moving things around

dist/dummy2.yml

@@ -1,6 +1,6 @@
 #configuration for roverd
 name: dummy2
-serverUrl: ws://192.168.0.84:8080/rover
+serverUrl: ws://127.0.0.1:8080/rover
 serial:
   device: /dev/ttyS0
   baud: 115200
@@ -18,3 +18,5 @@ media:
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s
+nightVision:
+  enabled: false

dist/dummy3.yml

@@ -0,0 +1,22 @@
+#configuration for roverd
+name: dummy3
+serverUrl: ws://127.0.0.1:8080/rover
+serial:
+  device: /dev/ttyS0
+  baud: 115200
+brc:
+  gpioPin: 25
+  pulseEvery: 1m
+  pulseWidth: 1s
+battery:
+  full: 2068
+  warn: 1700
+  urgent: 1650
+maxWheelSpeed: 350
+media:
+  manage: false
+  service: mediamtx.service
+  healthUrl: http://127.0.0.1:9997/v3/paths/list
+  healthInterval: 30s
+nightVision:
+  enabled: false

pi/bin/video-publisher.sh

@@ -1,83 +1,144 @@
 #!/usr/bin/env bash
 set -euo pipefail
-# Disable history expansion so PUBLISH_URL values with "!" are safe when sourcing env files.
+
+# Keep history expansion off so values containing "!" are safe.
 set +H
 
 ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
 
 if [[ ! -f "$ENV_FILE" ]]; then
-	echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
-	exit 1
+  echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
+  exit 1
 fi
 
-# shellcheck disable=SC1090
-source "$ENV_FILE"
+# Load KEY=VALUE pairs from ENV_FILE WITHOUT evaluating shell metacharacters.
+# This makes URLs containing characters like '&' and '#!' safe without requiring quoting.
+load_env_file() {
+  local content=""
+
+  if [[ -r "$ENV_FILE" ]]; then
+    content="$(cat "$ENV_FILE")"
+  elif command -v sudo >/dev/null 2>&1; then
+    # Try to read via sudo without prompting (useful when the service runs as an unprivileged user)
+    content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
+  fi
+
+  if [[ -z "$content" ]]; then
+    echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
+    exit 1
+  fi
+
+  local line key val
+  while IFS= read -r line || [[ -n "$line" ]]; do
+    # Skip blank lines and full-line comments.
+    [[ "$line" =~ ^[[:space:]]*$ ]] && continue
+    [[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+    # Support optional leading 'export '
+    if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    else
+      # Ignore anything that isn't a simple assignment.
+      continue
+    fi
+
+    # Trim leading/trailing whitespace in value.
+    val="${val#${val%%[![:space:]]*}}"
+    val="${val%${val##*[![:space:]]}}"
+
+    # If value is wrapped in matching single or double quotes, unwrap.
+    if [[ "$val" =~ ^\".*\"$ ]]; then
+      val="${val:1:${#val}-2}"
+    elif [[ "$val" =~ ^\'.*\'$ ]]; then
+      val="${val:1:${#val}-2}"
+    fi
+
+    # Assign without evaluation.
+    printf -v "$key" '%s' "$val"
+    export "$key"
+  done <<< "$content"
+}
+
+load_env_file
 : "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
 
-VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
-VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
-VIDEO_FPS="${VIDEO_FPS:-30}"
+# Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
+VIDEO_WIDTH="640"
+VIDEO_HEIGHT="480"
+VIDEO_FPS="30"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
+VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
+
 # Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
 FLIP_ARGS=(--rotation 180)
 
+MODE_ARGS=()
+if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
+  MODE_ARGS=(--mode "${VIDEO_SENSOR_MODE}")
+fi
+
 if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
-	LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
+  LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
 elif command -v rpicam-vid >/dev/null 2>&1; then
-	LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
+  LIBCAMERA_BIN_PATH="$(command -v rpicam-vid)"
 elif command -v libcamera-vid >/dev/null 2>&1; then
-	LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
+  LIBCAMERA_BIN_PATH="$(command -v libcamera-vid)"
 else
-	echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
-	exit 1
+  echo "Neither rpicam-vid nor libcamera-vid found; install libcamera-apps." >&2
+  exit 1
 fi
 
 if [[ -n "${FFMPEG_BIN:-}" ]]; then
-	FFMPEG_BIN_PATH="$FFMPEG_BIN"
+  FFMPEG_BIN_PATH="$FFMPEG_BIN"
 elif command -v ffmpeg >/dev/null 2>&1; then
-	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
+  FFMPEG_BIN_PATH="$(command -v ffmpeg)"
 else
-	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
-	exit 1
+  echo "ffmpeg not found; install it via apt install ffmpeg." >&2
+  exit 1
 fi
 
 run_pipeline() {
-	"${LIBCAMERA_BIN_PATH}" \
-		--inline \
-		--timeout 0 \
-		--width "${VIDEO_WIDTH}" \
-		--height "${VIDEO_HEIGHT}" \
-		"${FLIP_ARGS[@]}" \
-		--framerate "${VIDEO_FPS}" \
-		--bitrate "${VIDEO_BITRATE}" \
-		--codec h264 \
-		--profile baseline \
-		--denoise auto \
-		--nopreview \
-		--metering centre \
-		--ev 0.1 \
-		--awb auto \
-		--saturation 0.6 \
-		--brightness 0 \
-		--output - \
-		| "${FFMPEG_BIN_PATH}" \
-			-hide_banner \
-			-loglevel warning \
-			-fflags nobuffer \
-			-use_wallclock_as_timestamps 1 \
-			-f h264 \
-			-i pipe:0 \
-			-c:v copy \
-			-an \
-			-flush_packets 1 \
-			-f mpegts \
-			"${PUBLISH_URL}"
+  "${LIBCAMERA_BIN_PATH}" \
+    --inline \
+    --timeout 0 \
+    "${MODE_ARGS[@]}" \
+    --width "${VIDEO_WIDTH}" \
+    --height "${VIDEO_HEIGHT}" \
+    "${FLIP_ARGS[@]}" \
+    --framerate "${VIDEO_FPS}" \
+    --bitrate "${VIDEO_BITRATE}" \
+    --codec h264 \
+    --profile baseline \
+    --denoise auto \
+    --nopreview \
+    --metering centre \
+    --ev 0.1 \
+    --awb auto \
+    --saturation 0.6 \
+    --brightness 0 \
+    --output - \
+  | "${FFMPEG_BIN_PATH}" \
+      -hide_banner \
+      -loglevel warning \
+      -fflags nobuffer \
+      -use_wallclock_as_timestamps 1 \
+      -f h264 \
+      -i pipe:0 \
+      -c:v copy \
+      -an \
+      -flush_packets 1 \
+      -f mpegts \
+      "${PUBLISH_URL}"
 }
 
 while true; do
-	if run_pipeline; then
-		exit 0
-	fi
-	echo "Video publisher exited, restarting in 2s..." >&2
-	sleep 2
+  if run_pipeline; then
+    exit 0
+  fi
+  echo "Video publisher exited, restarting in 2s..." >&2
+  sleep 2
 done

pi/install_roverd.sh

@@ -215,9 +215,6 @@ cat > /var/lib/roverd/video.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
 PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
-VIDEO_WIDTH=1280
-VIDEO_HEIGHT=720
-VIDEO_FPS=30
 VIDEO_BITRATE=2000000
 AUDIO_ENABLE=0
 AUDIO_DEVICE=hw:0,0

pi/roverd/config.go

@@ -136,9 +136,6 @@ func LoadConfig(path string) (*Config, error) {
 		Media: MediaConfig{
 			PublishPort:    9000,
 			HealthInterval: Duration{Duration: 30 * time.Second},
-			VideoWidth:     1280,
-			VideoHeight:    720,
-			VideoFPS:       30,
 			VideoBitrate:   2000000,
 		},
 		CameraServo: CameraServoConfig{
@@ -197,15 +194,6 @@ func LoadConfig(path string) (*Config, error) {
 	if cfg.Media.Manage && cfg.Media.HealthInterval.Duration <= 0 {
 		cfg.Media.HealthInterval = Duration{Duration: 30 * time.Second}
 	}
-	if cfg.Media.VideoWidth <= 0 {
-		cfg.Media.VideoWidth = 1280
-	}
-	if cfg.Media.VideoHeight <= 0 {
-		cfg.Media.VideoHeight = 720
-	}
-	if cfg.Media.VideoFPS <= 0 {
-		cfg.Media.VideoFPS = 30
-	}
 	if cfg.Media.VideoBitrate <= 0 {
 		cfg.Media.VideoBitrate = 3000000
 	}

pi/roverd/media_env.go

@@ -16,7 +16,7 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	if media.AudioPublishURL == "" && audio.CaptureEnabled {
 		return fmt.Errorf("audio publishUrl missing")
 	}
-	if media.VideoWidth <= 0 || media.VideoHeight <= 0 || media.VideoFPS <= 0 || media.VideoBitrate <= 0 {
+	if media.VideoWidth < 0 || media.VideoHeight < 0 || media.VideoFPS < 0 || media.VideoBitrate <= 0 {
 		return fmt.Errorf("invalid media dimensions/bitrate")
 	}
 	if err := os.MkdirAll(filepath.Dir(publisherEnvPath), 0o755); err != nil {
@@ -27,9 +27,15 @@ func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
 	if audio.CaptureEnabled && media.AudioPublishURL != "" {
 		fmt.Fprintf(&buf, "AUDIO_PUBLISH_URL=%s\n", media.AudioPublishURL)
 	}
-	fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
-	fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", media.VideoHeight)
-	fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
+	if media.VideoWidth > 0 {
+		fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
+	}
+	if media.VideoHeight > 0 {
+		fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", media.VideoHeight)
+	}
+	if media.VideoFPS > 0 {
+		fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
+	}
 	fmt.Fprintf(&buf, "VIDEO_BITRATE=%d\n", media.VideoBitrate)
 	audioDevice := audio.CaptureDevice
 	if audioDevice == "" || audioDevice == "rovermic" {

pi/roverd/roverd.sample.yaml

@@ -17,9 +17,6 @@ maxWheelSpeed: 350
 media:
   publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
-  videoWidth: 1280
-  videoHeight: 720
-  videoFps: 30
   videoBitrate: 2000000
   manage: true
   service: video-publisher.service

server/config.example.yaml

@@ -13,15 +13,6 @@ media:
   #   http://<base>/<roverId>/whep
   # Example: http://192.168.0.86:8889/video
   whepBaseUrl: "http://192.168.0.86:8889/video"
-  preview:
-    enabled: false
-    codec: "av1"
-    transport: "rtsp"
-    fps: 10
-    width: 640
-    roomBitrateKbps: 200
-    roverBitrateKbps: 350
-    gopSeconds: 2
 
 homeAssistant:
   url: "http://homeassistant.local:8123"

server/index.js

@@ -30,6 +30,5 @@ require('./src/services/sessionService');
 require('./src/services/batteryManager');
 require('./src/services/replaySocketService');
 require('./src/services/replaySegmentManager');
-require('./src/services/media/previewTranscoderService');
 require('./src/services/discordBotService');
 require('./src/services/httpServer');

server/mediamtx/mediamtx.yml

@@ -8,7 +8,7 @@ metricsAddress: 0.0.0.0:9998
 pprof: no
 pprofAddress: 127.0.0.1:9999
 
-rtsp: yes
+rtsp: no
 rtmp: no
 hls: no
 

server/public/index.html

@@ -11,8 +11,8 @@
     <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-B7raLs13.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-Fk2eqSbH.css">
+    <script type="module" crossorigin src="/assets/index-BxYZsNCL.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-BjSf29Wv.css">
   </head>
   <body>
     <div id="root"></div>

server/src/services/chatService.js

@@ -158,7 +158,7 @@ function maybeSpeak(socket, message, ttsOptions) {
   const audio = record?.meta?.audio || {};
   const ttsEnabled = Boolean(audio.ttsEnabled);
   if (!ttsEnabled) return;
-  // if (!roverManager.canDrive(message.roverId, socket)) return;
+  if (!roverManager.canDrive(message.roverId, socket)) return;
   try {
     issueCommand(message.roverId, {
       type: 'tts',

server/src/services/media/previewTranscoderService.js

@@ -1,255 +0,0 @@
-const { spawn } = require('child_process');
-const EventEmitter = require('events');
-const logger = require('../../globals/logger').child('previewTranscoder');
-const { loadConfig } = require('../../helpers/configLoader');
-const roverManager = require('../roverManager');
-const { getRoomCameras, roomCameraEvents } = require('../roomCameraService');
-
-const events = new EventEmitter();
-const config = loadConfig();
-const mediaConfig = config.media || {};
-const previewConfig = mediaConfig.preview || {};
-
-const ENABLED = Boolean(previewConfig.enabled);
-const PREVIEW_CODEC = String(previewConfig.codec || 'av1').toLowerCase();
-const PREVIEW_TRANSPORT = String(previewConfig.transport || 'rtsp').toLowerCase();
-const PREVIEW_FPS = Number(previewConfig.fps || 10);
-const PREVIEW_WIDTH = Number(previewConfig.width || 640);
-const ROOM_BITRATE_KBPS = Number(previewConfig.roomBitrateKbps || 200);
-const ROVER_BITRATE_KBPS = Number(previewConfig.roverBitrateKbps || 350);
-const PRESET = Number.isFinite(previewConfig.preset) ? String(previewConfig.preset) : '8';
-const GOP_SECONDS = Number(previewConfig.gopSeconds || 2);
-const FFMPEG_BIN = previewConfig.ffmpegBin || process.env.FFMPEG_BIN || 'ffmpeg';
-
-const recorders = new Map(); // key -> { proc, source }
-let syncTimer = null;
-
-function encodeStreamId(streamId) {
-  return encodeURIComponent(streamId).replace(/%2F/g, '/');
-}
-
-function buildSrtReadUrl(streamId) {
-  return `srt://127.0.0.1:9000?streamid=read:${encodeStreamId(streamId)}`;
-}
-
-function buildSrtPublishUrl(streamId) {
-  const encoded = encodeStreamId(streamId);
-  return `srt://127.0.0.1:9000?streamid=#!::r=${encoded},m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316`;
-}
-
-function buildRtspPublishUrl(streamId) {
-  return `rtsp://127.0.0.1:8554/${streamId}`;
-}
-
-function sanitizeCodec(codec) {
-  return String(codec || '').toLowerCase().replace(/[^a-z0-9]/g, '') || 'av1';
-}
-
-function buildPreviewId(id, codec) {
-  return `${id}-preview-${sanitizeCodec(codec)}`;
-}
-
-function getRoomCameraStream(camera) {
-  if (camera.streamUrl) return camera.streamUrl;
-  const url = String(camera.url || '');
-  if (url.includes('.mjpg') || url.includes('mjpeg') || url.includes('stream')) {
-    return url;
-  }
-  return null;
-}
-
-function listSources() {
-  const rooms = getRoomCameras()
-    .map((camera) => {
-      const streamUrl = getRoomCameraStream(camera);
-      if (!streamUrl) return null;
-      const id = String(camera.id);
-      return {
-        type: 'room',
-        id,
-        label: camera.name || id,
-        inputUrl: streamUrl,
-        outputId: `room/${buildPreviewId(id, PREVIEW_CODEC)}`,
-        bitrateKbps: ROOM_BITRATE_KBPS,
-      };
-    })
-    .filter(Boolean);
-  const rovers = roverManager.getRoster().map((rover) => {
-    const id = String(rover.id);
-    return {
-      type: 'rover',
-      id,
-      label: rover.name || id,
-      inputUrl: buildSrtReadUrl(id),
-      outputId: buildPreviewId(id, PREVIEW_CODEC),
-      bitrateKbps: ROVER_BITRATE_KBPS,
-    };
-  });
-  return [...rooms, ...rovers];
-}
-
-function buildKey(source) {
-  return `${source.type}:${source.id}:${source.outputId}`;
-}
-
-function buildArgs(source) {
-  const gop = Math.max(1, Math.round(GOP_SECONDS * PREVIEW_FPS));
-  const maxrate = Math.floor(source.bitrateKbps * 1.1);
-  const bufsize = Math.max(1, source.bitrateKbps * 2);
-  const codec = PREVIEW_CODEC === 'av1' ? 'libsvtav1' : 'libx264';
-  const extraCodecArgs =
-    codec === 'libx264'
-      ? ['-tune', 'zerolatency', '-profile:v', 'baseline', '-sc_threshold', '0']
-      : [];
-  const outputUrl =
-    PREVIEW_TRANSPORT === 'rtsp' ? buildRtspPublishUrl(source.outputId) : buildSrtPublishUrl(source.outputId);
-  const outputArgs =
-    PREVIEW_TRANSPORT === 'rtsp'
-      ? ['-f', 'rtsp', '-rtsp_transport', 'tcp']
-      : ['-f', 'mpegts'];
-  return {
-    outputUrl,
-    args: [
-      '-hide_banner',
-      '-loglevel',
-      'info',
-    '-fflags',
-    'nobuffer',
-    '-flags',
-    'low_delay',
-    '-i',
-    source.inputUrl,
-    '-an',
-    '-vf',
-    `fps=${PREVIEW_FPS},scale=${PREVIEW_WIDTH}:-1`,
-    '-c:v',
-    codec,
-    '-preset',
-    PRESET,
-    ...extraCodecArgs,
-    '-g',
-    String(gop),
-    '-keyint_min',
-    String(gop),
-    '-b:v',
-    `${source.bitrateKbps}k`,
-    '-maxrate',
-    `${maxrate}k`,
-    '-bufsize',
-    `${bufsize}k`,
-    '-pix_fmt',
-    'yuv420p',
-      ...outputArgs,
-      outputUrl,
-    ],
-  };
-}
-
-function spawnRecorder(source) {
-  const key = buildKey(source);
-  if (recorders.has(key)) return;
-  const { args, outputUrl } = buildArgs(source);
-  logger.info('Preview transcoder starting', {
-    key,
-    transport: PREVIEW_TRANSPORT,
-    codec: PREVIEW_CODEC,
-    inputUrl: source.inputUrl,
-    outputUrl,
-  });
-  const proc = spawn(FFMPEG_BIN, args, { stdio: ['ignore', 'ignore', 'pipe'] });
-  const stderrChunks = [];
-  let stderrSize = 0;
-  proc.stderr.on('data', (chunk) => {
-    if (!chunk || stderrSize > 8192) return;
-    stderrChunks.push(chunk);
-    stderrSize += chunk.length;
-  });
-  recorders.set(key, { proc, source });
-  proc.on('exit', (code, signal) => {
-    recorders.delete(key);
-    const stderrBuffer = stderrChunks.length ? Buffer.concat(stderrChunks) : null;
-    if (stderrBuffer && stderrBuffer.length) {
-      const preview = stderrBuffer.toString('utf8', 0, 600).trim();
-      logger.warn('Preview transcoder stderr', {
-        key,
-        stderrBytes: stderrBuffer.length,
-        stderrPreview: preview || '<non-utf8>',
-      });
-    } else {
-      logger.warn('Preview transcoder stderr', { key, stderrBytes: 0 });
-    }
-    if (!ENABLED) return;
-    const delay = 2000;
-    logger.warn('Preview transcoder exited; restarting', { key, code, signal });
-    setTimeout(() => {
-      if (!recorders.has(key) && ENABLED) {
-        spawnRecorder(source);
-      }
-    }, delay);
-  });
-  events.emit('spawn', { key, source });
-}
-
-function stopRecorder(key) {
-  const entry = recorders.get(key);
-  if (!entry) return;
-  entry.proc.kill('SIGTERM');
-  recorders.delete(key);
-  events.emit('stop', { key, source: entry.source });
-}
-
-function syncRecorders() {
-  const sources = listSources();
-  const desiredKeys = new Set();
-  sources.forEach((source) => {
-    const key = buildKey(source);
-    desiredKeys.add(key);
-    if (!recorders.has(key)) {
-      spawnRecorder(source);
-    }
-  });
-  Array.from(recorders.keys()).forEach((key) => {
-    if (!desiredKeys.has(key)) {
-      stopRecorder(key);
-    }
-  });
-  logger.info('Preview transcoders synced', { total: desiredKeys.size });
-}
-
-function start() {
-  if (!ENABLED) {
-    logger.info('Preview transcoders disabled');
-    return;
-  }
-  syncRecorders();
-  if (!syncTimer) {
-    syncTimer = setInterval(syncRecorders, 10000);
-  }
-}
-
-function stop() {
-  if (syncTimer) {
-    clearInterval(syncTimer);
-    syncTimer = null;
-  }
-  Array.from(recorders.keys()).forEach((key) => stopRecorder(key));
-}
-
-roverManager.managerEvents.on('rover', () => {
-  if (ENABLED) {
-    syncRecorders();
-  }
-});
-roomCameraEvents.on('update', () => {
-  if (ENABLED) {
-    syncRecorders();
-  }
-});
-
-start();
-
-module.exports = {
-  previewEvents: events,
-  syncPreviewTranscoders: syncRecorders,
-  stopPreviewTranscoders: stop,
-};

server/src/services/roverManager.js

@@ -476,7 +476,13 @@ function isDriver(roverId, socket) {
 }
 
 function canDrive(roverId, socket) {
-  return turnService.canDrive(roverId, socket) || isAdmin(socket);
+  if (isAdmin(socket)) {
+    return true;
+  }
+  if (!socket || !isDriver(roverId, socket)) {
+    return false;
+  }
+  return turnService.canDrive(roverId, socket);
 }
 
 function getRoversForSocket(socketId) {
@@ -571,6 +577,9 @@ io.on('connection', (socket) => {
       if (socket.data?.role === 'spectator') {
         throw new Error('Spectators cannot drive');
       }
+      if ((getMode() === MODES.ADMIN || getMode() === MODES.LOCKDOWN) && !isAdmin(socket)) {
+        throw new Error('Admins only');
+      }
       const targetId = roverId || Array.from(rovers.keys())[0];
       if (!targetId) {
         throw new Error('No rovers available');
@@ -582,8 +591,9 @@ io.on('connection', (socket) => {
           throw new Error(message || 'Switch denied');
         }
       }
-      logger.info('Request control', socket.id, targetId, { force });
-      requestControl(targetId, socket, { force: Boolean(force), allowUser: true });
+      const forceAllowed = Boolean(force) && isAdmin(socket);
+      logger.info('Request control', socket.id, targetId, { force: forceAllowed });
+      requestControl(targetId, socket, { force: forceAllowed, allowUser: true });
       previousJoined.forEach((rid) => {
         if (rid !== targetId) {
           releaseControl(rid, socket);

server/src/services/videoAuthService.js

@@ -46,11 +46,7 @@ function extractStreamInfo(path) {
   const remaining = segments.slice(start, end);
   if (remaining.length === 1) {
     const rawId = remaining[0] || '';
-    let baseId = rawId.endsWith('-audio') ? rawId.slice(0, -6) : rawId;
-    const previewMatch = baseId.match(/^(.*)-preview-[a-z0-9]+$/);
-    if (previewMatch) {
-      baseId = previewMatch[1];
-    }
+    const baseId = rawId.endsWith('-audio') ? rawId.slice(0, -6) : rawId;
     return { type: 'rover', id: rawId, baseId };
   }
   if (remaining.length === 2 && remaining[0] === 'room') {

server/src/services/videoSocketService.js

@@ -4,7 +4,6 @@ const { getMode, MODES } = require('./modeManager');
 const { isAdmin, isLockdownAdmin, getRole } = require('./roleService');
 const videoSessions = require('./videoSessions');
 const roverManager = require('./roverManager');
-const { getRoomCamera } = require('./roomCameraService');
 const { loadConfig } = require('../helpers/configLoader');
 
 const config = loadConfig();
@@ -37,17 +36,6 @@ function buildWhepUrlForSource(source) {
   return `${cleanBase}/${segments.join('/')}/whep`;
 }
 
-function sanitizeCodec(codec) {
-  return String(codec || '')
-    .toLowerCase()
-    .replace(/[^a-z0-9]/g, '');
-}
-
-function buildPreviewId(id, codec) {
-  const cleanCodec = sanitizeCodec(codec) || 'av1';
-  return `${id}-preview-${cleanCodec}`;
-}
-
 function passesMode(socket) {
   const mode = getMode();
   if (mode === MODES.LOCKDOWN) {
@@ -77,21 +65,14 @@ function canViewRoomCamera(socket) {
 
 function normalizeRequest(payload = {}) {
   if (!payload) return null;
-  const preview = Boolean(payload.preview || payload.mode === 'preview');
-  const codec = payload.codec ? String(payload.codec) : null;
   if (payload.type && payload.id) {
-    return {
-      type: payload.type,
-      id: String(payload.id),
-      preview,
-      codec,
-    };
+    return { type: payload.type, id: String(payload.id) };
   }
   if (payload.roverId) {
-    return { type: 'rover', id: String(payload.roverId), preview, codec };
+    return { type: 'rover', id: String(payload.roverId) };
   }
   if (payload.roomCameraId) {
-    return { type: 'room', id: String(payload.roomCameraId), preview, codec };
+    return { type: 'room', id: String(payload.roomCameraId) };
   }
   return null;
 }
@@ -112,30 +93,16 @@ io.on('connection', (socket) => {
           throw new Error('Not authorized for video');
         }
       } else if (target.type === 'room') {
-        if (!target.preview) {
-          throw new Error('Room cameras now use the snapshot feed');
-        }
-        if (!getRoomCamera(target.id)) {
-          throw new Error('Room camera not found');
-        }
+        throw new Error('Room cameras now use the snapshot feed');
       } else {
         throw new Error('Unsupported video source');
       }
-      const requestId = target.preview ? buildPreviewId(target.id, target.codec) : target.id;
-      const requestTarget = { ...target, id: requestId };
-      const url = buildWhepUrlForSource(requestTarget);
+      const url = buildWhepUrlForSource(target);
       if (!url) {
         throw new Error('Server video base URL missing');
       }
-      const sessionId = videoSessions.createSession(socket, requestTarget);
-      cb({
-        url,
-        token: sessionId,
-        type: requestTarget.type,
-        id: requestTarget.id,
-        preview: Boolean(target.preview),
-        codec: target.codec || null,
-      });
+      const sessionId = videoSessions.createSession(socket, target);
+      cb({ url, token: sessionId, type: target.type, id: target.id });
     } catch (err) {
       logger.warn('video request failed: %s', err.message);
       cb({ error: err.message });

webui/src/App.jsx

@@ -61,16 +61,9 @@ function useLayoutMode() {
 function DesktopLayout({ layout, onOpenHelpOverlay }) {
   return (
     <div className="flex h-full gap-0.5 overflow-hidden">
-      <div className="flex min-w-0 flex-[1.8] flex-col gap-0.5 overflow-y-auto pr-0.5">
+      <div className="flex min-w-0 flex-[1.22] flex-col gap-0.5 overflow-y-auto pr-0.5">
         <DriverVideoPanel />
-        <div className="grid h-52 grid-cols-2 gap-0.5">
-          <div className="h-full min-h-0">
-            <UserListPanel fillHeight />
-          </div>
-          <div className="h-full min-h-0">
-            <ChatPanel fillHeight />
-          </div>
-        </div>
+        <TelemetryPanel />
         <LogPanel />
       </div>
       <div className="flex min-w-0 flex-1 flex-col gap-0.5 overflow-y-auto">

webui/src/components/AlertFeed.jsx

@@ -11,7 +11,7 @@ function buildKey(alert) {
   return `${alert.title || 'alert'}-${alert.message}`;
 }
 
-export default function AlertFeed() {
+export default function AlertFeed({ scale = 1 }) {
   const { alerts } = useSession();
   const [now, setNow] = useState(() => Date.now());
   const latest = useMemo(() => alerts.slice(-3).map((alert) => ({ alert, key: buildKey(alert) })), [alerts]);
@@ -31,8 +31,20 @@ export default function AlertFeed() {
 
   if (!visible.length) return null;
 
+  const containerStyle =
+    scale === 1
+      ? undefined
+      : {
+          transform: `translateX(-50%) scale(${scale})`,
+          transformOrigin: 'top center',
+        };
+  const containerClass =
+    scale === 1
+      ? 'pointer-events-none fixed top-0.5 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-0.5'
+      : 'pointer-events-none fixed top-0.5 left-1/2 z-50 flex flex-col gap-0.5';
+
   return (
-    <div className="pointer-events-none fixed top-0.5 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-0.5">
+    <div className={containerClass} style={containerStyle}>
       {visible.map((toast) => (
         <AlertToast key={toast.key} alert={toast.alert} />
       ))}

webui/src/components/ChatMessageRow.jsx

@@ -88,7 +88,7 @@ export default function ChatMessageRow({ message }) {
         {displayName(message)}
       </span>
       {message.roverId && (
-        <span className="rounded bg-slate-800 px-1 text-[0.7rem]">rover {message.roverId}</span>
+        <span className="rounded bg-slate-800 px-1 text-[0.7rem]">{message.roverId}</span>
       )}
       <span className="text-slate-100 break-words leading-tight whitespace-pre-wrap">{message.text}</span>
       <span className="absolute bottom-0.5 right-1 text-[0.65rem] text-slate-400/60">

webui/src/components/ControlSummary.jsx

@@ -5,7 +5,6 @@ import { useControlSystem } from '../controls/index.js';
 import { formatKeyLabel } from '../controls/keymapUtils.js';
 import TopDownMap from './TopDownMap.jsx';
 import RoverRoster from './RoverRoster.jsx';
-import ReplaySourcesPanel from './ReplaySourcesPanel.jsx';
 import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
 
 export function RoverRosterPanel({ title = 'Rovers' }) {
@@ -46,7 +45,7 @@ export function RoverRosterPanel({ title = 'Rovers' }) {
   );
 }
 
-export default function ControlSummary({ showRoster = true }) {
+export default function ControlSummary() {
   const {
     state: { roverId, keymap },
   } = useControlSystem();
@@ -57,7 +56,7 @@ export default function ControlSummary({ showRoster = true }) {
 
   return (
     <section className="panel-section">
-      <div className="grid items-stretch gap-1 md:grid-cols-[minmax(0,2fr)_minmax(0,1fr)] md:min-h-[22rem]">
+      <div className="grid items-stretch gap-1 md:grid-cols-[minmax(0,1.1fr)_minmax(0,1fr)] md:min-h-[18rem]">
         <div className="flex h-full w-full items-stretch justify-center">
           <div className="aspect-square h-full w-full">
             <TopDownMap sensors={sensors} />
@@ -70,19 +69,11 @@ export default function ControlSummary({ showRoster = true }) {
           {!hideInlineControls ? <InlineCameraTilt keymap={keymap} /> : null}
         </div>
       </div>
-      {showRoster ? (
-        <div className="grid gap-0.5 md:grid-cols-[minmax(0,1fr)_minmax(0,1.4fr)]">
-          <div>
-            <ReplaySourcesPanel />
-          </div>
-          <RoverRosterPanel />
-        </div>
-      ) : null}
     </section>
   );
 }
 
-function InlineCameraTilt({ keymap }) {
+export function InlineCameraTilt({ keymap }) {
   const {
     state: { roverId, camera },
     actions: { setServoAngle },

webui/src/components/DiscordInviteButton.jsx

@@ -1,7 +1,7 @@
 import { useSession } from "../context/SessionContext";
 import { FaDiscord } from "react-icons/fa";
 
-export default function DiscordInviteButton({text = "Join our Discord!"}) {
+export default function DiscordInviteButton({ text = "Join our Discord!", className = "" }) {
   const { session } = useSession();
   const discordInvite = session?.discord?.invite || null;
 
@@ -12,7 +12,7 @@ export default function DiscordInviteButton({text = "Join our Discord!"}) {
       href={discordInvite}
       target="_blank"
       rel="noopener noreferrer"
-      className="inline-flex items-center w-full px-0.5 py-0.5 text-sm font-medium text-white rainbow-animate-bg transition justify-center"
+      className={`inline-flex items-center w-full px-0.5 py-0.5 text-sm font-medium text-white rainbow-animate-bg transition justify-center ${className}`}
     // animated rainbow backgound
     // className="inline-flex items-center px-3 py-2 bg-gradient-to-r from-indigo-500 via-purple-500 to-pink-500 text-white rounded hover:from-indigo-600 hover:via-purple-600 hover:to-pink-600 transition"
     >

webui/src/components/DriverVideoPanel.jsx

@@ -5,7 +5,6 @@ import { useVideoRequests } from '../hooks/useVideoRequests.js';
 import { useRoverSnapshots } from '../hooks/useRoverSnapshots.js';
 import { useControlSystem } from '../controls/index.js';
 import VideoTile from './VideoTile.jsx';
-import { supportsAv1WebRtc } from '../lib/mediaSupport.js';
 
 export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
   const { session } = useSession();
@@ -70,20 +69,6 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
   const sources = useVideoRequests(entries);
   const info = roverId && shouldShowVideo ? sources[roverId] : null;
   const audioInfo = roverId && hasAudio ? sources[`${roverId}-audio`] : null;
-  const av1Supported = supportsAv1WebRtc();
-  const previewEntries = roverId
-    ? [
-        {
-          type: 'rover',
-          id: roverId,
-          key: `rover:${roverId}:preview:av1`,
-          preview: true,
-          codec: 'av1',
-        },
-      ]
-    : [];
-  const previewSources = useVideoRequests(previewEntries, { enabled: Boolean(roverId) && av1Supported });
-  const previewSession = roverId ? previewSources[`rover:${roverId}:preview:av1`] || null : null;
   const snapshotFeeds = useRoverSnapshots(roverId ? [roverId] : [], {
     enabled: Boolean(roverId),
     version: session?.mode,
@@ -129,8 +114,8 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
     <section className="panel">
       {roverId ? (
         <VideoTile
-          sessionInfo={shouldShowVideo ? info : previewSession?.url ? previewSession : null}
-          videoMode={shouldShowVideo ? 'whep' : previewSession?.url ? 'whep' : 'snapshot'}
+          sessionInfo={info}
+          videoMode={shouldShowVideo ? 'whep' : 'snapshot'}
           snapshotFeed={snapshotFeed}
           audioSessionInfo={audioInfo}
           label={roverLabel}
@@ -138,13 +123,7 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
           batteryConfig={batteryConfig}
           layoutFormat={layoutFormat}
           songNote={song?.note}
-          qualityNotice={
-            !shouldShowVideo
-              ? previewSession?.url
-                ? 'Preview feed (AV1) until your turn.'
-                : 'Preview feed (snapshots) until your turn.'
-              : null
-          }
+          qualityNotice={!shouldShowVideo ? 'Preview feed (low FPS) until your turn.' : null}
           showTurnCue={turnCueVisible}
           turnTimerText={turnTimerText}
           turnSeconds={turnSeconds}
@@ -152,7 +131,7 @@ export default function DriverVideoPanel({layoutFormat = 'desktop'}) {
           idleSkipSeconds={idleSkipSeconds}
         />
       ) : (
-        <div className="panel-muted content-center text-center text-sm text-slate-400 aspect-video">
+        <div className="panel-muted content-center text-center text-sm text-slate-400 aspect-[4/3]">
           <p>You are not assigned to a rover.</p>
           {/* colored button to visit the spectator page */}
           <p className="mt-2">

webui/src/components/HomeAssistantControls.jsx

@@ -34,7 +34,7 @@ function EntityRow({ entity, connected, onToggle }) {
       type="button"
       onClick={() => onToggle(entity.id)}
       disabled={disableToggle}
-      className={`flex min-w-[12rem] flex-1 items-center justify-between gap-1 rounded px-1 py-0.5 text-left transition-colors ${toneStyles} disabled:opacity-60 disabled:hover:bg-inherit`}
+      className={`flex min-w-[10rem] flex-1 items-center justify-between gap-1 rounded px-1 py-0.5 text-left transition-colors ${toneStyles} disabled:opacity-60 disabled:hover:bg-inherit`}
     >
       <div className="min-w-0">
         <div className="flex items-center gap-1 text-sm">

webui/src/components/KoFiButton.jsx

@@ -1,7 +1,7 @@
 import { useSession } from "../context/SessionContext";
 import { FaCoffee } from "react-icons/fa";
 
-export default function KoFiButton({ text = "Support me on Ko-fi!" }) {
+export default function KoFiButton({ text = "Support me on Ko-fi!", className = "" }) {
   const { session } = useSession();
   const kofiLink = session?.kofi?.link || null;
 
@@ -12,7 +12,7 @@ export default function KoFiButton({ text = "Support me on Ko-fi!" }) {
       href={kofiLink}
       target="_blank"
       rel="noopener noreferrer"
-      className="inline-flex items-center w-full px-0.5 py-0.5 text-sm font-medium text-white kofi-animate-bg transition justify-center"
+      className={`inline-flex items-center w-full px-0.5 py-0.5 text-sm font-medium text-white kofi-animate-bg transition justify-center ${className}`}
     >
       <FaCoffee className="mr-1" />
       {text}

webui/src/components/NicknameForm.jsx

@@ -31,16 +31,20 @@ export default function NicknameForm({ compact = false }) {
   }
 
   return (
-    <form className="flex w-full gap-0.5" onSubmit={handleSave}>
+    <form className="grid w-full min-w-0 grid-cols-[minmax(0,1fr)_auto] gap-0.5" onSubmit={handleSave}>
       <input
-        className="field-input flex-1"
+        className="field-input flex-1 min-w-0"
         value={nicknameInput}
         onChange={(e) => setNicknameInput(e.target.value)}
         maxLength={32}
         placeholder="Enter a nickname"
         disabled={!canSetNickname}
       />
-      <button type="submit" disabled={!canSetNickname || saving} className="button-dark disabled:opacity-50">
+      <button
+        type="submit"
+        disabled={!canSetNickname || saving}
+        className="button-dark shrink-0 whitespace-nowrap disabled:opacity-50"
+      >
         {saving ? 'Saving…' : compact ? 'Set' : 'Save'}
       </button>
     </form>

webui/src/components/ReplaySourcesPanel.jsx

@@ -16,7 +16,7 @@ function normalizeSources(list = []) {
     .filter(Boolean);
 }
 
-export default function ReplaySourcesPanel({ panelId = 'replay-sources' }) {
+export default function ReplaySourcesPanel({ panelId = 'replay-sources', fillHeight = false }) {
   const { session, triggerReplay } = useSession();
   const sources = normalizeSources(session?.replaySources || []);
   const { value: settings, save: saveSettings } = useSettingsNamespace('replaySources', {});
@@ -100,13 +100,16 @@ export default function ReplaySourcesPanel({ panelId = 'replay-sources' }) {
     }
   };
 
+  const containerClass = fillHeight ? 'h-full flex flex-col' : '';
+  const listWrapClass = fillHeight ? 'flex-1 min-h-0 overflow-y-auto' : '';
+
   return (
-    <section className="panel-section p-0.75 text-sm">
+    <section className={`panel-section p-0.75 text-sm ${containerClass}`}>
       <header className="panel-muted flex items-center justify-between text-xs">
         <span>Replay Sources</span>
         <span>{sources.length}</span>
       </header>
-      <div className="grid gap-0.5 md:grid-cols-2">
+      <div className={`grid gap-0.5 md:grid-cols-2 ${listWrapClass}`}>
         <GroupList title="Rovers" items={grouped.rovers} selected={selected} onToggle={toggleKey} />
         <GroupList title="Room Cams" items={grouped.rooms} selected={selected} onToggle={toggleKey} />
       </div>

webui/src/components/RightPaneTabs.jsx

@@ -1,10 +1,47 @@
-import TelemetryPanel from './TelemetryPanel.jsx';
-import ControlSummary from './ControlSummary.jsx';
+import { InlineCameraTilt, RoverRosterPanel } from './ControlSummary.jsx';
 import RoomCameraPanel from './RoomCameraPanel.jsx';
 import HomeAssistantControls from './HomeAssistantControls.jsx';
 import SettingsPanel from './SettingsPanel.jsx';
 import HelpPanel from './HelpPanel.jsx';
+import ChatPanel from './ChatPanel.jsx';
+import UserListPanel, { LinkButtonsPanel, NicknameEntryPanel } from './UserListPanel.jsx';
+import ReplaySourcesPanel from './ReplaySourcesPanel.jsx';
 import Tabs, { Tab, TabList, TabPanel, TabPanels } from './Tabs.jsx';
+import TopDownMap from './TopDownMap.jsx';
+import DriveDockAction, { useDriveDockState } from './DriveDockAction.jsx';
+import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
+import { useControlSystem } from '../controls/index.js';
+
+function TopDownMapPanel() {
+  const {
+    state: { roverId },
+  } = useControlSystem();
+  const frame = useTelemetryFrame(roverId);
+  const sensors = frame?.sensors || {};
+
+  return (
+    <section className="panel-section">
+      <div className="aspect-square w-full">
+        <TopDownMap sensors={sensors} />
+      </div>
+    </section>
+  );
+}
+
+function DriveDockPanel() {
+  const {
+    state: { roverId, keymap },
+  } = useControlSystem();
+  const driveDockState = useDriveDockState(roverId);
+  const hideInlineControls = driveDockState.docked && !driveDockState.driving;
+
+  return (
+    <section className="panel-section flex h-full flex-col gap-0.5">
+      <DriveDockAction layout="desktop" expand driveDockState={driveDockState} />
+      {!hideInlineControls ? <InlineCameraTilt keymap={keymap} /> : null}
+    </section>
+  );
+}
 
 export default function RightPaneTabs({ layout, onOpenHelpOverlay }) {
   return (
@@ -18,10 +55,24 @@ export default function RightPaneTabs({ layout, onOpenHelpOverlay }) {
         <TabPanels>
           <TabPanel id="telemetry">
             <div className="space-y-0.5">
-              <ControlSummary />
+              <div className="grid items-stretch gap-0.5 grid-cols-[minmax(0,1.35fr)_minmax(0,0.95fr)]">
+                <TopDownMapPanel />
+                <DriveDockPanel />
+              </div>
+              <div className="grid gap-0.5 grid-cols-[minmax(0,1fr)_minmax(0,0.9fr)_minmax(0,0.75fr)]">
+                <RoverRosterPanel />
+                <ReplaySourcesPanel panelId="replay-sources-desktop" fillHeight />
+                <LinkButtonsPanel />
+              </div>
+              <div className="grid items-stretch gap-0.5 grid-cols-[minmax(0,1.3fr)_minmax(0,0.7fr)] h-[14rem]">
+                <ChatPanel fillHeight />
+                <div className="grid min-h-0 gap-0.5 grid-rows-[auto_minmax(0,1fr)]">
+                  <NicknameEntryPanel compact />
+                  <UserListPanel compact hideNicknameForm fillHeight />
+                </div>
+              </div>
               <HomeAssistantControls />
               <RoomCameraPanel defaultOrientation="horizontal" panelId="rightpane-telemetry" />
-              <TelemetryPanel />
             </div>
           </TabPanel>
           <TabPanel id="help">

webui/src/components/RoomCameraFeed.jsx

@@ -1,74 +1,7 @@
-import { useEffect, useMemo, useRef, useState } from 'react';
-import { WhepPlayer } from '../lib/whepPlayer.js';
+import { useEffect, useMemo, useState } from 'react';
 
-function RoomCameraVideo({ sessionInfo, label, onStatus }) {
-  const videoRef = useRef(null);
-  const [status, setStatus] = useState('idle');
-  const [detail, setDetail] = useState(null);
-
-  useEffect(() => {
-    if (!sessionInfo?.url || !videoRef.current) return undefined;
-    let active = true;
-    let player;
-
-    const handleStatus = (nextStatus, info) => {
-      if (!active) return;
-      setStatus(nextStatus);
-      setDetail(info || null);
-      if (typeof onStatus === 'function') {
-        onStatus(nextStatus);
-      }
-    };
-
-    player = new WhepPlayer({
-      url: sessionInfo.url,
-      token: sessionInfo.token,
-      video: videoRef.current,
-      onStatus: handleStatus,
-    });
-
-    player.start().catch((err) => {
-      if (!active) return;
-      setStatus('error');
-      setDetail(err.message);
-      if (typeof onStatus === 'function') {
-        onStatus('error');
-      }
-    });
-
-    return () => {
-      active = false;
-      player?.stop();
-    };
-  }, [sessionInfo?.url, sessionInfo?.token, onStatus]);
-
-  return (
-    <div className="relative h-full w-full">
-      <video
-        ref={videoRef}
-        className="h-full w-full object-cover"
-        muted
-        playsInline
-        autoPlay
-        controls={false}
-        aria-label={label}
-      />
-      {status !== 'playing' && (
-        <div className="absolute inset-0 flex items-center justify-center text-sm text-slate-300">
-          {detail ? `Video error: ${detail}` : 'Connecting video…'}
-        </div>
-      )}
-    </div>
-  );
-}
-
-export default function RoomCameraFeed({ feed, label, videoSession = null, preferVideo = false }) {
+export default function RoomCameraFeed({ feed, label }) {
   const [blink, setBlink] = useState(false);
-  const [videoFailed, setVideoFailed] = useState(false);
-
-  useEffect(() => {
-    setVideoFailed(false);
-  }, [videoSession?.url, videoSession?.token]);
 
   useEffect(() => {
     if (!feed) return;
@@ -82,27 +15,12 @@ export default function RoomCameraFeed({ feed, label, videoSession = null, prefe
     return feed.status || 'Connecting…';
   }, [feed]);
 
-  const showVideo = Boolean(preferVideo && videoSession?.url && !videoFailed);
-  const showSnapshot = Boolean(!showVideo && feed?.objectUrl);
-
   return (
     <div className="relative w-full overflow-hidden rounded bg-black" style={{ aspectRatio: '4 / 3' }}>
-      {showVideo ? (
-        <RoomCameraVideo
-          sessionInfo={videoSession}
-          label={label}
-          onStatus={(nextStatus) => {
-            if (['error', 'failed', 'disconnected', 'closed'].includes(nextStatus)) {
-              setVideoFailed(true);
-            }
-          }}
-        />
-      ) : showSnapshot ? (
+      {feed?.objectUrl ? (
         <img src={feed.objectUrl} alt={label} className="h-full w-full object-cover" />
       ) : (
-        <div className="flex h-full w-full items-center justify-center text-sm text-slate-300">
-          {preferVideo ? 'Waiting for video…' : 'Waiting for frame…'}
-        </div>
+        <div className="flex h-full w-full items-center justify-center text-sm text-slate-300">Waiting for frame…</div>
       )}
       <div className="pointer-events-none absolute left-0 top-0 bg-black/70 px-0.5 py-0.5 text-xs font-semibold text-white">
         {label}

webui/src/components/RoomCameraPanel.jsx

@@ -2,8 +2,6 @@ import { useEffect, useState } from 'react';
 import { useSession } from '../context/SessionContext.jsx';
 import { useSettingsNamespace } from '../settings/index.js';
 import { useRoomCameraSnapshots } from '../hooks/useRoomCameraSnapshots.js';
-import { useVideoRequests } from '../hooks/useVideoRequests.js';
-import { supportsAv1WebRtc } from '../lib/mediaSupport.js';
 import RoomCameraFeed from './RoomCameraFeed.jsx';
 
 function EmptyState() {
@@ -34,15 +32,6 @@ export default function RoomCameraPanel({
   const { session } = useSession();
   const cameras = session?.roomCameras || [];
   const feedMap = useRoomCameraSnapshots(cameras.map((camera) => ({ id: camera.id })));
-  const av1Supported = supportsAv1WebRtc();
-  const previewEntries = cameras.map((camera) => ({
-    type: 'room',
-    id: camera.id,
-    key: `room:${camera.id}:preview:av1`,
-    preview: true,
-    codec: 'av1',
-  }));
-  const previewSources = useVideoRequests(previewEntries, { enabled: av1Supported });
   const { value: orientationSettings, save: saveOrientationSettings } = useSettingsNamespace('roomCameraPanels', {});
   const [orientation, setOrientation] = useState(() =>
     normalizeOrientation(
@@ -107,19 +96,13 @@ export default function RoomCameraPanel({
       <div className={containerClass}>
         {cameras.map((camera) => {
           const feed = feedMap[camera.id] || null;
-          const previewSession = previewSources[`room:${camera.id}:preview:av1`] || null;
           return (
             <article key={camera.id} className="w-full space-y-0.5 rounded bg-zinc-950 p-0.5 shadow-inner shadow-black/40">
               {/* <header className="space-y-0.5">
                 <p className="text-lg font-semibold text-white">{camera.name || camera.id}</p>
                 {camera.description && <p className="text-xs text-slate-500">{camera.description}</p>}
               </header> */}
-              <RoomCameraFeed
-                feed={feed}
-                label={camera.name || camera.id}
-                videoSession={previewSession}
-                preferVideo={Boolean(previewSession?.url)}
-              />
+              <RoomCameraFeed feed={feed} label={camera.name || camera.id} />
             </article>
           );
         })}

webui/src/components/SessionSnapshot.jsx

@@ -5,9 +5,11 @@ export default function SessionSnapshot() {
   const { session } = useSession();
   const payload = useMemo(() => JSON.stringify(session ?? {}, null, 2), [session]);
   return (
-    <div className="panel-section space-y-0.5 text-xs">
+    <div className="panel-section flex min-h-0 flex-col gap-0.5 text-xs">
       <p className="text-sm text-slate-400">Session snapshot</p>
-      <pre className="surface h-64 overflow-y-auto font-mono text-[0.7rem] text-lime-300">{payload}</pre>
+      <pre className="surface min-h-0 flex-1 overflow-y-auto font-mono text-[0.7rem] text-lime-300">
+        {payload}
+      </pre>
     </div>
   );
 }

webui/src/components/UserListPanel.jsx

@@ -6,6 +6,27 @@ import NicknameForm from './NicknameForm.jsx';
 import DiscordInviteButton from './DiscordInviteButton.jsx';
 import KoFiButton from './KoFiButton.jsx';
 
+export function NicknameEntryPanel({ compact = false }) {
+  return (
+    <section className="panel-section flex h-full min-h-0 flex-col gap-0.5 text-base">
+      <div className="surface flex w-full items-center">
+        <NicknameForm compact={compact} />
+      </div>
+    </section>
+  );
+}
+
+export function LinkButtonsPanel() {
+  return (
+    <section className="panel-section flex h-full min-h-0 flex-col gap-0.5 text-base">
+      <div className="grid flex-1 min-h-0 gap-0.5 grid-rows-2">
+        <DiscordInviteButton className="h-full" />
+        <KoFiButton className="h-full" />
+      </div>
+    </section>
+  );
+}
+
 function roleColors(role) {
   switch (role) {
     case 'admin':
@@ -28,7 +49,14 @@ function formatLabel(user, selfId) {
   return base;
 }
 
-export default function UserListPanel({ hideNicknameForm = false, hideHeader = false, className = '', fillHeight = false }) {
+export default function UserListPanel({
+  hideNicknameForm = false,
+  hideHeader = false,
+  className = '',
+  fillHeight = false,
+  compact = false,
+  showBothTurnsAndUsers = false,
+}) {
   const { session, setNickname } = useSession();
   const { value } = useSettingsNamespace('profile', { nickname: '' });
   const lastSyncedSocketRef = useRef(null);
@@ -39,6 +67,12 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
   const isTurnsMode = session?.mode === 'turns';
   const turnQueues = session?.turnQueues || {};
   const roster = session?.roster || [];
+  const [turnView, setTurnView] = useState('queues');
+
+  useEffect(() => {
+    if (!isTurnsMode) return;
+    setTurnView('queues');
+  }, [isTurnsMode]);
 
   useEffect(() => {
     if (!canSetNickname) return;
@@ -93,9 +127,23 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
     return Math.ceil(ms / 1000);
   }, []);
 
-  const baseListClass = fillHeight ? 'flex-1 min-h-0 overflow-y-auto' : 'h-48 overflow-y-auto';
-  const turnsListClass = isTurnsMode && fillHeight ? 'max-h-40 overflow-y-auto' : baseListClass;
-  const usersListClass = isTurnsMode && fillHeight ? 'flex-1 min-h-0 overflow-y-auto' : baseListClass;
+  const baseListClass = fillHeight
+    ? 'flex-1 min-h-0 overflow-y-auto'
+    : compact
+      ? 'h-28 overflow-y-auto'
+      : 'h-48 overflow-y-auto';
+  const turnsListClass =
+    isTurnsMode && fillHeight
+      ? 'max-h-40 overflow-y-auto'
+      : isTurnsMode && compact
+        ? 'max-h-32 overflow-y-auto'
+        : baseListClass;
+  const usersListClass =
+    isTurnsMode && fillHeight ? 'flex-1 min-h-0 overflow-y-auto' : baseListClass;
+  const showToggle = isTurnsMode && !showBothTurnsAndUsers;
+  const showQueuesSection = isTurnsMode && (showBothTurnsAndUsers || turnView === 'queues');
+  const showUsersSection = !isTurnsMode || (showToggle && turnView === 'users');
+  const showUsersSecondary = isTurnsMode && showBothTurnsAndUsers;
 
   const renderUserList = () =>
     sorted.length === 0 ? (
@@ -107,7 +155,7 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
         return (
           <div
             key={user.socketId}
-            className="surface-muted flex items-center gap-1 text-sm"
+            className={`surface-muted flex items-center gap-1 ${compact ? 'py-0.25 text-[0.8rem]' : 'text-sm'}`}
           >
             <p className={`font-semibold ${roleColors(user.role)}`}>{formatLabel(user, selfId)}</p>
             {user.roverId ? (
@@ -131,13 +179,13 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
     >
       {!hideNicknameForm && (
         <div className="space-y-0.5">
-          <div className="flex items-stretch gap-0.5">
-            <div className="flex w-1/2 min-w-0">
+          <div className="grid gap-0.5 md:grid-cols-[minmax(0,1.4fr)_minmax(0,1fr)]">
+            <div className="min-w-0">
               <div className="surface flex w-full items-center">
-                <NicknameForm />
+                <NicknameForm compact={compact} />
               </div>
             </div>
-            <div className="flex w-1/2 flex-col gap-0.5">
+            <div className="grid gap-0.5 sm:grid-cols-2 md:grid-cols-1">
               <DiscordInviteButton />
               <KoFiButton />
             </div>
@@ -148,16 +196,42 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
 
       <div className={`space-y-0.5 ${fillHeight ? 'flex flex-1 min-h-0 flex-col' : ''}`}>
         {!hideHeader && (
-          <div className="flex items-center justify-between text-sm text-slate-400">
-            <span>{isTurnsMode ? 'Turn queues' : 'Users'}</span>
-            <span className="text-xs text-slate-500">
-              {isTurnsMode ? Object.keys(turnQueues || {}).length : sorted.length}
-            </span>
+          <div className={`flex items-center justify-between text-sm text-slate-400 ${compact ? 'text-xs' : ''}`}>
+            <div className="flex items-center gap-0.5">
+              <span>
+                {isTurnsMode
+                  ? showQueuesSection
+                    ? 'Turn queues'
+                    : 'Users'
+                  : 'Users'}
+              </span>
+              <span className="text-xs text-slate-500">
+                {showQueuesSection && isTurnsMode ? Object.keys(turnQueues || {}).length : sorted.length}
+              </span>
+            </div>
+            {showToggle ? (
+              <div className="inline-flex overflow-hidden rounded border border-slate-700 text-[0.7rem]">
+                <button
+                  type="button"
+                  className={`px-1 py-0.5 ${turnView === 'queues' ? 'bg-slate-600 text-white' : 'bg-transparent text-slate-400 hover:text-white'}`}
+                  onClick={() => setTurnView('queues')}
+                >
+                  Queues
+                </button>
+                <button
+                  type="button"
+                  className={`px-1 py-0.5 ${turnView === 'users' ? 'bg-slate-600 text-white' : 'bg-transparent text-slate-400 hover:text-white'}`}
+                  onClick={() => setTurnView('users')}
+                >
+                  Users
+                </button>
+              </div>
+            ) : null}
           </div>
         )}
-        <div className={`surface space-y-0.25 ${isTurnsMode ? turnsListClass : baseListClass}`}>
-          {isTurnsMode ? (
-            Object.keys(turnQueues || {}).length === 0 ? (
+        {showQueuesSection ? (
+          <div className={`surface space-y-0.25 ${turnsListClass} ${compact ? 'text-[0.8rem]' : ''}`}>
+            {Object.keys(turnQueues || {}).length === 0 ? (
               <p className="text-sm text-slate-500">No turn queues yet.</p>
             ) : (
               Object.entries(turnQueues).map(([roverId, info]) => {
@@ -173,7 +247,7 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
                       : queue[0]
                     : null;
                 return (
-                  <div key={roverId} className="surface-muted flex flex-col gap-0.25 text-sm">
+                  <div key={roverId} className={`surface-muted flex flex-col gap-0.25 ${compact ? 'text-[0.8rem] py-0.25' : 'text-sm'}`}>
                     <div className="flex items-center gap-1">
                       <p className="font-semibold text-slate-200">{rosterName(roverId)}</p>
                       {remaining != null && (
@@ -201,7 +275,7 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
                           return (
                             <span
                               key={`${roverId}-${socketId}-${idx}`}
-                              className={`flex items-center gap-0.5 rounded px-1 text-[0.8rem] ${highlightClass}`}
+                              className={`flex items-center gap-0.5 rounded px-1 ${compact ? 'text-[0.7rem]' : 'text-[0.8rem]'} ${highlightClass}`}
                             >
                               <span className={`${roleColors(user.role)} font-semibold`}>
                                 {formatLabel(user, selfId)}
@@ -218,21 +292,23 @@ export default function UserListPanel({ hideNicknameForm = false, hideHeader = f
                   </div>
                 );
               })
-            )
-          ) : (
-            renderUserList()
-          )}
-        </div>
+            )}
+          </div>
+        ) : null}
 
-        {isTurnsMode ? (
+        {showUsersSection ? (
+          <div className={`surface space-y-0.25 ${usersListClass} ${compact ? 'text-[0.8rem]' : ''}`}>
+            {renderUserList()}
+          </div>
+        ) : null}
+
+        {showUsersSecondary ? (
           <div className={`space-y-0.25 ${fillHeight ? 'flex min-h-0 flex-1 flex-col' : ''}`}>
             <div className="flex items-center justify-between text-xs text-slate-400">
               <span>Users</span>
               <span className="text-[0.7rem] text-slate-500">{sorted.length}</span>
             </div>
-            <div className={`surface space-y-0.25 ${usersListClass}`}>
-              {renderUserList()}
-            </div>
+            <div className={`surface space-y-0.25 ${usersListClass}`}>{renderUserList()}</div>
           </div>
         ) : null}
       </div>

webui/src/components/VideoTile.jsx

@@ -5,6 +5,7 @@ import { useHudMapSetting } from '../hooks/useHudMapSetting.js';
 import { useChat } from '../context/ChatContext.jsx';
 import { useSession } from '../context/SessionContext.jsx';
 import { useSettingsNamespace } from '../settings/index.js';
+import DiscordInviteButton from './DiscordInviteButton.jsx';
 
