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npm run build

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legop3
2026-04-24 20:37:40 -04:00
parent 0c93aacdf6
commit f23a0e15c3
25 changed files with 386 additions and 257 deletions
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webui/src/controls/ControlContext.jsx
+30 -7
View File
@@ -13,7 +13,7 @@ import {
} from './constants.js';
import { canonicalizeKeyInput } from './keymapUtils.js';
import { useSettingsNamespace } from '../settings/index.js';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { HORN_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import {
applyAuxOvercurrentScale,
@@ -71,7 +71,8 @@ export function ControlSystemProvider({ children }) {
typeof pageSettings?.driveMacroBackoffEnabled === 'boolean'
? pageSettings.driveMacroBackoffEnabled
: true;
const { session, homeAssistantSetState } = useSession();
const session = useSessionSelector((state) => state.session);
const { homeAssistantSetState } = useSessionActions();
const roverId = session?.assignment?.roverId ?? null;
const overcurrentLimiter = useOvercurrentLimiter(roverId);
const driveTransform = useCallback(
@@ -455,16 +456,38 @@ export function ControlSystemProvider({ children }) {
}
}, [dispatch, pipeline, state.horn?.heat, state.horn?.overheated, HORN_HEAT_UP_PER_SEC]);
const hornStateRef = useRef({
active: Boolean(state.horn?.active),
heat: state.horn?.heat ?? 0,
overheated: Boolean(state.horn?.overheated),
});
const stopHornRef = useRef(stopHorn);
useEffect(() => {
hornStateRef.current = {
active: Boolean(state.horn?.active),
heat: state.horn?.heat ?? 0,
overheated: Boolean(state.horn?.overheated),
};
}, [state.horn?.active, state.horn?.heat, state.horn?.overheated]);
useEffect(() => {
stopHornRef.current = stopHorn;
}, [stopHorn]);
const hornNeedsTick = Boolean(state.horn?.active) || (state.horn?.heat ?? 0) > 0 || Boolean(state.horn?.overheated);
useEffect(() => {
if (!hornNeedsTick) return undefined;
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 current = hornStateRef.current;
const currentHeat = current.heat ?? 0;
const active = Boolean(current.active);
const overheated = Boolean(current.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;
@@ -472,7 +495,7 @@ export function ControlSystemProvider({ children }) {
nextHeat = 1;
nextOverheated = true;
if (active) {
stopHorn();
stopHornRef.current();
}
} else if (nextOverheated && nextHeat <= HORN_HEAT_RESUME_THRESHOLD) {
nextOverheated = false;
@@ -482,7 +505,7 @@ export function ControlSystemProvider({ children }) {
}
}, tickMs);
return () => clearInterval(interval);
}, [dispatch, state.horn?.active, state.horn?.heat, state.horn?.overheated, stopHorn]);
}, [dispatch, hornNeedsTick, HORN_HEAT_COOL_PER_SEC, HORN_HEAT_RESUME_THRESHOLD, HORN_HEAT_UP_PER_SEC]);
const registerInputState = useCallback((source, data) => {
dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
webui/src/controls/commandPipeline.js
+2 -2
View File
@@ -1,6 +1,6 @@
import { useCallback, useMemo } from 'react';
import { useSocket } from '../context/SocketContext.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import {
AUX_LIMITS,
COMMAND_DELAY_MS,
@@ -14,7 +14,7 @@ import { bytesToBase64, clampRange, sleep } from './controlMath.js';
export function useCommandPipeline(options = {}) {
const { driveTransform, auxTransform } = options;
const socket = useSocket();
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const roverId = session?.assignment?.roverId;
const rosterEntry = useMemo(() => {
webui/src/controls/inputs/KeyboardInputManager.jsx
+3 -2
View File
@@ -1,7 +1,7 @@
import { useCallback, useEffect, useMemo, useRef } from 'react';
import { useControlSystem } from '../ControlContext.jsx';
import { useChat } from '../../context/ChatContext.jsx';
import { useSession } from '../../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../../context/SessionContext.jsx';
import { normalizeKeymapEntries, tokensForEvent } from '../keymapUtils.js';
