * 144;
@@ -64,7 +66,7 @@ export default function BottomRightPod({ roverId }) {
}
const nextFraction = arcDegrees / ARC_SWEEP_DEGREES;
setServoAngle(min + nextFraction * (max - min));
}, [canControl, dockAssistActive, enabled, max, min, setServoAngle]);
}, [canControl, cameraLocked, enabled, max, min, setServoAngle]);
return (
<>
webui/src/components/HudOverlays/newgen/DockingHud/index.jsx
+20 -58
View File
@@ -8,7 +8,6 @@ import { useControlActions } from '../../../../controls/index.js';
import ControlHint from '../../../ControlHint/index.jsx';
import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../../../context/telemetryViews.js';
import { useManualDockAssist } from '../../../../features/manualDockAssist/useManualDockAssist.js';
import { useSettingsNamespace } from '../../../../settings/index.js';
import useCanControlRover from '../../../../hooks/useCanControlRover.js';
import { useLayout } from '../../../../layouts/LayoutContext.jsx';
@@ -253,9 +252,6 @@ export default function DockingHud({ roverId }) {
const layout = useLayout();
const actions = useControlActions();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
// This replaces ManualDockAssistOverlay as the current HUD's one lifecycle owner. It preserves the
// success sounds, camera positioning, speed cap, and automatic exit after charging begins.
const dockAssist = useManualDockAssist({ manageLifecycle: true });
const canControl = useCanControlRover(roverId);
const batteryState = useSessionSelector((state) => {
const rover = (state.session?.roster || []).find((entry) => String(entry.id) === String(roverId));
@@ -268,15 +264,14 @@ export default function DockingHud({ roverId }) {
const [dockExpansionOpen, setDockExpansionOpen] = usePodVisibility('dockAssist', true);
// The action name is presentation state as well as busy state. Keeping the
// reason prevents a passive, already-undocked rover from ever saying "Undocking".
const [pendingAction, setPendingAction] = useState(null);
const [error, setError] = useState('');
const [showUndockTransition, setShowUndockTransition] = useState(false);
const docked = Boolean(dockTelemetry?.homeBase);
const oiMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase();
// The established UI contract treats exactly passive + undocked as the Roomba's
// autonomous docking attempt. Unknown telemetry must not fabricate that state.
const autoDocking = !docked && !dockAssist.active && oiMode === 'passive';
const autoDocking = !docked && !dockTelemetry.cameraLocked && oiMode === 'passive';
const pendingAction = (dockTelemetry.dockingPhase === 'undocking') ? (docked ? 'undocking' : 'resuming') : null;
const pending = pendingAction !== null;
/* Mobile already presents its own touch-oriented driving controls. The docked
action therefore keeps its plain-language instruction without advertising a
@@ -287,55 +282,22 @@ export default function DockingHud({ roverId }) {
// The camera arc is the shared circular-pod reference size. Keep the dock expansion flush
// against the battery shell after enlarging that gauge to the same 8.5-rem footprint.
const cornerOffsetClass = batteryPodOpen ? 'right-34' : 'right-0';
const previousDockedRef = useRef(docked);
const [previousDocked, setPreviousDocked] = useState(docked);
const finishUndockTransition = useCallback(() => setShowUndockTransition(false), []);
useEffect(() => {
const wasDocked = previousDockedRef.current;
// Only a real live transition plays the cue. An already-undocked rover must not animate
// merely because the user opened or refreshed the page.
if (wasDocked && !docked) {
setShowUndockTransition(true);
} else if (docked) {
setShowUndockTransition(false);
}
previousDockedRef.current = docked;
}, [docked]);
// Presentation-only transition; mounting with an undocked rover does not animate.
if (previousDocked !== docked) {
setPreviousDocked(docked);
setShowUndockTransition(!docked);
}
const startDriving = async (action) => {
const startDriving = () => {
if (!roverId || pending || !canControl) return;
setPendingAction(action);
setError('');
try {
// The established drive sequence is the canonical undock path: it restores the camera,
// enters full Open Interface mode, and performs the short physical back-away from the dock.
dockAssist.exitAssist();
actions.setMode('drive');
await actions.runMacro('drive-sequence');
} catch (caughtError) {
setError(caughtError?.message || 'Unable to start driving. Please try again.');
} finally {
setPendingAction(null);
}
actions.undock();
};
const startUndocking = () => {
startDriving('undocking');
};
const resumeDriving = () => {
startDriving('resuming');
};
const startDocking = () => {
if (!roverId || pending || !canControl) return;
setError('');
try {
// Enter on the first click. The explanation appears as the resulting active state instead
// of forcing the user through a modal and a second confirmation action.