 const RESTART_DELAY_MS = 2000;
 const UNMUTE_RETRY_MS = 3000;
@@ -51,6 +52,7 @@ export default function VideoTile({
   driverLabel = null,
   hudForceMap = false,
   hudMapPosition = 'top-right',
+  hudLabelScale = 1,
   fitParent = false,
   showTurnCue = false,
   turnTimerText = null,
@@ -366,7 +368,7 @@ export default function VideoTile({
   return (
     <div className={`flex flex-col gap-0.5 ${fitParent ? 'h-full' : ''}`}>
       <div
-        className={`relative w-full overflow-hidden bg-black ${fitParent ? 'h-full flex-1' : 'aspect-video'}`}
+        className={`relative w-full overflow-hidden bg-black ${fitParent ? 'h-full flex-1' : 'aspect-[4/3]'}`}
       >
         {usingSnapshot ? (
           snapshotFeed?.objectUrl ? (
@@ -415,6 +417,7 @@ export default function VideoTile({
           mobileHud={mobileHud}
           mapPosition={hudMapPosition}
           turnTimerText={turnTimerText}
+          labelScale={hudLabelScale}
         />
         <HudChatInput compact={mobileHud} />
         <OvercurrentOverlay motors={overcurrentMotors} compact={mobileHud} />
@@ -429,7 +432,10 @@ export default function VideoTile({
                 mobileHud ? 'px-2 py-1 text-[0.6rem]' : 'px-3 py-1.5 text-sm'
               }`}
             >
-              {qualityNotice}
+              <div className="text-center">{qualityNotice}</div>
+              <div className="pointer-events-auto mt-1">
+                <DiscordInviteButton text={'Join our Discord server while you wait!'} />
+              </div>
             </div>
           </div>
         ) : null}
@@ -544,6 +550,7 @@ function HudOverlay({
   mobileHud = false,
   mapPosition = 'top-right',
   turnTimerText = null,
+  labelScale = 1,
 }) {
   const bumps = sensors?.bumpsAndWheelDrops || {};
   const [now, setNow] = useState(() => Date.now());
@@ -565,6 +572,10 @@ function HudOverlay({
   const timerPadClass = isMobile ? 'px-0.5 py-0.25' : 'px-1 py-0.5';
   const telemetryPosClass = isMobile ? 'left-0.5 top-1/2' : 'left-1 top-1/2';
   const labelPosClass = isMobile ? 'bottom-0.5' : 'bottom-0.5';
+  const labelWrapperStyle = {
+    transform: `translateX(-50%) scale(${labelScale})`,
+    transformOrigin: 'center bottom',
+  };
   const mapSize = '240px';
   const mapScale = portraitMobile ? 0.36 : isMobile ? 0.45 : 0.7;
   const mapOpacity = isMobile ? 0.85 : 0.7;
@@ -626,11 +637,13 @@ function HudOverlay({
           ) : null}
         </div>
 
-        <div
-          className={`absolute ${labelPosClass} left-1/2 flex -translate-x-1/2 items-center gap-1 bg-black/80 text-slate-100 ${labelPadClass} ${labelTextClass}`}
-        >
-          <span className="font-semibold text-white">{label || 'Unnamed Rover'}</span>
-          {driverLabel ? <span className="text-slate-300">• {driverLabel}</span> : null}
+        <div className={`absolute ${labelPosClass} left-1/2`} style={labelWrapperStyle}>
+          <div
+            className={`flex items-center gap-1 bg-black/80 text-slate-100 ${labelPadClass} ${labelTextClass}`}
+          >
+            <span className="font-semibold text-white">{label || 'Unnamed Rover'}</span>
+            {driverLabel ? <span className="text-slate-300">• {driverLabel}</span> : null}
+          </div>
         </div>
       </div>
     );
@@ -651,11 +664,11 @@ function HudOverlay({
           {turnTimerText}
         </div>
       ) : null}
-      <div
-        className={`absolute ${labelPosClass} left-1/2 flex -translate-x-1/2 gap-0.5 bg-black/80 text-slate-100 ${labelPadClass} ${labelTextClass}`}
-      >
-        <span>Rover: "{label || 'Unnamed Rover'}"</span>
-        {/* <span>{pulse ? 'Sensors active' : 'No recent sensors'}</span> */}
+      <div className={`absolute ${labelPosClass} left-1/2`} style={labelWrapperStyle}>
+        <div className={`flex gap-0.5 bg-black/80 text-slate-100 ${labelPadClass} ${labelTextClass}`}>
+          <span>Rover: "{label || 'Unnamed Rover'}"</span>
+          {/* <span>{pulse ? 'Sensors active' : 'No recent sensors'}</span> */}
+        </div>
       </div>
 
       {showTopDown && variant !== 'spectator' ? (
@@ -826,7 +839,7 @@ function HudChatInput({ compact = false }) {
           }
         }}
         ref={(el) => registerInputRef(el, { target: 'hud' })}
-        placeholder={canChat ? 'Chat…' : 'Spectator'}
+        placeholder={canChat ? 'Chat (TTS)' : 'Spectator'}
         disabled={!canChat}
       />
       <button
@@ -834,7 +847,7 @@ function HudChatInput({ compact = false }) {
         disabled={!canChat || sending}
         className={buttonClass}
       >
-        Send
+        Speak
       </button>
     </form>
   );

webui/src/hooks/useVideoRequests.js

@@ -11,42 +11,23 @@ function normalizeEntry(entry) {
   if (typeof entry === 'object') {
     if (entry.type && entry.id) {
       const id = String(entry.id);
-      const preview = Boolean(entry.preview);
-      const codec = entry.codec ? String(entry.codec) : null;
       let key = entry.key;
       if (!key) {
         key = entry.type === 'room' ? `room:${id}` : id;
-        if (preview) {
-          key = `${key}:preview${codec ? `:${codec}` : ''}`;
-        }
       }
       return {
         type: entry.type,
         id,
         key,
-        preview,
-        codec,
       };
     }
     if (entry.roverId) {
       const id = String(entry.roverId);
-      return {
-        type: 'rover',
-        id,
-        key: entry.key || id,
-        preview: Boolean(entry.preview),
-        codec: entry.codec ? String(entry.codec) : null,
-      };
+      return { type: 'rover', id, key: entry.key || id };
     }
     if (entry.roomCameraId) {
       const id = String(entry.roomCameraId);
-      return {
-        type: 'room',
-        id,
-        key: entry.key || `room:${id}`,
-        preview: Boolean(entry.preview),
-        codec: entry.codec ? String(entry.codec) : null,
-      };
+      return { type: 'room', id, key: entry.key || `room:${id}` };
     }
   }
   return null;
@@ -105,12 +86,6 @@ export function useVideoRequests(sourceList = [], options = {}) {
 
     function requestEntry(entry) {
       const payload = entry.type === 'room' ? { roomCameraId: entry.id } : { roverId: entry.id };
-      if (entry.preview) {
-        payload.preview = true;
-        if (entry.codec) {
-          payload.codec = entry.codec;
-        }
-      }
       socket.emit('video:request', payload, (resp = {}) => {
         if (cancelled) return;
         setSources((prev) => ({ ...prev, [entry.key]: resp }));

webui/src/lib/mediaSupport.js

@@ -1,28 +0,0 @@
-let cachedAv1Support = null;
-
-function hasAv1CodecCapability() {
-  if (typeof RTCRtpReceiver !== 'undefined' && RTCRtpReceiver.getCapabilities) {
-    const caps = RTCRtpReceiver.getCapabilities('video');
-    const codecs = caps?.codecs || [];
-    return codecs.some((codec) => {
-      const mime = (codec?.mimeType || '').toLowerCase();
-      return mime === 'video/av1' || mime === 'video/av01' || mime === 'video/av1x';
-    });
-  }
-  if (typeof document !== 'undefined') {
-    const video = document.createElement('video');
-    if (typeof video.canPlayType === 'function') {
-      const result = video.canPlayType('video/mp4; codecs="av01.0.05M.08"');
-      return result === 'probably' || result === 'maybe';
-    }
-  }
-  return false;
-}
-
-export function supportsAv1WebRtc() {
-  if (cachedAv1Support != null) {
-    return cachedAv1Support;
-  }
-  cachedAv1Support = hasAv1CodecCapability();
-  return cachedAv1Support;
-}

webui/src/mini/MiniSummaryApp.jsx

@@ -5,15 +5,13 @@ import { useTelemetryFrames } from '../context/TelemetryContext.jsx';
 import { useVideoRequests } from '../hooks/useVideoRequests.js';
 import { useRoverSnapshots } from '../hooks/useRoverSnapshots.js';
 import { useSpectatorMode } from '../hooks/useSpectatorMode.js';
-import { useRoomCameraSnapshots } from '../hooks/useRoomCameraSnapshots.js';
 import VideoTile from '../components/VideoTile.jsx';
 import ChatPanel from '../components/ChatPanel.jsx';
 import AlertFeed from '../components/AlertFeed.jsx';
 import useDefaultNickname from '../hooks/useDefaultNickname.js';
-import RoomCameraFeed from '../components/RoomCameraFeed.jsx';
-import { supportsAv1WebRtc } from '../lib/mediaSupport.js';
 
 const ROTATE_MS = 20000;
+const HARD_REFRESH_MS = 3 * 60 * 60 * 1000;
 
 function formatDriverLabel({ roverId, session }) {
   const activeDriverId = session?.activeDrivers?.[roverId] || null;
@@ -31,64 +29,42 @@ function MiniSummaryContent() {
   const inLockdown = session?.mode === 'lockdown';
   const frames = useTelemetryFrames();
   const roster = session?.roster ?? [];
-  const roomCameras = session?.roomCameras || [];
-  const feeds = useRoomCameraSnapshots(roomCameras.map((camera) => ({ id: camera.id })), {
-    enabled: !inLockdown,
-    version: session?.mode,
-  });
   const [index, setIndex] = useState(0);
+  const activeDrivers = session?.activeDrivers || {};
+  const driverRoster = useMemo(
+    () => roster.filter((rover) => activeDrivers[rover.id]),
+    [roster, activeDrivers],
+  );
 
   const snapshotFeeds = useRoverSnapshots(
-    roster.map((rover) => rover.id),
+    driverRoster.map((rover) => rover.id),
     { enabled: !inLockdown, version: session?.mode },
   );
-  const av1Supported = supportsAv1WebRtc();
-  const previewEntries = roster.map((rover) => ({
-    type: 'rover',
-    id: rover.id,
-    key: `rover:${rover.id}:preview:av1`,
-    preview: true,
-    codec: 'av1',
-  }));
-  const roomPreviewEntries = roomCameras.map((camera) => ({
-    type: 'room',
-    id: camera.id,
-    key: `room:${camera.id}:preview:av1`,
-    preview: true,
-    codec: 'av1',
-  }));
-  const previewSources = useVideoRequests(previewEntries, { enabled: !inLockdown && av1Supported });
-  const roomPreviewSources = useVideoRequests(roomPreviewEntries, { enabled: !inLockdown && av1Supported });
   const audioEntries = useMemo(
     () =>
-      roster.flatMap((rover) => {
+      driverRoster.flatMap((rover) => {
         if (!rover?.id || !rover.media?.audioPublishUrl) return [];
         const id = String(rover.id);
         return [{ type: 'rover', id: `${id}-audio`, key: `${id}-audio` }];
       }),
-    [roster],
+    [driverRoster],
   );
   const audioSources = useVideoRequests(audioEntries, { enabled: !inLockdown, version: session?.mode });
 