import { isKeyboardCaptureLocked } from './keyboardCaptureLock.js';
import { isTextInputElement } from './inputFocusUtils.js';
@@ -134,7 +134,8 @@ export default function KeyboardInputManager() {
sendSong,
},
} = useControlSystem();
const { session, homeAssistantSetState } = useSession();
const session = useSessionSelector((state) => state.session);
const { homeAssistantSetState } = useSessionActions();
const { focusChat, blurChat, isChatFocused } = useChat();
const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
const keymap = useMemo(() => normalizeKeymapEntries(state.keymap), [state.keymap]);
webui/src/controls/inputs/gamepadHub.js
+38 -1
View File
@@ -4,6 +4,12 @@ import { getPadSignature } from './gamepadBindings.js';
const listeners = new Set();
let rafId = null;
let lastState = { pads: [], timestamp: 0 };
let hasDeviceListeners = false;
let deviceChangeHandler = null;
function hasConnectedPads() {
return readGamepads().some((pad) => pad?.connected !== false);
}
function readGamepads() {
if (typeof navigator === 'undefined' || !navigator.getGamepads) {
@@ -41,11 +47,17 @@ function updateState() {
function loop() {
updateState();
if (lastState.pads.length === 0) {
stopLoop();
return;
}
rafId = requestAnimationFrame(loop);
}
function startLoop() {
if (rafId) return;
updateState();
if (lastState.pads.length === 0) return;
rafId = requestAnimationFrame(loop);
}
@@ -57,12 +69,37 @@ function stopLoop() {
export function subscribeGamepadHub(listener) {
listeners.add(listener);
startLoop();
if (!hasDeviceListeners && typeof window !== 'undefined') {
const handleDeviceChange = () => {
updateState();
if (listeners.size === 0) return;
if (hasConnectedPads()) {
startLoop();
} else {
stopLoop();
}
};
window.addEventListener('gamepadconnected', handleDeviceChange);
window.addEventListener('gamepaddisconnected', handleDeviceChange);
deviceChangeHandler = handleDeviceChange;
hasDeviceListeners = true;
}
if (hasConnectedPads()) {
startLoop();
} else {
updateState();
}
listener(lastState);
return () => {
listeners.delete(listener);
if (listeners.size === 0) {
stopLoop();
if (hasDeviceListeners && typeof window !== 'undefined') {
window.removeEventListener('gamepadconnected', deviceChangeHandler);
window.removeEventListener('gamepaddisconnected', deviceChangeHandler);
deviceChangeHandler = null;
hasDeviceListeners = false;
}
}
};
}
webui/src/controls/overcurrentLimiter.js
+14 -3
View File
@@ -1,6 +1,6 @@
import { useEffect, useMemo, useRef, useState } from 'react';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
export const OVERCURRENT_GROUPS = [
{ key: 'drive', motors: ['leftWheel', 'rightWheel'] },
@@ -27,7 +27,7 @@ function clampUnit(value) {
}
export function useOvercurrentLimiter(roverId, options = {}) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const frame = useTelemetryFrame(roverId);
const sensors = frame?.sensors || {};
const overcurrentFlags = sensors?.wheelOvercurrents || {};
@@ -47,7 +47,18 @@ export function useOvercurrentLimiter(roverId, options = {}) {
setCaps(createInitialCaps());
}, [roverId]);
const hasAnyOvercurrent = useMemo(
() => OVERCURRENT_GROUPS.some((group) => group.motors.some((motor) => Boolean(overcurrentFlags?.[motor]))),
[overcurrentFlags],
);
const needsRecoveryTick = useMemo(
() => Object.values(caps || {}).some((entry) => (Number.isFinite(entry?.cap) ? entry.cap : 1) < 0.999),
[caps],
);
const shouldTick = Boolean(roverId) && (hasAnyOvercurrent || needsRecoveryTick);
useEffect(() => {
if (!shouldTick) return undefined;
const interval = setInterval(() => {
const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
const deltaMs = Math.max(0, now - lastTickRef.current);
@@ -79,7 +90,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
});
}, 100);
return () => clearInterval(interval);
}, [config.downRatePerSec, config.releaseDelaySec, config.upRatePerSec]);
}, [config.downRatePerSec, config.releaseDelaySec, config.upRatePerSec, roverId, shouldTick]);
const scales = useMemo(() => {
const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => {