todoing

Feat rover learner model

Dockerfile

@@ -97,6 +97,15 @@ RUN curl --fail --location --retry 3 \
     && find /output/opt/roverd/googletts -type d -exec chmod 0755 {} + \
     && find /output/opt/roverd/googletts -type f -exec chmod 0644 {} +
 
+FROM architecture-check AS learning-dependencies
+# CPU-only learning dependencies are built once. Disabled installations never
+# launch Python or install packages as a side effect of starting Node.
+RUN dnf install -y --setopt=install_weak_deps=False python3 python3-pip \
+    && dnf clean all
+COPY server/src/services/roverLearningService/workers/requirements.txt /tmp/learning-requirements.txt
+RUN python3 -m venv /opt/rover-learning \
+    && /opt/rover-learning/bin/pip install --no-cache-dir -r /tmp/learning-requirements.txt
+
 FROM fedora:${FEDORA_VERSION} AS runtime
 ARG FEDORA_VERSION
 ARG TARGETARCH
@@ -148,6 +157,7 @@ COPY --from=webui-build /build/server/public ./public
 COPY --from=native-workers /build/kinect/kinect_worker ./src/services/kinectService/native/kinect_worker
 COPY --from=native-workers /build/balance-board/balance_board_worker ./src/services/balanceBoardService/native/balance_board_worker
 COPY --from=packaged-tools /output/ /
+COPY --from=learning-dependencies /opt/rover-learning /opt/rover-learning
 COPY --chmod=0755 server/bin/chromegtts-wav.py /usr/local/bin/chromegtts-wav
 COPY --chmod=0755 server/mediamtx/rover-snapshot-writer.sh /usr/local/bin/rover-snapshot-writer.sh
 

perf/nomad-benchmark.py

@@ -0,0 +1,208 @@
+#!/usr/bin/env python3
+"""CPU benchmark of published NoMaD exploration, without ROS or rover connections.
+
+Run: python3 perf/nomad-benchmark.py --setup
+Subsequent runs: python3 perf/nomad-benchmark.py
+Quick run: python3 perf/nomad-benchmark.py --threads 4 --samples 1 --seconds 2 --iterations 2
+
+--setup installs CPU dependencies in a private cached venv and downloads pinned
+upstream source plus the official checkpoint. Nothing touches server packages.
+Synthetic images measure compute, NOT navigation quality. Excludes capture,
+video decode, network, physical control, training, and concurrent rover load.
+"""
+import argparse
+import hashlib
+import importlib.metadata
+import json
+import math
+import os
+from pathlib import Path
+import platform
+import resource
+import statistics
+import subprocess
+import sys
+import time
+import urllib.request
+import venv
+
+VINT = 'dca79815b704e5aa9c6bdc3082351f9e3b2848c2'
+DIFFUSION = '5ba07ac6661db573af695b419a7947ecb704690f'
+CHECKPOINT_ID = '1YJhkkMJAYOiKNyCaelbS_alpUpAJsOUb'
+SOURCES = {
+    ('robodhruv/visualnav-transformer', VINT): [
+        'train/config/nomad.yaml', 'train/vint_train/data/data_config.yaml',
+        'train/vint_train/models/nomad/nomad.py',
+        'train/vint_train/models/nomad/nomad_vint.py',
+        'train/vint_train/models/vint/self_attention.py',
+    ],
+    ('real-stanford/diffusion_policy', DIFFUSION): [
+        'diffusion_policy/model/diffusion/conditional_unet1d.py',
+        'diffusion_policy/model/diffusion/conv1d_components.py',
+        'diffusion_policy/model/diffusion/positional_embedding.py',
+    ],
+}
+
+
+def positive(value):
+    result = int(value)
+    if result < 1:
+        raise argparse.ArgumentTypeError('Must be positive')
+    return result
+
+
+def arguments():
+    p = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    p.add_argument('--setup', action='store_true')
+    p.add_argument('--cache', type=Path, default=Path.home() / '.cache/rover-nomad-benchmark')
+    p.add_argument('--threads', type=positive, nargs='+', default=[4, 8, 16])
+    p.add_argument('--samples', type=positive, nargs='+', default=[1, 8], help='Candidate trajectories per decision, not rover count')
+    p.add_argument('--seconds', type=positive, default=10)
+    p.add_argument('--iterations', type=positive, default=10)
+    p.add_argument('--worker', action='store_true', help=argparse.SUPPRESS)
+    p.add_argument('--result', type=Path, help=argparse.SUPPRESS)
+    return p.parse_args()
+
+
+def download(url, path):
+    if path.exists():
+        return
+    path.parent.mkdir(parents=True, exist_ok=True)
+    temporary = path.with_suffix(path.suffix + '.part')
+    print('Downloading', path.name, flush=True)
+    with urllib.request.urlopen(url, timeout=120) as response, temporary.open('wb') as output:
+        import shutil
+        shutil.copyfileobj(response, output)
+    temporary.replace(path)
+
+
+def prepare(args):
+    python = args.cache / 'venv/bin/python'
+    if not python.exists():
+        venv.EnvBuilder(with_pip=True).create(args.cache / 'venv')
+    subprocess.run([str(python), '-m', 'pip', 'install', 'torch', 'torchvision',
+                    '--index-url', 'https://download.pytorch.org/whl/cpu'], check=True)
+    subprocess.run([str(python), '-m', 'pip', 'install', 'numpy', 'diffusers',
+                    'efficientnet-pytorch', 'einops', 'PyYAML', 'gdown'], check=True)
+    for (repo, revision), paths in SOURCES.items():
+        for path in paths:
+            download(f'https://raw.githubusercontent.com/{repo}/{revision}/{path}', args.cache / 'source' / revision / path)
+    checkpoint = args.cache / 'nomad.pth'
+    if not checkpoint.exists():
+        temporary = checkpoint.with_suffix('.part')
+        subprocess.run([str(python), '-m', 'gdown', CHECKPOINT_ID, '-O', str(temporary)], check=True)
+        temporary.replace(checkpoint)
+
+
+def worker(args):
+    import numpy as np
+    import torch
+    import yaml
+    from diffusers.schedulers.scheduling_ddpm import DDPMScheduler
+    sys.path[:0] = [str(args.cache / 'source' / VINT / 'train'), str(args.cache / 'source' / DIFFUSION)]
+    from vint_train.models.nomad.nomad import NoMaD, DenseNetwork
+    from vint_train.models.nomad.nomad_vint import NoMaD_ViNT, replace_bn_with_gn
+    from diffusion_policy.model.diffusion.conditional_unet1d import ConditionalUnet1D
+
+    threads, samples = args.threads[0], args.samples[0]
+    torch.set_num_threads(threads)
+    torch.set_num_interop_threads(1)
+    torch.manual_seed(0)
+    c = yaml.safe_load((args.cache / 'source' / VINT / 'train/config/nomad.yaml').read_text())
+    vision = replace_bn_with_gn(NoMaD_ViNT(
+        context_size=c['context_size'], obs_encoding_size=c['encoding_size'],
+        mha_num_attention_heads=c['mha_num_attention_heads'],
+        mha_num_attention_layers=c['mha_num_attention_layers'], mha_ff_dim_factor=c['mha_ff_dim_factor']))
+    model = NoMaD(vision, ConditionalUnet1D(input_dim=2, global_cond_dim=c['encoding_size'],
+        down_dims=c['down_dims'], cond_predict_scale=c['cond_predict_scale']), DenseNetwork(c['encoding_size'])).eval()
+    # Strict loading prevents accidentally benchmarking a partly random model.
+    model.load_state_dict(torch.load(args.cache / 'nomad.pth', map_location='cpu', weights_only=True), strict=True)
+    scheduler = DDPMScheduler(num_train_timesteps=c['num_diffusion_iters'],
+        beta_schedule='squaredcos_cap_v2', clip_sample=True, prediction_type='epsilon')
+    width, height = c['image_size']
+    frames = torch.rand(c['context_size'] + 1, 3, height, width)
+    mean = torch.tensor([.485, .456, .406]).view(1, 3, 1, 1)
+    std = torch.tensor([.229, .224, .225]).view(1, 3, 1, 1)
+    mask = torch.ones(1, dtype=torch.long)
+    stats = yaml.safe_load((args.cache / 'source' / VINT / 'train/vint_train/data/data_config.yaml').read_text())['action_stats']
+    low, high = np.array(stats['min']), np.array(stats['max'])
+
+    def decision():
+        start = time.perf_counter()
+        obs = ((frames - mean) / std).reshape(1, -1, height, width)
+        goal = torch.randn(1, 3, height, width)
+        cond = model('vision_encoder', obs_img=obs, goal_img=goal, input_goal_mask=mask).repeat(samples, 1)
+        encoded = time.perf_counter()
+        action = torch.randn(samples, c['len_traj_pred'], 2)
+        scheduler.set_timesteps(c['num_diffusion_iters'])
+        for step in scheduler.timesteps:
+            noise = model('noise_pred_net', sample=action, timestep=step, global_cond=cond)
+            action = scheduler.step(noise, step, action).prev_sample
+        # Match upstream get_action: unnormalize deltas then accumulate waypoints.
+        waypoints = np.cumsum((action.numpy() + 1) / 2 * (high - low) + low, axis=1)
+        if not np.isfinite(waypoints).all():
+            raise RuntimeError('Non-finite model output')
+        end = time.perf_counter()
+        return (end - start) * 1000, (encoded - start) * 1000, (end - encoded) * 1000
+
+    rows = []
+    with torch.inference_mode():
+        for _ in range(3):
+            decision()
+        start, cpu = time.perf_counter(), time.process_time()
+        while len(rows) < args.iterations or time.perf_counter() - start < args.seconds:
+            rows.append(decision())
+        elapsed, cpu = time.perf_counter() - start, time.process_time() - cpu
+    total = sorted(r[0] for r in rows)
+    result = dict(threads=threads, candidateTrajectories=samples, iterations=len(rows),
+        p50Ms=statistics.median(total), p95Ms=total[math.ceil(.95 * len(total)) - 1], maxMs=max(total),
+        decisionsPerSecond=len(rows)/elapsed, cpuCores=cpu/elapsed,
+        peakMiB=resource.getrusage(resource.RUSAGE_SELF).ru_maxrss/1024,
+        visionMeanMs=statistics.mean(r[1] for r in rows), diffusionAndDecodeMeanMs=statistics.mean(r[2] for r in rows),
+        parameters=sum(p.numel() for p in model.parameters()), diffusionSteps=c['num_diffusion_iters'],
+        imageSize=c['image_size'], frames=c['context_size']+1,
+        versions={name: importlib.metadata.version(name) for name in ['torch','torchvision','diffusers','numpy','efficientnet-pytorch','einops']})
+    args.result.write_text(json.dumps(result))
+
+
+def main():
+    args = arguments()
+    args.cache = args.cache.expanduser().resolve()
+    if args.worker:
+        worker(args)
+        return
+    if args.setup:
+        prepare(args)
+    python = args.cache / 'venv/bin/python'
+    if not python.exists() or not (args.cache / 'nomad.pth').exists():
+        raise RuntimeError('First run: python3 perf/nomad-benchmark.py --setup')
+    print('CPU FP32 NoMaD exploration; synthetic images; no driving-quality measurement.', flush=True)
+    print('Candidates are trajectories for ONE rover. Includes vision + all 10 diffusion steps.', flush=True)
+    print('threads candidates  p50 ms  p95 ms  max ms decisions/s CPU cores peak MiB', flush=True)
+    results = []
+    import tempfile
+    with tempfile.TemporaryDirectory(prefix='nomad-bench-') as directory:
+        for threads in args.threads:
+            for samples in args.samples:
+                path = Path(directory) / 'result.json'
+                subprocess.run([str(python), str(Path(__file__).resolve()), '--worker', '--cache', str(args.cache),
+                    '--threads', str(threads), '--samples', str(samples), '--seconds', str(args.seconds),
+                    '--iterations', str(args.iterations), '--result', str(path)], check=True,
+                    timeout=max(600, args.seconds*20), env={**os.environ, 'PYTHONDONTWRITEBYTECODE':'1'})
+                r = json.loads(path.read_text()); results.append(r)
+                print(f"{threads:7} {samples:10} {r['p50Ms']:7.1f} {r['p95Ms']:7.1f} {r['maxMs']:7.1f} {r['decisionsPerSecond']:11.2f} {r['cpuCores']:9.2f} {r['peakMiB']:8.0f}", flush=True)
+    with (args.cache / 'nomad.pth').open('rb') as f:
+        digest = hashlib.file_digest(f, 'sha256').hexdigest()
+    report = dict(benchmark='nomad-cpu-v1', platform=platform.platform(), logicalCpus=os.cpu_count(),
+        loadAverage=os.getloadavg(), sourceRevisions=dict(vint=VINT,diffusion=DIFFUSION), checkpointSha256=digest,
+        exclusions=['capture','video decode','network','physical control','training','concurrent model workloads'], results=results)
+    print('\nPaste this report back:\n' + json.dumps(report, separators=(',', ':')))
+    print('At 10 decisions/s the total budget is 100ms; at 5/s it is 200ms. Leave room for the excluded pipeline.')
+
+
+if __name__ == '__main__':
+    try:
+        main()
+    except (Exception, KeyboardInterrupt) as error:
+        print(f'Benchmark failed: {error}', file=sys.stderr)
+        sys.exit(1)

perf/rover-model-benchmark.py

@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""Finite, CPU-only rover policy compute benchmark. No rover/server connections.
+
+Run from the repo root on Linux:
+  python3 -m venv ~/.venvs/rover-bench
+  ~/.venvs/rover-bench/bin/pip install torch --index-url https://download.pytorch.org/whl/cpu
+  ~/.venvs/rover-bench/bin/python perf/rover-model-benchmark.py
+
+Quick run:
+  .../python perf/rover-model-benchmark.py --threads 4 --rovers 1 --seconds 2
+
+Random inputs/weights measure compute cost ONLY, not learned driving ability.
+This is a representative architecture, not a selected production policy.
+Video decoding, network delay, dataset I/O, and simultaneous training/inference
+are excluded. No packages are installed automatically and no files are written.
+"""
+
+import argparse
+import json
+import math
+import os
+import platform
+import resource
+import statistics
+import subprocess
+import sys
+import time
+
+
+def positive_int(value):
+    number = int(value)
+    if number < 1:
+        raise argparse.ArgumentTypeError("must be positive")
+    return number
+
+
+def positive_seconds(value):
+    number = float(value)
+    if not math.isfinite(number) or number <= 0:
+        raise argparse.ArgumentTypeError("must be finite and positive")
+    return number
+
+
+def arguments():
+    parser = argparse.ArgumentParser(description=__doc__,
+                                     formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("--threads", type=positive_int, nargs="+", default=[4, 8, 16])
+    parser.add_argument("--rovers", type=positive_int, nargs="+", default=[1, 2, 4])
+    parser.add_argument("--seconds", type=positive_seconds, default=10,
+                        help="minimum measured seconds per case (default: 10)")
+    parser.add_argument("--frames", type=positive_int, default=4)
+    parser.add_argument("--height", type=positive_int, default=120)
+    parser.add_argument("--width", type=positive_int, default=160)
+    parser.add_argument("--batch-size", type=positive_int, default=16,
+                        help="training batch size")
+    parser.add_argument("--hz", type=positive_int, default=10,
+                        help="target decision frequency per rover")
+    parser.add_argument("--worker", choices=["inference", "training"],
+                        help=argparse.SUPPRESS)
+    return parser.parse_args()
+
+
+def worker(args):
+    import torch
+    from torch import nn
+
+    torch.set_num_threads(args.threads[0])
+    torch.set_num_interop_threads(1)
+    torch.manual_seed(42)
+
+    class Policy(nn.Module):
+        def __init__(self):
+            super().__init__()
+            # Preserve coarse spatial layout: global pooling alone would discard
+            # information about which side of the image contains an obstacle.
+            self.vision = nn.Sequential(
+                nn.Conv2d(3, 24, 5, stride=2, padding=2), nn.ReLU(),
+                nn.Conv2d(24, 48, 3, stride=2, padding=1), nn.ReLU(),
+                nn.Conv2d(48, 96, 3, stride=2, padding=1), nn.ReLU(),
+                nn.Conv2d(96, 128, 3, stride=2, padding=1), nn.ReLU(),
+                nn.AdaptiveAvgPool2d((3, 4)), nn.Flatten(),
+                nn.Linear(128 * 3 * 4, 128), nn.ReLU(),
+            )
+            # 32 sensor values + 32 previous-control/state values per frame.
+            self.history = nn.GRU(128 + 64, 128, batch_first=True)
+            self.continuous = nn.Linear(128, 8)
+            self.buttons = nn.Linear(128, 16)
+
+        def forward(self, images, state):
+            batch, frames, channels, height, width = images.shape
+            features = self.vision(images.reshape(-1, channels, height, width))
+            features = features.reshape(batch, frames, -1)
+            history, _ = self.history(torch.cat((features, state), dim=-1))
+            last = history[:, -1]
+            return self.continuous(last).tanh(), self.buttons(last)
+
+    model = Policy().cpu().float()
+    training = args.worker == "training"
+    model.train(training)
+    batch = args.batch_size if training else args.rovers[0]
+    # Keep several independent windows in RAM. Allocation/random generation is
+    # outside timing; full frame-history encoding IS included on every decision.
+    windows = [(
+        torch.rand(batch, args.frames, 3, args.height, args.width),
+        torch.rand(batch, args.frames, 64),
+    ) for _ in range(4)]
+    targets = (torch.rand(batch, 8) * 2 - 1, torch.randint(0, 2, (batch, 16)).float())
+    optimizer = torch.optim.AdamW(model.parameters(), lr=1e-4) if training else None
+
+    def step(index):
+        if training:
+            optimizer.zero_grad(set_to_none=True)
+        continuous, buttons = model(*windows[index % len(windows)])
+        if training:
+            loss = (nn.functional.mse_loss(continuous, targets[0])
+                    + nn.functional.binary_cross_entropy_with_logits(buttons, targets[1]))
+            loss.backward()
+            optimizer.step()
+
+    context = torch.enable_grad if training else torch.inference_mode
+    with context():
+        for index in range(5):
+            step(index)
+        timings = []
+        cpu_start = time.process_time()
+        start = time.perf_counter()
+        # CPU execution is synchronous, so these durations include completion.
+        while time.perf_counter() - start < args.seconds or len(timings) < 10:
+            before = time.perf_counter()
+            step(len(timings))
+            timings.append(time.perf_counter() - before)
+        elapsed = time.perf_counter() - start
+        cpu_elapsed = time.process_time() - cpu_start
+
+    ordered = sorted(timings)
+    print(json.dumps({
+        "mode": args.worker, "threads": args.threads[0], "batch": batch,
+        "parameters": sum(p.numel() for p in model.parameters()),
+        "torch": torch.__version__, "iterations": len(timings),
+        "p50_ms": statistics.median(timings) * 1000,
+        "p95_ms": ordered[math.ceil(len(ordered) * .95) - 1] * 1000,
+        "max_ms": max(timings) * 1000,
+        "steps_s": len(timings) / elapsed,
+        "examples_s": len(timings) * batch / elapsed,
+        "cpu_cores": cpu_elapsed / elapsed,
+        "peak_mib": resource.getrusage(resource.RUSAGE_SELF).ru_maxrss / 1024,
+    }))
+
+
+def main():
+    args = arguments()
+    if args.worker:
+        worker(args)
+        return
+    try:
+        import torch
+    except ImportError:
+        sys.exit("PyTorch is required. Run the three setup/run commands shown by --help.")
+
+    print(f"CPU-only FP32 | {platform.platform()} | Python {platform.python_version()}"
+          f" | PyTorch {torch.__version__}", flush=True)
+    print(f"Logical CPUs: {os.cpu_count()} | initial load averages: {os.getloadavg()}")
+    print(f"Input: {args.frames} RGB frames at {args.width}x{args.height},"
+          " 32 sensors + 32 controls/state per frame")
+    print("Output: 8 continuous controls + 16 button logits (placeholder dimensions)")
+    print("Synthetic in-memory data; full history re-encoded each decision.")
+    print("Excludes video decode/network/dataset I/O and concurrent training/inference.")
+    print("Each case has 5 warmups, then at least 10 iterations and the requested duration.")
+    print("CPU cores = process CPU seconds / wall seconds; peak MiB includes runtime/data.")
+    print("Multi-rover inference batches one independent history per rover per step.\n")
+    print("mode       threads batch  p50 ms  p95 ms  max ms  steps/s examples/s CPU cores peak MiB", flush=True)
+    results = []
+    for mode in ("inference", "training"):
+        batches = args.rovers if mode == "inference" else [args.batch_size]
+        for threads in args.threads:
+            for batch in batches:
+                # Fresh processes isolate thread pools and peak memory per case.
+                command = [sys.executable, os.path.abspath(__file__), "--worker", mode,
+                           "--threads", str(threads), "--rovers", str(batch),
+                           "--batch-size", str(args.batch_size), "--seconds", str(args.seconds),
+                           "--frames", str(args.frames), "--height", str(args.height),
+                           "--width", str(args.width)]
+                process = subprocess.run(command, capture_output=True, text=True)
+                if process.returncode:
+                    print(process.stderr, file=sys.stderr)
+                    sys.exit(f"Failed: {mode}, threads={threads}, batch={batch}"
+                             " (if killed for memory use, reduce --batch-size or --rovers).")
+                result = json.loads(process.stdout)
+                results.append(result)
+                print(f"{mode:10} {threads:7} {batch:5}"
+                      f" {result['p50_ms']:7.1f} {result['p95_ms']:7.1f}"
+                      f" {result['max_ms']:7.1f} {result['steps_s']:8.2f}"
+                      f" {result['examples_s']:10.2f} {result['cpu_cores']:9.2f}"
+                      f" {result['peak_mib']:8.0f}", flush=True)
+
+    print(f"\nModel parameters: {results[0]['parameters']:,}")
+    print(f"At {args.hz} Hz, each rover batch must finish every {1000 / args.hz:.1f} ms;")
+    print("p95 needs headroom for the excluded pipeline. This is not a deployment pass/fail.")
+    fastest = max((r for r in results if r['mode'] == 'training'), key=lambda r: r['examples_s'])
+    examples = 3600 * args.hz
+    minutes = examples / fastest['examples_s'] / 60
+    print(f"Best measured training: {fastest['examples_s']:.1f} windows/s at"
+          f" {fastest['threads']} threads.")
+    print(f"One pass over one rover-hour sampled at {args.hz} Hz ({examples:,} windows):"
+          f" about {minutes:.1f} compute-only minutes.")
+    print("Multiply by dataset hours and training passes; this does not predict convergence.")
+    print("Paste this complete output, along with the command/options used.")
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        sys.exit("\nBenchmark interrupted.")