   const roverPool = useMemo(() => {
-    if (!roster.length) return [];
-    const withSnapshot = roster.filter((rover) => snapshotFeeds[rover.id]?.objectUrl);
-    return withSnapshot.length ? withSnapshot : roster;
-  }, [roster, snapshotFeeds]);
+    if (!driverRoster.length) return [];
+    const withSnapshot = driverRoster.filter((rover) => snapshotFeeds[rover.id]?.objectUrl);
+    return withSnapshot.length ? withSnapshot : driverRoster;
+  }, [driverRoster, snapshotFeeds]);
 
   const rotationPool = useMemo(() => {
-    const items = [];
-    roverPool.forEach((rover) => items.push({ type: 'rover', rover }));
-    roomCameras.forEach((camera) => items.push({ type: 'room', camera }));
-    return items;
-  }, [roverPool, roomCameras]);
+    return roverPool.map((rover) => ({ type: 'rover', rover }));
+  }, [roverPool]);
 
   const rotationKey = useMemo(
     () =>
       rotationPool
-        .map((entry) =>
-          entry.type === 'rover' ? `r:${entry.rover.id}` : `room:${entry.camera.id}`,
-        )
+        .map((entry) => `r:${entry.rover.id}`)
         .join('|'),
     [rotationPool],
   );
@@ -107,21 +83,11 @@ function MiniSummaryContent() {
 
   const activeEntry = rotationPool.length ? rotationPool[index % rotationPool.length] : null;
   const activeRover = activeEntry?.type === 'rover' ? activeEntry.rover : null;
-  const activeCamera = activeEntry?.type === 'room' ? activeEntry.camera : null;
 
   const activeSnapshot = activeRover ? snapshotFeeds[activeRover.id] || null : null;
-  const activePreview =
-    activeRover && previewSources[`rover:${activeRover.id}:preview:av1`]
-      ? previewSources[`rover:${activeRover.id}:preview:av1`]
-      : null;
   const activeAudio = activeRover ? audioSources[`${activeRover.id}-audio`] || null : null;
   const activeFrame = activeRover ? frames[activeRover.id] || null : null;
   const driverLabel = activeRover ? formatDriverLabel({ roverId: activeRover.id, session }) : null;
-  const activeFeed = activeCamera ? feeds[activeCamera.id] || null : null;
-  const activeRoomPreview =
-    activeCamera && roomPreviewSources[`room:${activeCamera.id}:preview:av1`]
-      ? roomPreviewSources[`room:${activeCamera.id}:preview:av1`]
-      : null;
 
   if (inLockdown) {
     return (
@@ -145,8 +111,8 @@ function MiniSummaryContent() {
         ) : activeRover ? (
           <FitViewportFrame>
             <VideoTile
-              sessionInfo={activePreview?.url ? activePreview : null}
-              videoMode={activePreview?.url ? 'whep' : 'snapshot'}
+              sessionInfo={null}
+              videoMode="snapshot"
               snapshotFeed={activeSnapshot}
               audioSessionInfo={activeAudio}
               label={activeRover.name || activeRover.id}
@@ -155,23 +121,15 @@ function MiniSummaryContent() {
               layoutFormat="mobile"
               hudVariant="spectator"
               driverLabel={driverLabel}
+              hudLabelScale={5}
               hudForceMap
               hudMapPosition="bottom-left"
               fitParent
             />
           </FitViewportFrame>
-        ) : activeCamera ? (
-          <FitViewportFrame>
-            <RoomCameraFrame
-              camera={activeCamera}
-              feed={activeFeed}
-              videoSession={activeRoomPreview}
-              preferVideo={Boolean(activeRoomPreview?.url)}
-            />
-          </FitViewportFrame>
         ) : (
           <div className="flex h-full w-full items-center justify-center text-sm text-slate-500">
-            No sources available.
+            {driverRoster.length ? 'No sources available.' : 'No active drivers.'}
           </div>
         )}
       </section>
@@ -180,29 +138,26 @@ function MiniSummaryContent() {
 }
 
 export default function MiniSummaryApp() {
+  useEffect(() => {
+    if (typeof window === 'undefined') return undefined;
+    const timer = setTimeout(() => {
+      const url = new URL(window.location.href);
+      url.searchParams.set('refresh', Date.now().toString());
+      window.location.replace(url.toString());
+    }, HARD_REFRESH_MS);
+    return () => clearTimeout(timer);
+  }, []);
+
   return (
     <SettingsProvider>
       <>
         <MiniSummaryContent />
-        <AlertFeed />
+        <AlertFeed scale={3} />
       </>
     </SettingsProvider>
   );
 }
 
-function RoomCameraFrame({ camera, feed, videoSession, preferVideo }) {
-  return (
-    <div className="relative h-full w-full bg-zinc-950">
-      <RoomCameraFeed
-        feed={feed}
-        label={camera.name || camera.id}
-        videoSession={videoSession}
-        preferVideo={preferVideo}
-      />
-    </div>
-  );
-}
-
 function ChatOverlay() {
   return (
     <div
@@ -225,11 +180,11 @@ function FitViewportFrame({ children }) {
       <div
         className="relative flex items-center justify-center overflow-hidden bg-black"
         style={{
-          width: 'min(100%, calc(100vh * 16 / 9))',
-          height: 'min(100%, calc(100vw * 9 / 16))',
+          width: 'min(100%, calc(100vh * 4 / 3))',
+          height: 'min(100%, calc(100vw * 3 / 4))',
           maxWidth: '100%',
           maxHeight: '100%',
-          aspectRatio: '16 / 9',
+          aspectRatio: '4 / 3',
         }}
       >
         <div className="flex h-full w-full items-center justify-center overflow-hidden">{children}</div>

webui/src/spectate/SpectatorApp.jsx

@@ -13,7 +13,6 @@ import RoverRoster from '../components/RoverRoster.jsx';
 import AlertFeed from '../components/AlertFeed.jsx';
 import useDefaultNickname from '../hooks/useDefaultNickname.js';
 import CommunityGoalBanner from '../components/CommunityGoalBanner.jsx';
-import { supportsAv1WebRtc } from '../lib/mediaSupport.js';
 
 function formatDriverLabel({ roverId, session }) {
   const activeDriverId = session?.activeDrivers?.[roverId] || null;
@@ -26,15 +25,14 @@ function formatDriverLabel({ roverId, session }) {
   return driverText;
 }
 
-function RoverSpectatorCard({ rover, frame, snapshotFeed, previewSession, audioInfo, session }) {
+function RoverSpectatorCard({ rover, frame, snapshotFeed, audioInfo, session }) {
   const driverLabel = formatDriverLabel({ roverId: rover.id, session });
-  const hasPreview = Boolean(previewSession?.url);
   return (
     <article className="min-h-[16rem] rounded bg-zinc-900 p-0.5 sm:min-h-[18rem]">
       <div className="min-h-0 overflow-hidden rounded bg-black/20">
         <VideoTile
-          sessionInfo={hasPreview ? previewSession : null}
-          videoMode={hasPreview ? 'whep' : 'snapshot'}
+          sessionInfo={null}
+          videoMode="snapshot"
           snapshotFeed={snapshotFeed}
           audioSessionInfo={audioInfo}
           label={rover.name}
@@ -50,7 +48,7 @@ function RoverSpectatorCard({ rover, frame, snapshotFeed, previewSession, audioI
   );
 }
 
-function RoverRow({ roster, frames, snapshotFeeds, previewSources, audioSources, session }) {
+function RoverRow({ roster, frames, snapshotFeeds, audioSources, session }) {
   if (roster.length === 0) {
     return <p className="col-span-full text-slate-400">No rovers registered.</p>;
   }
@@ -62,7 +60,6 @@ function RoverRow({ roster, frames, snapshotFeeds, previewSources, audioSources,
           rover={rover}
           frame={frames[rover.id]}
           snapshotFeed={snapshotFeeds[rover.id]}
-          previewSession={previewSources[`rover:${rover.id}:preview:av1`] || null}
           audioInfo={audioSources[`${rover.id}-audio`]}
           session={session}
           showHudMap
@@ -107,15 +104,6 @@ function SpectatorContent() {
     roster.map((rover) => rover.id),
     { enabled: !inLockdown, version: session?.mode },
   );
-  const av1Supported = supportsAv1WebRtc();
-  const previewEntries = roster.map((rover) => ({
-    type: 'rover',
-    id: rover.id,
-    key: `rover:${rover.id}:preview:av1`,
-    preview: true,
-    codec: 'av1',
-  }));
-  const previewSources = useVideoRequests(previewEntries, { enabled: !inLockdown && av1Supported, version: session?.mode });
   const audioEntries = roster.flatMap((rover) =>
     rover.media?.audioPublishUrl
       ? [{ type: 'rover', id: `${rover.id}-audio`, key: `${rover.id}-audio` }]
@@ -142,7 +130,6 @@ function SpectatorContent() {
             roster={roster}
             frames={frames}
             snapshotFeeds={snapshotFeeds}
-            previewSources={previewSources}
             audioSources={audioSources}
             session={session}
           />
@@ -154,7 +141,7 @@ function SpectatorContent() {
             <RoverRoster roster={roster} title="Rovers" emptyText="No rovers registered." />
           </div>
           <div className="min-h-0 min-w-0 flex-1 overflow-hidden">
-            <UserListPanel hideNicknameForm hideHeader fillHeight className="h-full" />
+            <UserListPanel hideNicknameForm hideHeader fillHeight className="h-full" showBothTurnsAndUsers />
           </div>
           <div className="min-h-0 min-w-0 flex-[1.1] overflow-hidden">
             <ChatPanel hideInput hideSpectatorNotice fillHeight />