legop3/MultiRoombaRover
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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
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@@ -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 } });