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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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server/public/assets/index-BnYVDOhM.js
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server/public/assets/index-BrQIm3tI.js
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server/public/index.html
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-BrQIm3tI.js"></script>
<script type="module" crossorigin src="/assets/index-BnYVDOhM.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-gFnxuq00.css">
</head>
<body>
webui/src/App.jsx
+2 -2
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@@ -34,7 +34,7 @@ import useUserIdentitySync from './hooks/useUserIdentitySync.js';
import CommunityGoalBanner from './components/CommunityGoalBanner.jsx';
import RoverQueuesPanel from './components/RoverQueuesPanel.jsx';
import VipPanel from './components/VipPanel.jsx';
import { useSession } from './context/SessionContext.jsx';
import { useSessionSelector } from './context/SessionContext.jsx';
import ButtonBoxPanel from './components/ButtonBoxPanel.jsx';
import RewardRunOverlay from './components/RewardRunOverlay.jsx';
@@ -91,7 +91,7 @@ function MobileFeatureTabs({
roomPanelId,
showTelemetry = true,
}) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const { state: controlState } = useControlSystem();
const { value: vipAudio } = useSettingsNamespace('vipAudio', { openMicEnabled: false, pttMode: 'live' });
const vipDotClass = session?.isVerified ? 'bg-emerald-400' : 'bg-amber-400';
webui/src/components/AlertFeed.jsx
+4 -2
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@@ -1,5 +1,5 @@
import { useEffect, useMemo, useState } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { useSocket } from '../context/SocketContext.jsx';
import ChatMessageRow from './ChatMessageRow.jsx';
import ChatTypingRow from './ChatTypingRow.jsx';
@@ -16,7 +16,9 @@ function buildKey(alert) {
}
export default function AlertFeed({ scale = 1 }) {
const { alerts, session, pushAlert } = useSession();
const alerts = useSessionSelector((state) => state.alerts);
const session = useSessionSelector((state) => state.session);
const { pushAlert } = useSessionActions();
const socket = useSocket();
const [now, setNow] = useState(() => Date.now());
webui/src/components/AuthPanel.jsx
+2 -2
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@@ -1,8 +1,8 @@
import { useState } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions } from '../context/SessionContext.jsx';
export default function AuthPanel() {
const { login, setRole } = useSession();
const { login, setRole } = useSessionActions();
const [username, setUsername] = useState('');
const [password, setPassword] = useState('');
const [loading, setLoading] = useState(false);
webui/src/components/ChatPanel.jsx
+2 -2
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@@ -1,6 +1,6 @@
import { useEffect, useMemo, useRef, useState } from 'react';
import { useChat } from '../context/ChatContext.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import { useSettingsNamespace } from '../settings/index.js';
import ChatMessageRow from './ChatMessageRow.jsx';
import ChatTypingRow from './ChatTypingRow.jsx';
@@ -14,7 +14,7 @@ export default function ChatPanel({
fillHeight = false,
allowSpectatorInput = false,
}) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const {
messages,
typing,
webui/src/components/DriverVideoPanel.jsx
+2 -2
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@@ -1,5 +1,5 @@
import { useEffect, useMemo, useRef, useState } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useVideoRequests } from '../hooks/useVideoRequests.js';
import { useRoverSnapshots } from '../hooks/useRoverSnapshots.js';
@@ -7,7 +7,7 @@ import { useControlSystem } from '../controls/index.js';
import VideoTile from './VideoTile.jsx';
export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const {
state: { song, lastControlIntentAt },
overcurrentLimiter,
webui/src/components/HomeAssistantControls.jsx
+4 -3
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@@ -1,5 +1,5 @@
import { useEffect, useMemo, useRef, useState } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { useControlSystem } from '../controls/index.js';
import { formatKeyLabel } from '../controls/keymapUtils.js';
@@ -240,8 +240,9 @@ export default function HomeAssistantControls() {
const {
state: { keymap },
} = useControlSystem();
const { session, homeAssistantToggle, homeAssistantSetLightColor, homeAssistantSetLightWhite } =
useSession();
const session = useSessionSelector((state) => state.session);
const { homeAssistantToggle, homeAssistantSetLightColor, homeAssistantSetLightWhite } =
useSessionActions();
const ha = session?.homeAssistant;
const entities = useMemo(() => ha?.entities || [], [ha?.entities]);
const lightPolicy = ha?.lightPolicy || null;
webui/src/components/LogPanel.jsx
+2 -2
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@@ -1,7 +1,7 @@
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
export default function LogPanel() {
const { logs } = useSession();
const logs = useSessionSelector((state) => state.logs);
return (
<div className="panel-section space-y-0.5 text-base">
<div className="flex items-center justify-between text-sm text-slate-400">
webui/src/components/ModeGateOverlay.jsx
+2 -2
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@@ -1,6 +1,6 @@
import { useEffect, useMemo, useState } from 'react';
import AuthPanel from './AuthPanel.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import SocialButton from './SocialButton.jsx';
import ChatPanel from './ChatPanel.jsx';
import NicknameForm from './NicknameForm.jsx';
@@ -25,7 +25,7 @@ function getModeDetails(mode = 'admin') {
}
export default function ModeGateOverlay() {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const mode = session?.mode;
const role = session?.role;
const reason = session?.adminReason?.text || '';
webui/src/components/RightPaneTabs.jsx
+2 -2
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@@ -17,7 +17,7 @@ import NightVisionControl from './NightVisionControl.jsx';
import HornControl from './HornControl.jsx';
import CameraTiltControl from './CameraTiltControl.jsx';
import VipPanel from './VipPanel.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import { useSettingsNamespace } from '../settings/index.js';
import ButtonBoxPanel from './ButtonBoxPanel.jsx';
@@ -112,7 +112,7 @@ function DriveDockPanel() {
}
export default function RightPaneTabs({ layout, onOpenHelpOverlay }) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const { state: controlState } = useControlSystem();
const { value: vipAudio } = useSettingsNamespace('vipAudio', { openMicEnabled: false, pttMode: 'live' });
const vipDotClass = session?.isVerified ? 'bg-emerald-400' : 'bg-red-600';
webui/src/components/RoverQueuesPanel.jsx
+3 -2
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@@ -1,5 +1,5 @@
import { useEffect, useMemo, useState } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { roverNameChromeStyle } from '../lib/roverColor.js';
function classNames(...values) {
@@ -42,7 +42,8 @@ function formatLabel(user, selfId) {
}
export default function RoverQueuesPanel({ title = 'Rovers' }) {
const { session, requestControl } = useSession();
const session = useSessionSelector((state) => state.session);
const { requestControl } = useSessionActions();
const [pending, setPending] = useState({});
const [now, setNow] = useState(() => Date.now());
webui/src/components/TelemetryPanel.jsx
+3 -2
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@@ -1,5 +1,5 @@
import { useMemo } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useDockIr } from '../hooks/useDockIr.js';
@@ -9,7 +9,8 @@ function formatMetric(value, fallback = '--') {
}
export default function TelemetryPanel() {
const { connected, session } = useSession();
const connected = useSessionSelector((state) => state.connected);
const session = useSessionSelector((state) => state.session);
const roverId = session?.assignment?.roverId;
const frame = useTelemetryFrame(roverId);
const sensors = frame?.sensors || {};
webui/src/components/TurnAlertListener.jsx
+3 -2
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@@ -1,6 +1,6 @@
import { useEffect, useMemo, useRef } from 'react';
import turnSound from '../assets/turn_alert.mp3';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { useSettingsNamespace } from '../settings/index.js';
import { AUDIO_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
@@ -21,7 +21,8 @@ function useAudio(src, volume = 1) {
}
export default function TurnAlertListener() {
const { session, pushAlert } = useSession();
const session = useSessionSelector((state) => state.session);
const { pushAlert } = useSessionActions();
const { value: audioSettings } = useSettingsNamespace('audio', AUDIO_SETTINGS_DEFAULTS);
const masterVolume = Number.isFinite(audioSettings?.masterVolume) ? audioSettings.masterVolume : AUDIO_SETTINGS_DEFAULTS.masterVolume;
const alertVolume = Number.isFinite(audioSettings?.alertVolume) ? audioSettings.alertVolume : AUDIO_SETTINGS_DEFAULTS.alertVolume;
webui/src/components/VideoTile.jsx
+3 -11
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@@ -3,7 +3,7 @@ import { WhepPlayer } from '../lib/whepPlayer.js';
import TopDownMap from './TopDownMap.jsx';
import { useHudMapSetting } from '../hooks/useHudMapSetting.js';
import { useChat } from '../context/ChatContext.jsx';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionSelector } from '../context/SessionContext.jsx';
import { useSettingsNamespace } from '../settings/index.js';
import { AUDIO_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
import SocialButton from './SocialButton.jsx';
@@ -42,7 +42,7 @@ export default function VideoTile({
isActiveDriver = false,
idleSkipSeconds = null,
}) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const videoRef = useRef(null);
const audioRef = useRef(null);
const restartTimer = useRef(null);
@@ -740,14 +740,6 @@ function HudOverlay({
labelScale = 1,
}) {
const bumps = sensors?.bumpsAndWheelDrops || {};
const [now, setNow] = useState(() => Date.now());
useEffect(() => {
const interval = setInterval(() => setNow(Date.now()), 150);
return () => clearInterval(interval);
}, []);
const pulse = frame?.receivedAt ? now - frame.receivedAt < 200 : false;
const isMobile = mobileHud;
const portraitMobile = layoutFormat === 'mobile-portrait';
const statusTextClass = isMobile ? 'text-[0.45rem]' : 'text-[0.65rem]';
@@ -1004,7 +996,7 @@ function LowBatteryOverlay({ battery, compact = false }) {
}
function HudChatInput({ compact = false }) {
const { session } = useSession();
const session = useSessionSelector((state) => state.session);
const { sendMessage, onInputFocus, onInputBlur, blurChat, registerInputRef, setTypingActive } = useChat();
const { value: ttsSettings } = useSettingsNamespace('tts', { engine: 'flite', voice: 'rms', pitch: 50 });
const [draft, setDraft] = useState('');
webui/src/context/ChatContext.jsx
+3 -2
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@@ -2,7 +2,7 @@
import { createContext, useCallback, useContext, useEffect, useMemo, useRef, useState } from 'react';
import { useSocket } from './SocketContext.jsx';
import { useSession } from './SessionContext.jsx';
import { useSessionActions, useSessionSelector } from './SessionContext.jsx';
import messageSound from '../assets/message.mp3';
import { useSettingsNamespace } from '../settings/index.js';
import { AUDIO_SETTINGS_DEFAULTS } from '../settings/namespaces.js';
@@ -22,7 +22,8 @@ const ChatContext = createContext({
export function ChatProvider({ children }) {
const socket = useSocket();
const { session, pushAlert } = useSession();
const session = useSessionSelector((state) => state.session);
const { pushAlert } = useSessionActions();
const { value: audioSettings } = useSettingsNamespace('audio', AUDIO_SETTINGS_DEFAULTS);
const [messages, setMessages] = useState([]);
const [typing, setTyping] = useState([]);
webui/src/context/SessionContext.jsx
+130 -73
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@@ -1,42 +1,19 @@
/* eslint-disable react-refresh/only-export-components */
import { createContext, useCallback, useContext, useEffect, useMemo, useState } from 'react';
import { createContext, useCallback, useContext, useEffect, useMemo, useRef, useState } from 'react';
import { useSocket } from './SocketContext.jsx';
const SessionContext = createContext({
const INITIAL_STATE = {
connected: false,
session: null,
logs: [],
adminLogs: [],
llmCommentaryState: null,
llmCommentaryStatus: null,
identifySession: async () => {},
login: async () => {},
setRole: async () => {},
requestControl: async () => {},
releaseControl: async () => {},
subscribeAll: async () => {},
homeAssistantToggle: async () => {},
homeAssistantSetState: async () => {},
homeAssistantSetLightColor: async () => {},
homeAssistantSetLightWhite: async () => {},
setNickname: async () => {},
requestVerification: async () => {},
requestPrivateRoverAccess: async () => {},
triggerReplay: async () => {},
setCommunityGoal: async () => {},
setAdminReason: async () => {},
rebootRover: async () => {},
rebootServer: async () => {},
playUploadedAudio: async () => {},
stopUploadedAudio: async () => {},
startMicWhip: async () => {},
readyMicWhip: async () => {},
stopMicWhip: async () => {},
setAudioLevels: async () => {},
setPrivateSafety: async () => {},
llmControl: async () => {},
});
alerts: [],
};
const SessionContext = createContext(null);
function useAckEmitter(socket) {
return useCallback(
@@ -54,66 +31,108 @@ function useAckEmitter(socket) {
);
}
function normalizeSelector(selector) {
return typeof selector === 'function' ? selector : (state) => state;
}
export function SessionProvider({ children }) {
const socket = useSocket();
const emitWithAck = useAckEmitter(socket);
const [session, setSession] = useState(null);
const [logs, setLogs] = useState([]);
const [adminLogs, setAdminLogs] = useState([]);
const [llmCommentaryState, setLlmCommentaryState] = useState(null);
const [llmCommentaryStatus, setLlmCommentaryStatus] = useState(null);
const [alerts, setAlerts] = useState([]);
const [connected, setConnected] = useState(socket.connected);
const stateRef = useRef({ ...INITIAL_STATE, connected: socket.connected });
const subscribersRef = useRef(new Set());
const getState = useCallback(() => stateRef.current, []);
const setState = useCallback((updater) => {
const prev = stateRef.current;
const next = typeof updater === 'function' ? updater(prev) : { ...prev, ...(updater || {}) };
if (next === prev) return;
stateRef.current = next;
subscribersRef.current.forEach((sub) => {
const nextSelected = sub.selector(next);
if (!sub.equalityFn(sub.current, nextSelected)) {
sub.current = nextSelected;
sub.listener(nextSelected);
}
});
}, []);
const subscribe = useCallback((selector, listener, equalityFn = Object.is) => {
const normalizedSelector = normalizeSelector(selector);
const sub = {
selector: normalizedSelector,
equalityFn,
listener,
current: normalizedSelector(stateRef.current),
};
subscribersRef.current.add(sub);
return () => {
subscribersRef.current.delete(sub);
};
}, []);
useEffect(() => {
const onConnect = () => setConnected(true);
const onDisconnect = () => setConnected(false);
const onConnect = () => {
setState((prev) => (prev.connected ? prev : { ...prev, connected: true }));
};
const onDisconnect = () => {
setState((prev) => (prev.connected ? { ...prev, connected: false } : prev));
};
socket.on('connect', onConnect);
socket.on('disconnect', onDisconnect);
return () => {
socket.off('connect', onConnect);
socket.off('disconnect', onDisconnect);
};
}, [socket]);
}, [setState, socket]);
useEffect(() => {
function handleSession(payload) {
setSession(payload);
setState((prev) => ({ ...prev, session: payload }));
}
function handleLogInit(entries = []) {
setLogs(entries);
setState((prev) => ({ ...prev, logs: entries }));
}
function handleLogEntry(entry) {
setLogs((prev) => [...prev.slice(-199), entry]);
setState((prev) => ({ ...prev, logs: [...prev.logs.slice(-199), entry] }));
}
function handleAdminLogInit(entries = []) {
setAdminLogs(entries);
setState((prev) => ({ ...prev, adminLogs: entries }));
}
function handleAdminLogEntry(entry) {
setAdminLogs((prev) => [...prev.slice(-199), entry]);
setState((prev) => ({ ...prev, adminLogs: [...prev.adminLogs.slice(-199), entry] }));
}
function handleLlmState(payload = null) {
const state = payload && typeof payload === 'object' ? payload : null;
const nextStatus =
state?.debug?.status && typeof state.debug.status === 'object' ? state.debug.status : null;
setLlmCommentaryState(state);
setLlmCommentaryStatus(nextStatus);
setState((prev) => ({
...prev,
llmCommentaryState: state,
llmCommentaryStatus: nextStatus,
}));
}
function handleAlertNew(payload = {}) {
setState((prev) => ({
...prev,
alerts: [
...prev.alerts.slice(-49),
{
...payload,
receivedAt: Date.now(),
},
],
}));
}
socket.on('session:sync', handleSession);
socket.on('log:init', handleLogInit);
socket.on('log:entry', handleLogEntry);
socket.on('adminlog:init', handleAdminLogInit);
socket.on('adminlog:entry', handleAdminLogEntry);
socket.on('llm:state', handleLlmState);
socket.on('alert:new', (payload = {}) => {
setAlerts((prev) => [
...prev.slice(-49),
{
...payload,
receivedAt: Date.now(),
},
]);
});
socket.on('alert:new', handleAlertNew);
return () => {
socket.off('session:sync', handleSession);
socket.off('log:init', handleLogInit);
@@ -121,9 +140,9 @@ export function SessionProvider({ children }) {
socket.off('adminlog:init', handleAdminLogInit);
socket.off('adminlog:entry', handleAdminLogEntry);
socket.off('llm:state', handleLlmState);
socket.off('alert:new');
socket.off('alert:new', handleAlertNew);
};
}, [socket]);
}, [setState, socket]);
const actions = useMemo(
() => ({
@@ -166,31 +185,69 @@ export function SessionProvider({ children }) {
llmControl: (action, controls = {}) =>
emitWithAck('llm:control', { controls: { action, ...controls } }),
pushAlert: (alert) =>
setAlerts((prev) => [
...prev.slice(-49),
setState((prev) => ({
...prev,
alerts: [
...prev.alerts.slice(-49),
{ ...alert, receivedAt: Date.now(), id: alert.id || Math.random().toString(36).slice(2) },
]),
],
})),
}),
[emitWithAck],
[emitWithAck, setState],
);
const value = useMemo(
const store = useMemo(
() => ({
connected,
session,
logs,
adminLogs,
llmCommentaryState,
llmCommentaryStatus,
alerts,
...actions,
getState,
subscribe,
actions,
}),
[actions, adminLogs, alerts, connected, llmCommentaryState, llmCommentaryStatus, logs, session],
[actions, getState, subscribe],
);
return <SessionContext.Provider value={value}>{children}</SessionContext.Provider>;
return <SessionContext.Provider value={store}>{children}</SessionContext.Provider>;
}
export function useSessionSelector(selector, equalityFn = Object.is) {
const store = useContext(SessionContext);
if (!store) {
throw new Error('useSessionSelector must be used within SessionProvider');
}
const selectorRef = useRef(selector);
selectorRef.current = selector;
const equalityRef = useRef(equalityFn);
equalityRef.current = equalityFn;
const [selected, setSelected] = useState(() => selector(store.getState()));
useEffect(() => {
setSelected((prev) => {
const next = selectorRef.current(store.getState());
return equalityRef.current(prev, next) ? prev : next;
});
return store.subscribe(
(state) => selectorRef.current(state),
(nextSelected) => {
setSelected((prev) => (equalityRef.current(prev, nextSelected) ? prev : nextSelected));
},
(a, b) => equalityRef.current(a, b),
);
}, [store]);
return selected;
}
export function useSessionActions() {
const store = useContext(SessionContext);
if (!store) {
throw new Error('useSessionActions must be used within SessionProvider');
}
return store.actions;
}
export function useSession() {
return useContext(SessionContext);
const state = useSessionSelector((value) => value);
const actions = useSessionActions();
return useMemo(() => ({ ...state, ...actions }), [actions, state]);
}
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
+37
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);
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) => {
webui/src/hooks/useDefaultNickname.js
+2 -2
View File
@@ -1,6 +1,6 @@
import { useEffect, useRef } from 'react';
import { useSettingsNamespace } from '../settings/index.js';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions } from '../context/SessionContext.jsx';
import wordListText from '../assets/wordlist.txt?raw';
function capitalize(word) {
@@ -19,7 +19,7 @@ function pickRandomWord() {
}
export default function useDefaultNickname() {
const { setNickname } = useSession();
const { setNickname } = useSessionActions();
const { value, status, save } = useSettingsNamespace('profile', { nickname: '' });
const attemptedRef = useRef(false);
webui/src/hooks/useUserIdentitySync.js
+3 -2
View File
@@ -1,11 +1,12 @@
import { useCallback, useEffect, useRef } from 'react';
import { useSession } from '../context/SessionContext.jsx';
import { useSessionActions, useSessionSelector } from '../context/SessionContext.jsx';
import { useSocket } from '../context/SocketContext.jsx';
import { useSettingsNamespace } from '../settings/index.js';
export default function useUserIdentitySync() {
const socket = useSocket();
const { connected, identifySession } = useSession();
const connected = useSessionSelector((state) => state.connected);
const { identifySession } = useSessionActions();
const { value: identity, status: identityStatus, save: saveIdentity } = useSettingsNamespace('identity', {
cookieUserId: '',
});