dockAssist.enterAssist();
} catch (caughtError) {
setError(caughtError?.message || 'Unable to start dock assist. Please try again.');
}
actions.sendCommand('enterDocking');
};
return (
@@ -358,20 +320,20 @@ export default function DockingHud({ roverId }) {
driveKeyLabel={driveKeyLabel}
pending={pendingAction === 'undocking'}
controlsDisabled={!canControl}
error={error}
onUndock={startUndocking}
error={dockTelemetry.dockingError}
onUndock={startDriving}
/>
) : autoDocking || pendingAction === 'resuming' ? (
<AutoDockingAction
driveKeyLabel={driveKeyLabel}
pending={pendingAction === 'resuming'}
controlsDisabled={!canControl}
error={error}
onResumeDriving={resumeDriving}
error={dockTelemetry.dockingError}
onResumeDriving={startDriving}
/>
) : (
<>
{dockAssist.active ? (
{dockTelemetry.cameraLocked ? (
/* Dock assist needs the unobscured camera image. A thin cyan frame communicates the
temporary mode without adding another instruction surface over the video. */
<div className="pointer-events-none absolute inset-0 z-50 ring-8 ring-inset ring-cyan-200/90" aria-hidden="true" />
@@ -379,15 +341,15 @@ export default function DockingHud({ roverId }) {
{/* Desktop keeps the compact corner entry point. Mobile starts assist from
its dedicated control column, but once active it still mounts this component
so the centered camera instruction and cancel action remain available. */}
{layout === 'desktop' || dockAssist.active ? (
{layout === 'desktop' || dockTelemetry.cameraLocked || dockTelemetry.dockingError ? (
<DockAssistAction
active={dockAssist.active}
active={dockTelemetry.cameraLocked}
pending={pending}
controlsDisabled={!canControl}
error={error}
error={dockTelemetry.dockingError}
dockKeyLabel={dockKeyLabel}
onDock={startDocking}
onCancel={dockAssist.exitAssist}
onCancel={() => actions.sendCommand('cancelDocking')}
cornerOffsetClass={cornerOffsetClass}
open={dockExpansionOpen}
onOpenChange={setDockExpansionOpen}
webui/src/components/MobileControls/AuxColumn.jsx
+3 -4
View File
@@ -7,7 +7,6 @@ import './mobileControls.css';
import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import useCanControlRover from '../../hooks/useCanControlRover.js';
import HornControl from '../HornControl/index.jsx';
import GPIOToggleControl from '../GPIOToggleControl/index.jsx';
@@ -33,7 +32,6 @@ function AuxColumnContent({ accessoriesAvailable, onShowAccessories }) {
const laserState = useControlSelector((control) => control.pipeline?.laserState);
const pipelineHorn = useControlSelector((control) => control.pipeline?.horn);
const { setServoAngle, setHeadlight, setLaser, setAuxMotors, startHorn, stopHorn } = useControlActions();
const dockAssist = useManualDockAssist();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const canControl = useCanControlRover(roverId);
// Turn ownership is the common mutation boundary for every control in this
@@ -44,7 +42,8 @@ function AuxColumnContent({ accessoriesAvailable, onShowAccessories }) {
const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
const vacuumDisabled = controlsDisabled
|| docked
|| (!drivingMode && !dockAssist.active);
|| dockTelemetry.movementLocked
|| (!drivingMode && !dockTelemetry.cameraLocked);
const activeAuxButtonRef = useRef(null);
const cameraConfig = camera?.config;
const cameraEnabled = Boolean(roverId && camera?.enabled && cameraConfig);
@@ -60,7 +59,7 @@ function AuxColumnContent({ accessoriesAvailable, onShowAccessories }) {
: typeof cameraConfig?.homeAngle === 'number'
? cameraConfig.homeAngle
: (cameraMin + cameraMax) / 2;
const cameraDisabled = Boolean(controlsDisabled || dockAssist.cameraLocked);
const cameraDisabled = Boolean(controlsDisabled || dockTelemetry.cameraLocked);
/*
The mobile tilt track shares the same precision flag as desktop tilt. This
keeps the servo fine-step behavior tied to the selected movement mode rather
webui/src/components/MobileControls/MovementColumn.jsx
+9 -19
View File
@@ -2,19 +2,18 @@
// Purpose: Assembles the mobile movement column, which is the right column by default.
// Scope: Owns movement availability while the in-video DockingHud owns every dock/undock action.
import { FaChargingStation } from 'react-icons/fa';
import { useControlSelector } from '../../controls/index.js';
import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useSessionSelector } from '../../context/SessionContext.jsx';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import useCanControlRover from '../../hooks/useCanControlRover.js';
import { triggerTouchHaptic } from '../../lib/touchHaptics.js';
import ControlPadPanel from './ControlPadPanel.jsx';
function MovementColumnContent({ layout }) {
const roverId = useControlSelector((control) => control.state.roverId);
const actions = useControlActions();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const dockAssist = useManualDockAssist();
const canControl = useCanControlRover(roverId);
const batteryState = useSessionSelector((state) => {
const rover = (state.session?.roster || []).find((entry) => String(entry.id) === String(roverId));
@@ -25,20 +24,11 @@ function MovementColumnContent({ layout }) {
const docked = Boolean(dockTelemetry?.homeBase);
const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
/*
DockingHud is now the only place where a user starts driving or enters docking
assist. This column only decides whether touch movement is safe. Requiring both
an undocked rover and full OI mode keeps the pad inert throughout the undock
macro, including the interval where dock contact and OI mode change separately.
Manual assist is the deliberate exception to the normal OI-mode requirement:
its entire purpose is to let the user drive onto the dock under the assist speed
cap. Actual dock contact still disables movement immediately.
*/
const movementDisabled = !roverId
|| !canControl
|| docked
|| (!drivingMode && !dockAssist.active);
|| dockTelemetry.movementLocked
|| (!drivingMode && !dockTelemetry.cameraLocked);
// Both controls share the same hardware-availability boundary. Dock assist
// changes their actions, not who is allowed to command the rover.
const dockActionDisabled = movementDisabled;
@@ -49,10 +39,10 @@ function MovementColumnContent({ layout }) {
// Mobile deliberately enters assist on the first tap. The centered video HUD
// provides the resulting instruction, so a confirmation modal would only add
// friction between intent and the camera-guided docking task.
if (dockAssist.active) {
dockAssist.exitAssist();
if (dockTelemetry.cameraLocked) {
actions.sendCommand('cancelDocking');
} else {
dockAssist.enterAssist();
actions.sendCommand('enterDocking');
}
};
@@ -63,7 +53,7 @@ function MovementColumnContent({ layout }) {
disabled={dockActionDisabled}
onClick={handleDockAction}
className={`mobile-touch-control flex min-h-18 shrink-0 items-center justify-center gap-1.5 rounded-xl border-2 px-2 text-base font-semibold shadow-md transition disabled:cursor-not-allowed disabled:opacity-50 ${
dockAssist.active
dockTelemetry.cameraLocked
? 'border-cyan-300/70 bg-cyan-900 text-cyan-50'
: batteryUrgent
? 'border-red-300/80 bg-red-950 text-red-50'
@@ -75,7 +65,7 @@ function MovementColumnContent({ layout }) {
<FaChargingStation className="text-lg" aria-hidden="true" />
{/* The mobile column remains the only mobile entry point into dock assist. Battery
severity makes that existing action more obvious without adding another control. */}
<span>{dockAssist.active ? 'Exit dock assist' : batteryUrgent ? 'Dock now' : batteryLow ? 'Dock and charge soon' : 'Dock and charge'}</span>
<span>{dockTelemetry.cameraLocked ? 'Exit dock assist' : batteryUrgent ? 'Dock now' : batteryLow ? 'Dock and charge soon' : 'Dock and charge'}</span>
</button>
{/* Keeping the pad mounted prevents the mobile columns from changing size while
the centered video HUD explains and performs dock-related transitions. */}
webui/src/components/SettingsPanel/index.jsx
+2 -2
View File
@@ -411,7 +411,7 @@ export default function SettingsPanel() {
<span className="font-semibold text-white">Swap control columns (put joystick on the left)</span>
</SettingRow>
</CardFrame>
<CardFrame title="Macros" bodyClassName="space-y-1 p-1 text-sm">
<CardFrame title="Driving" bodyClassName="space-y-1 p-1 text-sm">
<SettingRow inline>
<input
type="checkbox"
@@ -419,7 +419,7 @@ export default function SettingsPanel() {
checked={driveMacroBackoffEnabled}
onChange={handleDriveMacroBackoffEnabled}
/>
<span className="font-semibold text-white">Enable backward bump in drive macro</span>
<span className="font-semibold text-white">Back away from the dock when undocking</span>
</SettingRow>
</CardFrame>
<CardFrame title="Audio" className="col-span-full" bodyClassName="space-y-1 p-1 text-sm">
webui/src/context/telemetryViews.js
+8
View File
@@ -11,6 +11,10 @@ const EMPTY_BATTERY_TELEMETRY = Object.freeze({
});
const EMPTY_DOCK_TELEMETRY = Object.freeze({
dockingPhase: 'idle',
movementLocked: true,
cameraLocked: false,
dockingError: '',
oiModeLabel: 'Unknown',
chargingStateLabel: '',
homeBase: false,
@@ -127,6 +131,10 @@ export function selectDockTelemetry(frame) {
const sensors = frame?.sensors;
if (!sensors) return EMPTY_DOCK_TELEMETRY;
return {
dockingPhase: sensors.docking?.phase || 'idle',
movementLocked: sensors.docking?.movementLocked ?? true,
cameraLocked: Boolean(sensors.docking?.cameraLocked),
dockingError: sensors.docking?.error?.message || '',
oiModeLabel: sensors.oiMode?.label || 'Unknown',
chargingStateLabel: sensors.chargingState?.label || '',
// OI packet 34 is the authoritative charging-sources packet. Charging
webui/src/controls/ControlContext.jsx
+33 -113
View File
@@ -17,13 +17,11 @@ import { computeDifferentialSpeeds, clamp } from './controlMath.js';
import { useCommandPipeline } from './commandPipeline.js';
import {
DEFAULT_KEYMAP,
DEFAULT_MACROS,
HORN_HEAT_COOL_PER_SEC,
HORN_HEAT_RESUME_THRESHOLD,
HORN_HEAT_UP_PER_SEC,
HORN_MAX_FREQUENCY,
HORN_MAX_MS,
MANUAL_DOCK_ASSIST_MAX_SPEED,
SONG_DEFAULT_NOTE,
} from './constants.js';
import { canonicalizeKeyInput } from './keymapUtils.js';
@@ -32,6 +30,8 @@ import { useSessionActions, useSessionSelector } from '../context/SessionContext
import { HORN_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import { useOvercurrentLimiter } from './overcurrentLimiter.js';
import { usePtzControlAdapter } from './ptzControlAdapter.js';
import { useTelemetrySelector } from '../context/TelemetryContext.jsx';
import { selectDockTelemetry, dockTelemetryEqual } from '../context/telemetryViews.js';
import { trackAnalyticsEvent } from '../analytics/index.js';
const ControlSystemContext = createContext(null);
@@ -49,7 +49,8 @@ const CONTROL_ACTION_NAMES = [
'setCameraAxisIntent',
'goServoHome',
'setCameraPrecisionMode',
'runMacro',
'undock',
'sendCommand',
'stopAllMotion',
'sendOiCommand',
'setSensorStream',
@@ -60,8 +61,6 @@ const CONTROL_ACTION_NAMES = [
'updateKeyBinding',
'resetKeyBindings',
'registerInputState',
'setManualDockAssistActive',
'toggleManualDockAssist',
'setSongNote',
'sendSong',
'startHorn',
@@ -83,23 +82,6 @@ function clampServoAngle(config, value) {
return clamp(value, min, max);
}
function removeDriveSequenceBackoff(steps = []) {
if (!Array.isArray(steps) || steps.length < 3) return steps;
const last3 = steps.slice(-3);
const [backoffStep, pauseStep, stopStep] = last3;
const isBackoffStep =
backoffStep?.type === 'drive' &&
Number(backoffStep?.speeds?.left) === -300 &&
Number(backoffStep?.speeds?.right) === -300;
const isPauseStep = pauseStep?.type === 'pause' && Number(pauseStep?.duration) === 600;
const isStopStep =
stopStep?.type === 'drive' &&
Number(stopStep?.speeds?.left) === 0 &&
Number(stopStep?.speeds?.right) === 0;
if (!isBackoffStep || !isPauseStep || !isStopStep) return steps;
return steps.slice(0, -3);
}
export function ControlSystemProvider({ children }) {
const [state, dispatch] = useReducer(controlReducer, initialControlState);
const snapshotRef = useRef(null);
@@ -158,7 +140,7 @@ export function ControlSystemProvider({ children }) {
const {
value: controlSettings,
save: saveControlSettings,
} = useSettingsNamespace('controls', { keymap: DEFAULT_KEYMAP, macros: DEFAULT_MACROS });
} = useSettingsNamespace('controls', { keymap: DEFAULT_KEYMAP });
const { value: pageSettings } = useSettingsNamespace('page', { driveMacroBackoffEnabled: true });
const { value: hornSettings } = useSettingsNamespace('horn', HORN_SETTINGS_DEFAULTS);
const driveMacroBackoffEnabled =
@@ -166,6 +148,8 @@ export function ControlSystemProvider({ children }) {
? pageSettings.driveMacroBackoffEnabled
: true;
const roverId = useSessionSelector((state) => state.session?.assignment?.roverId ?? null);
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const cameraLocked = Boolean(dockTelemetry.cameraLocked);
const homeAssistantEntities = useSessionSelector((state) => state.session?.homeAssistant?.entities ?? []);
const roomLightsLocked = useSessionSelector((state) =>
Boolean(state.session?.homeAssistant?.lightPolicy?.locked || state.session?.homeAssistant?.lightPolicy?.lockedOn),
@@ -238,10 +222,7 @@ export function ControlSystemProvider({ children }) {
useEffect(() => {
const mergedKeymap = { ...DEFAULT_KEYMAP, ...(controlSettings?.keymap || {}) };
dispatch({ type: 'control/set-keymap', payload: mergedKeymap });
if (controlSettings?.macros) {
dispatch({ type: 'control/set-macros', payload: controlSettings.macros });
}
}, [controlSettings?.keymap, controlSettings?.macros]);
}, [controlSettings?.keymap]);
useEffect(() => {
const config = pipeline.servoConfig;
@@ -268,11 +249,10 @@ export function ControlSystemProvider({ children }) {
typeof state.camera.angle === 'number' ? state.camera.angle : servoAngleRef.current;
}, [state.camera.angle]);
const { enableSensorStream } = pipeline;
useEffect(() => {
if (pipeline.roverId) {
pipeline.enableSensorStream();
}
}, [pipeline.roverId, pipeline.enableSensorStream]);
if (roverId) enableSensorStream();
}, [roverId, enableSensorStream]);
const setMode = useCallback(
(mode) => {
@@ -295,21 +275,6 @@ export function ControlSystemProvider({ children }) {
const setDriveVector = useCallback(
(vector, meta = {}) => {
const speedOptions = { ...(meta.speedOptions || {}) };
if (state.manualDockAssist?.active) {
const capped = Math.max(1, Math.min(MANUAL_DOCK_ASSIST_MAX_SPEED, 500));
speedOptions.maxSpeed = Math.min(
typeof speedOptions.maxSpeed === 'number' ? speedOptions.maxSpeed : capped,
capped,
);
speedOptions.baseSpeed = Math.min(
typeof speedOptions.baseSpeed === 'number' ? speedOptions.baseSpeed : capped,
capped,
);
speedOptions.boostSpeed = Math.min(
typeof speedOptions.boostSpeed === 'number' ? speedOptions.boostSpeed : capped,
capped,
);
}
const computed = computeDifferentialSpeeds(vector, speedOptions);
const isMoving = computed.speeds.left !== 0 || computed.speeds.right !== 0;
if (pipeline.roverId && isMoving && driveEngagementRoverRef.current !== pipeline.roverId) {
@@ -327,7 +292,7 @@ export function ControlSystemProvider({ children }) {
if (ptzControls.applyDriveVector(vector, meta)) return;
pipeline.sendDriveDirect(computed.speeds);
},
[pipeline, ptzControls, recordControlIntent, state.manualDockAssist?.active],
[pipeline, ptzControls, recordControlIntent],
);
const setAuxMotors = useCallback(
@@ -369,23 +334,22 @@ export function ControlSystemProvider({ children }) {
}, [saveControlSettings]);
const setServoAngle = useCallback(
(value, options = {}) => {
(value) => {
/*
Absolute servo positions belong only to rover hardware. PTZ zoom now
enters through setCameraAxisIntent as a signed held velocity, so this
function must not infer zoom direction by comparing unrelated absolute
angle values from gamepad/manual-dock callers.
angle values from camera controls.
*/
if (!pipeline.servoConfig) return;
const force = Boolean(options?.force);
if (state.manualDockAssist?.active && !force) return;
if (cameraLocked) return;
const clamped = clampServoAngle(pipeline.servoConfig, value);
dispatch({ type: 'control/set-camera-angle', payload: clamped });
pipeline.sendServoAngle(clamped);
servoAngleRef.current = clamped;
recordControlIntent();
},
[pipeline, recordControlIntent, state.manualDockAssist?.active],
[pipeline, recordControlIntent, cameraLocked],
);
const nudgeServo = useCallback(
@@ -457,35 +421,19 @@ export function ControlSystemProvider({ children }) {
dispatch({ type: 'control/set-camera-precision-mode', payload: Boolean(active) });
}, []);
const runMacro = useCallback(
async (macroId) => {
const macro = state.macros.find((item) => item.id === macroId) || null;
if (!macro) return;
let macroToRun = macro;
if (macroId === 'drive-sequence') {
turnOnAllLights();
if (!homeAssistantEntities?.length) {
pendingLightsRef.current = true;
}
recordControlIntent();
if (!driveMacroBackoffEnabled) {
macroToRun = {
...macro,
steps: removeDriveSequenceBackoff(macro.steps),
};
}
}
await pipeline.runMacroSteps(macroToRun);
},
[
driveMacroBackoffEnabled,
pipeline,
recordControlIntent,
homeAssistantEntities,
state.macros,
turnOnAllLights,
],
);
const sendCommand = useCallback((type, data = {}) => {
recordControlIntent();
pipeline.emitCommand({ type, data }, (result) => {
if (result?.error) alert(result.error);
});
}, [pipeline, recordControlIntent]);
const undock = useCallback(() => {
dispatch({ type: 'control/set-mode', payload: 'drive' });
turnOnAllLights();
if (!homeAssistantEntities?.length) pendingLightsRef.current = true;
sendCommand('undock', { backoff: driveMacroBackoffEnabled });
}, [driveMacroBackoffEnabled, homeAssistantEntities, turnOnAllLights, sendCommand]);
const stopAllMotion = useCallback(() => {
dispatch({
@@ -691,32 +639,6 @@ export function ControlSystemProvider({ children }) {
return () => clearInterval(interval);
}, [dispatch, hornNeedsTick]);
const setManualDockAssistActive = useCallback(
(active) => {
const nextActive = Boolean(active);
const prevActive = Boolean(state.manualDockAssist?.active);
if (prevActive === nextActive) return;
dispatch({ type: 'control/set-manual-dock-assist', payload: nextActive });
if (!nextActive) {
pipeline.sendSong([{ note: 83, duration: 10 }, { note: 76, duration: 10 }], { slot: 0 });
setServoAngle(0, { force: true });
return;
}
const minAngle =
typeof pipeline.servoConfig?.minAngle === 'number'
? pipeline.servoConfig.minAngle
: -45;
setServoAngle(minAngle, { force: true });
pipeline.sendSong([{ note: 76, duration: 10 }, { note: 83, duration: 10 }], { slot: 0 });
recordControlIntent();
},
[pipeline, recordControlIntent, setServoAngle, state.manualDockAssist?.active],
);
const toggleManualDockAssist = useCallback(() => {
setManualDockAssistActive(!state.manualDockAssist?.active);
}, [setManualDockAssistActive, state.manualDockAssist?.active]);
const registerInputState = useCallback((source, data) => {
dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
}, []);
@@ -758,7 +680,8 @@ export function ControlSystemProvider({ children }) {
setCameraAxisIntent,
goServoHome,
setCameraPrecisionMode,
runMacro,
undock,
sendCommand,
stopAllMotion,
sendOiCommand,
setSensorStream,
@@ -769,8 +692,6 @@ export function ControlSystemProvider({ children }) {
updateKeyBinding,
resetKeyBindings,
registerInputState,
setManualDockAssistActive,
toggleManualDockAssist,
setSongNote,
sendSong,
startHorn,
@@ -787,7 +708,8 @@ export function ControlSystemProvider({ children }) {
setCameraAxisIntent,
goServoHome,
setCameraPrecisionMode,
runMacro,
undock,
sendCommand,
stopAllMotion,
sendOiCommand,
setSensorStream,
@@ -798,8 +720,6 @@ export function ControlSystemProvider({ children }) {
updateKeyBinding,
resetKeyBindings,
registerInputState,
setManualDockAssistActive,
toggleManualDockAssist,
setSongNote,
sendSong,
startHorn,
webui/src/controls/commandPipeline.js
+12 -41
View File
@@ -5,13 +5,12 @@ import { useSocket } from '../context/SocketContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import {
AUX_LIMITS,
COMMAND_DELAY_MS,
OI_COMMANDS,
SONG_DEFAULT_DURATION,
SONG_DEFAULT_NOTE,
SONG_NOTE_RANGE,
} from './constants.js';
import { bytesToBase64, clampRange, sleep } from './controlMath.js';
import { bytesToBase64, clampRange } from './controlMath.js';
export function useCommandPipeline(options = {}) {
const { driveTransform, auxTransform } = options;
@@ -53,8 +52,17 @@ export function useCommandPipeline(options = {}) {
const laserState = useMemo(() => rosterEntry?.laser?.state ?? null, [rosterEntry]);
const emitCommand = useCallback(
(payload, cb) => {
if (!roverId) return;
socket.emit('command', { roverId, ...payload }, cb);
if (!roverId || !socket.connected) {
cb?.({ error: 'Rover control connection unavailable' });
return;
}
if (cb) {
socket.timeout(5000).emit('command', { roverId, ...payload }, (error, result) => {
cb(error ? { error: 'Rover command acknowledgement timed out' } : result);
});
} else {
socket.emit('command', { roverId, ...payload });
}
},
[socket, roverId],
);
@@ -142,41 +150,6 @@ export function useCommandPipeline(options = {}) {
[emitCommand, enableSensorStream, roverId],
);
const runMacroSteps = useCallback(
async (macro) => {
if (!macro || !Array.isArray(macro.steps) || !roverId) return;
for (const step of macro.steps) {
if (!roverId) break;
switch (step.type) {
case 'oi':
sendOiCommand(step.command);
break;
case 'drive':
sendDriveDirect(step.speeds ?? { left: 0, right: 0 });
break;
case 'motors':
sendAuxMotors(step.values ?? {});
break;
case 'servo':
sendServoAngle(step.angle);
break;
case 'pause':
await sleep(step.duration ?? COMMAND_DELAY_MS); // eslint-disable-line no-await-in-loop
break;
default:
break;
}
if (step.delay || step.delayMs) {
const delay = step.delayMs ?? step.delay;
if (typeof delay === 'number' && delay > 0) {
await sleep(delay); // eslint-disable-line no-await-in-loop
}
}
}
},
[roverId, sendOiCommand, sendDriveDirect, sendAuxMotors, sendServoAngle],
);
const sendHeadlight = useCallback(
(action = 'toggle') => {
if (!roverId || !headlight) return null;
@@ -277,7 +250,6 @@ export function useCommandPipeline(options = {}) {
sendHorn,
sendPeripheralControl,
sendSong,
runMacroSteps,
}),
[
roverId,
@@ -300,7 +272,6 @@ export function useCommandPipeline(options = {}) {
sendHorn,
sendPeripheralControl,
sendSong,
runMacroSteps,
],
);
}
webui/src/controls/constants.js
-24
View File
@@ -12,10 +12,6 @@ export const DRIVE_LIMITS = {
boostSpeed: 400,
};
export const MANUAL_DOCK_ASSIST_MAX_SPEED = 60;
export const COMMAND_DELAY_MS = 100;
export const SONG_NOTE_RANGE = [31, 127];
export const SONG_DEFAULT_NOTE = 60;
export const SONG_DEFAULT_DURATION = 8;
@@ -64,23 +60,3 @@ export const DEFAULT_KEYMAP = {
homeAssistantOn: ['ArrowRight'],
homeAssistantOff: ['ArrowLeft'],
};
export const DEFAULT_MACROS = [
{
id: 'drive-sequence',
label: 'Drive',
description: 'Start, undock, and full command sequence used by the drive button.',
steps: [
{ type: 'servo', angle: 0 },
{ type: 'oi', command: 'start' },
{ type: 'pause', duration: COMMAND_DELAY_MS },
{ type: 'oi', command: 'dock' },
{ type: 'pause', duration: COMMAND_DELAY_MS },
{ type: 'oi', command: 'full' },
{ type: 'pause', duration: 300 },
{ type: 'drive', speeds: { left: -300, right: -300 } },
{ type: 'pause', duration: 600 },
{ type: 'drive', speeds: { left: 0, right: 0 } },
],
},
];
webui/src/controls/controlMath.js
-4
View File
@@ -55,7 +55,3 @@ export function bytesToBase64(bytes) {
}
throw new Error('No base64 encoder available');
}
export function sleep(ms) {
return new Promise((resolve) => setTimeout(resolve, ms));
}
webui/src/controls/controlReducer.js
+1 -23
View File
@@ -1,6 +1,6 @@
// Control State Reducer
// Purpose: Implements reducer transitions for control-system runtime state. Scope: Centralizes deterministic state updates for input, mode, and dispatch events.
import { DEFAULT_KEYMAP, DEFAULT_MACROS, SONG_DEFAULT_NOTE } from './constants.js';
import { DEFAULT_KEYMAP, SONG_DEFAULT_NOTE } from './constants.js';
function createDriveState() {
return {
@@ -49,12 +49,6 @@ function createMicState() {
};
}
function createManualDockAssistState() {
return {
active: false,
};
}
export const initialControlState = {
roverId: null,
mode: 'drive',
@@ -64,9 +58,7 @@ export const initialControlState = {
song: createSongState(),
horn: createHornState(),
mic: createMicState(),
manualDockAssist: createManualDockAssistState(),
lastControlIntentAt: 0,
macros: DEFAULT_MACROS,
keymap: DEFAULT_KEYMAP,
inputs: {},
// Generic accessory controls do not currently report state back from roverd.
@@ -86,7 +78,6 @@ export function controlReducer(state, action) {
song: action.payload ? state.song : createSongState(),
horn: action.payload ? state.horn : createHornState(),
mic: action.payload ? state.mic : createMicState(),
manualDockAssist: action.payload ? state.manualDockAssist : createManualDockAssistState(),
lastControlIntentAt: action.payload ? state.lastControlIntentAt : 0,
};
case 'control/set-mode':
@@ -169,11 +160,6 @@ export function controlReducer(state, action) {
...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,
@@ -222,14 +208,6 @@ export function controlReducer(state, action) {
pttActive: Boolean(action.payload),
},
};
case 'control/set-manual-dock-assist':
return {
...state,
manualDockAssist: {
...(state.manualDockAssist || createManualDockAssistState()),
active: Boolean(action.payload),
},
};
case 'control/set-peripheral-value': {
const roverId = String(action.payload?.roverId || '');
const peripheralId = String(action.payload?.peripheralId || '');
webui/src/controls/inputs/GamepadInputManager.jsx
+11 -12
View File
@@ -1,3 +1,5 @@
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
// Gamepad Input Manager
// Purpose: Converts polled gamepad state into normalized control actions/commands. Scope: Integrates bindings, deadzone math, and dispatch callbacks for driving.
import { useCallback, useEffect, useLayoutEffect, useMemo, useRef } from 'react';
@@ -17,7 +19,6 @@ import {
} from './gamepadBindings.js';
import { subscribeGamepadHub } from './gamepadHub.js';
import { isTextEntryActive } from './inputFocusUtils.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import {
isControllerControlLocked,
markControllerDisconnected,
@@ -113,12 +114,12 @@ function cycleHomeAssistant(latest, targetState) {
export default function GamepadInputManager() {
const {
setMode,
setDriveVector,
setAuxMotors,
setServoAngle,
setCameraAxisIntent,
runMacro,
undock,
sendCommand,
toggleHeadlight,
toggleLaser,
registerInputState,
@@ -131,7 +132,7 @@ export default function GamepadInputManager() {
const cameraAngle = useControlSelector((control) => control.state.camera?.angle);
const cameraConfig = useControlSelector((control) => control.state.camera?.config);
const roverId = useControlSelector((control) => control.state.roverId);
const dockAssist = useManualDockAssist();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const { focusChat } = useChatActions();
const { isChatFocused } = useChatFocus();
const { homeAssistantSetState, pushAlert } = useSessionActions();
@@ -283,7 +284,7 @@ export default function GamepadInputManager() {
role === 'lockdown' || (role === 'admin' && sessionMode !== 'lockdown'),
cameraAngle,
cameraConfig,
dockAssist,
dockTelemetry,
focusChat,
gamepadSettings,
homeAssistant,
@@ -292,7 +293,8 @@ export default function GamepadInputManager() {
pushAlert,
registerInputState,
roverId,
runMacro,
undock,
sendCommand,
saveGamepadSettings,
saveVideoSettings,
sendSong,
@@ -300,8 +302,7 @@ export default function GamepadInputManager() {
setCameraAxisIntent,
setDriveVector,
setMicPttActive,
setMode,
setSongNote,
setSongNote,
setServoAngle,
songNote,
startHorn,
@@ -462,15 +463,13 @@ export default function GamepadInputManager() {
}
if (outputs.buttons.driveMacro && handleButtonEdge('driveMacro', true)) {
latest.dockAssist.exitAssist();
latest.setMode('drive');
latest.runMacro('drive-sequence');
latest.undock();
} else if (!outputs.buttons.driveMacro) {
handleButtonEdge('driveMacro', false);
}
if (outputs.buttons.dockMacro && handleButtonEdge('dockMacro', true)) {
latest.dockAssist.toggleAssist();
latest.sendCommand(latest.dockTelemetry.cameraLocked ? 'cancelDocking' : 'enterDocking');
} else if (!outputs.buttons.dockMacro) {
handleButtonEdge('dockMacro', false);
}
webui/src/controls/inputs/KeyboardInputManager.jsx
+11 -12
View File
@@ -1,3 +1,5 @@
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
// Keyboard Input Manager
// Purpose: Captures and translates keyboard events into normalized control intents. Scope: Owns keydown/keyup listeners and dispatch coordination for drive controls.
import { useCallback, useEffect, useLayoutEffect, useMemo, useRef } from 'react';
@@ -10,7 +12,6 @@ import { markKeyboardInputActive } from './controllerRuntime.js';
import { isTextInputElement } from './inputFocusUtils.js';
import { useSettingsNamespace } from '../../settings/index.js';
import { INPUT_SETTINGS_DEFAULTS, VIDEO_SETTINGS_DEFAULTS } from '../../settings/namespaces.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import {
SONG_DEFAULT_DURATION,
SONG_DEFAULT_NOTE,
@@ -86,12 +87,12 @@ function shouldIgnoreEvent(event) {
export default function KeyboardInputManager() {
const {
setMode,
setDriveVector,
setAuxMotors,
nudgeServo,
setCameraAxisIntent,
runMacro,
undock,
sendCommand,
stopAllMotion,
registerInputState,
setCameraPrecisionMode,
@@ -107,12 +108,12 @@ export default function KeyboardInputManager() {
const cameraNudgeDegrees = useControlSelector((control) => control.state.camera?.config?.nudgeDegrees);
const songNote = useControlSelector((control) => control.state.song?.note);
const roverId = useControlSelector((control) => control.state.roverId);
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const hornActive = useControlSelector((control) => Boolean(control.state.horn?.active));
const homeAssistant = useSessionSelector((state) => state.session?.homeAssistant || null);
const role = useSessionSelector((state) => state.session?.role || null);
const mode = useSessionSelector((state) => state.session?.mode || null);
const adminCanControlLockedLights = role === 'lockdown' || (role === 'admin' && mode !== 'lockdown');
const dockAssist = useManualDockAssist();
const { homeAssistantSetState, pushAlert } = useSessionActions();
const { focusChat } = useChatActions();
const { isChatFocused } = useChatFocus();
@@ -386,7 +387,7 @@ export default function KeyboardInputManager() {
// before the browser can deliver the next keyboard event after a committed render.
latestRef.current = {
actionTokens,
dockAssist,
dockTelemetry,
focusChat,
homeAssistant,
homeAssistantSetState,
@@ -398,7 +399,8 @@ export default function KeyboardInputManager() {
pushAlert,
registerInputState,
roverId,
runMacro,
undock,
sendCommand,
saveVideoSettings,
sendSong,
servoRepeatMs,
@@ -408,8 +410,7 @@ export default function KeyboardInputManager() {
setCameraPrecisionMode,
setDriveVector,
setMicPttActive,
setMode,
setSongNote,
setSongNote,
songNote,
startHorn,
stopAllMotion,
@@ -452,11 +453,9 @@ export default function KeyboardInputManager() {
if (newlyPressed.length > 0) {
if (newlyPressed.some((token) => latest.keymap.driveMacro?.has(token))) {
latest.dockAssist.exitAssist();
latest.setMode('drive');
latest.runMacro('drive-sequence');
latest.undock();
} else if (newlyPressed.some((token) => latest.keymap.dockMacro?.has(token))) {
latest.dockAssist.toggleAssist();
latest.sendCommand(latest.dockTelemetry.cameraLocked ? 'cancelDocking' : 'enterDocking');
} else if (newlyPressed.some((token) => latest.keymap.headlightToggle?.has(token))) {
latest.toggleHeadlight();
} else if (newlyPressed.some((token) => latest.keymap.laserToggle?.has(token))) {
webui/src/features/manualDockAssist/useManualDockAssist.js
-67
View File
@@ -1,67 +0,0 @@
import { useCallback, useEffect, useMemo, useRef } from 'react';
import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js';
export function useManualDockAssist(options = {}) {
const { manageLifecycle = false } = options;
const roverId = useControlSelector((control) => control.state.roverId);
const active = useControlSelector((control) => Boolean(control.state.manualDockAssist?.active));
const actions = useControlActions();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const chargingLabel = dockTelemetry.chargingStateLabel || '';
const docked = Boolean(dockTelemetry.homeBase);
const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== '';
const wasDockedRef = useRef(false);
const enterAssist = useCallback(() => {
actions.setManualDockAssistActive(true);
}, [actions]);
const exitAssist = useCallback(() => {
actions.setManualDockAssistActive(false);
}, [actions]);
const toggleAssist = useCallback(() => {
actions.toggleManualDockAssist();
}, [actions]);
useEffect(() => {
if (!manageLifecycle) return;
const justDocked = docked && !wasDockedRef.current;
const justUndocked = !docked && wasDockedRef.current;
if (active && justDocked) {
// Stop on the first home-base contact so continued input cannot push the rover against the dock.
actions.stopAllMotion();
actions.sendSong([{ note: 84, duration: 6 }], { slot: 1 });
} else if (active && justUndocked) {
actions.sendSong([{ note: 72, duration: 6 }], { slot: 1 });
}
wasDockedRef.current = docked;
}, [actions, active, docked, manageLifecycle]);
useEffect(() => {
if (!manageLifecycle || !active || !charging) return;
exitAssist();
}, [active, charging, exitAssist, manageLifecycle]);
const statusLabel = charging ? 'Docked and charging' : docked ? 'Docked' : 'Docking assist active';
const statusTone = charging ? 'good' : docked ? 'warn' : 'active';
const visible = active || docked;
return useMemo(
() => ({
active,
docked,
charging,
cameraLocked: active,
visible,
statusLabel,
statusTone,
enterAssist,
exitAssist,
toggleAssist,
}),
[active, charging, docked, enterAssist, exitAssist, statusLabel, statusTone, toggleAssist, visible],
);
}
webui/src/layouts/driver/DesktopRightPaneTabs/index.jsx
+4 -3
View File
@@ -1,3 +1,5 @@
import { dockTelemetryEqual, selectDockTelemetry } from '../../../context/telemetryViews.js';
import { useTelemetrySelector } from '../../../context/TelemetryContext.jsx';
// Right Pane Tabs
// Purpose: Defines the Right Pane Tabs module and the local helpers/components used in this file.
// Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit.
@@ -22,7 +24,6 @@ import { useSessionSelector } from '../../../context/SessionContext.jsx';
import OverseerPreferencePanel from '../../../components/OverseerPreferencePanel/index.jsx';
import CardFrame from '../../../components/CardFrame/index.jsx';
import { useCallback, useLayoutEffect, useMemo, useRef, useState } from 'react';
import { useManualDockAssist } from '../../../features/manualDockAssist/useManualDockAssist.js';
import { themeGapClass, themeStackClass } from '../../../themes/index.js';
import ActivitiesTab from '../tabs/shared/ActivitiesTab/index.jsx';
import VipTab from '../tabs/shared/VipTab/index.jsx';
@@ -62,7 +63,7 @@ function DriveDockPanel() {
const laserState = useControlSelector((control) => control.pipeline?.laserState);
const pipelineHorn = useControlSelector((control) => control.pipeline?.horn);
const { setServoAngle, setHeadlight, setLaser, startHorn, stopHorn } = useControlActions();
const dockAssist = useManualDockAssist();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const driveDockState = useDriveDockState(roverId);
const hideInlineControls = driveDockState.docked && !driveDockState.driving;
@@ -85,7 +86,7 @@ function DriveDockPanel() {
const hornLabel = <ControlHint actionId="hornHonk" />;
const upLabel = <ControlHint actionId="cameraUp" />;
const downLabel = <ControlHint actionId="cameraDown" />;
const cameraDisabled = Boolean(!roverId || dockAssist.cameraLocked);
const cameraDisabled = Boolean(!roverId || dockTelemetry.cameraLocked);
/*
Precision movement mode also tightens the servo slider step. The command
path still sends ordinary angle targets; only the UI increment changes while