pi/roverd/auto_charge.go

@@ -7,7 +7,7 @@ import (
 )
 
 const (
-	autoChargeTimeout  = 1 * time.Second
+	autoChargeTimeout  = 10 * time.Second
 	autoChargeCooldown = 0 * time.Minute
 	sourceHomeBase     = 1 << 1
 )

server/index.js

@@ -68,6 +68,7 @@ require('./src/services/batteryManager');
 // subscriptions see fully decoded state without becoming an initialization
 // dependency of either control path.
 require('./src/services/fleetReportService');
+require('./src/services/roverLearningService');
 require('./src/services/replayEngineV2');
 // Replay delivery is a core service. It must subscribe before the optional
 // Discord feature so web requests always have a local delivery path.

server/public/assets/AdminApp-C7dustWw.css

@@ -1 +0,0 @@
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server/public/assets/Preview-BBzOMZjy.js

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server/public/assets/Preview-CKTJqKe-.js

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server/public/assets/SetupApp-DN7XBkOe.js

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+import{e as F,r as s,j as e,S as P,C as c,L as q}from"./index-5EWtcenj.js";import{o as $,p as D,q as I}from"./api-B8GGCEeo.js";function R(){const l=F(),[a,m]=s.useState(null),[n,b]=s.useState(""),[d,C]=s.useState(""),[p,N]=s.useState(""),[r,S]=s.useState(""),[f,v]=s.useState(""),[o,w]=s.useState(null),[x,h]=s.useState(!1),[g,i]=s.useState("");s.useEffect(()=>{$(l).then(t=>m(t.required)).catch(t=>i(t.message))},[l]);async function j(t){h(!0),i("");try{await t(),m(!1),i("Setup completed. You can now open the administration application and log in.")}catch(u){const E=Array.isArray(u.validationErrors)?` ${u.validationErrors.map(y=>`${y.path}: ${y.message}`).join("; ")}`:"";i(`${u.message}${E}`)}finally{h(!1)}}function k(t){if(t.preventDefault(),r!==f){i("Passwords do not match.");return}j(()=>D(l,{setupCode:n,username:d,discordId:p,password:r}))}function A(t){t.preventDefault(),o&&j(async()=>I(l,{setupCode:n,fileName:o.name,yaml:await o.text()}))}return e.jsxs("div",{className:"min-h-screen bg-neutral-950 p-1 text-slate-100",children:[e.jsx(P,{}),e.jsxs("main",{className:"mx-auto flex min-h-screen w-full max-w-3xl flex-col justify-center gap-0.5",children:[e.jsxs(c,{title:"MultiRover setup",meta:a===null?"checking":a?"required":"complete",bodyClassName:"space-y-0.5 p-1 text-sm",children:[a?e.jsx("p",{children:"Enter the one-time code from setup-code.txt in the server data folder, then create the first lockdown administrator or import an existing configuration."}):null,a===!1?e.jsx(q,{className:"button-dark inline-block",to:"/admin",children:"Open administration"}):null,g?e.jsx("p",{className:"surface p-1 text-sm text-slate-200",children:g}):null]}),a?e.jsxs(e.Fragment,{children:[e.jsxs(c,{title:"Setup authorization",bodyClassName:"p-1",children:[e.jsx("label",{className:"block text-xs font-semibold text-slate-200",children:"One-time setup code"}),e.jsx("input",{className:"field-input mt-0.5 w-full font-mono",value:n,onChange:t=>b(t.target.value)})]}),e.jsx(c,{title:"Create first administrator",bodyClassName:"p-1",children:e.jsxs("form",{className:"grid gap-0.5 md:grid-cols-2",onSubmit:k,children:[e.jsx("input",{className:"field-input",placeholder:"Username",value:d,onChange:t=>C(t.target.value)}),e.jsx("input",{className:"field-input",placeholder:"Discord id (optional)",value:p,onChange:t=>N(t.target.value)}),e.jsx("input",{className:"field-input",type:"password",placeholder:"Password",value:r,onChange:t=>S(t.target.value)}),e.jsx("input",{className:"field-input",type:"password",placeholder:"Confirm password",value:f,onChange:t=>v(t.target.value)}),e.jsx("button",{className:"button-dark md:col-span-2",type:"submit",disabled:x||!n||!d||!r,children:"Create lockdown administrator"})]})}),e.jsxs(c,{title:"Import configuration file",bodyClassName:"space-y-0.5 p-1 text-sm",children:[e.jsx("p",{className:"text-xs text-slate-400",children:"Choose an existing YAML configuration explicitly. The server validates and imports it once, and its secrets are never displayed back in the browser."}),e.jsxs("form",{className:"flex flex-col gap-0.5 md:flex-row",onSubmit:A,children:[e.jsx("input",{className:"field-input flex-1",type:"file",accept:".yaml,.yml,text/yaml",onChange:t=>w(t.target.files?.[0]||null)}),e.jsx("button",{className:"button-dark",type:"submit",disabled:x||!n||!o,children:"Import selected YAML"})]})]})]}):null]})]})}export{R as default};
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server/public/assets/SetupApp-Ya006OtX.js

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+import{e as F,r as s,j as e,S as P,C as c,L as q}from"./index-dJH5nUWV.js";import{o as $,p as D,q as I}from"./api-B8GGCEeo.js";function R(){const l=F(),[a,m]=s.useState(null),[n,b]=s.useState(""),[d,C]=s.useState(""),[p,N]=s.useState(""),[r,S]=s.useState(""),[f,v]=s.useState(""),[o,w]=s.useState(null),[x,h]=s.useState(!1),[g,i]=s.useState("");s.useEffect(()=>{$(l).then(t=>m(t.required)).catch(t=>i(t.message))},[l]);async function j(t){h(!0),i("");try{await t(),m(!1),i("Setup completed. You can now open the administration application and log in.")}catch(u){const E=Array.isArray(u.validationErrors)?` ${u.validationErrors.map(y=>`${y.path}: ${y.message}`).join("; ")}`:"";i(`${u.message}${E}`)}finally{h(!1)}}function k(t){if(t.preventDefault(),r!==f){i("Passwords do not match.");return}j(()=>D(l,{setupCode:n,username:d,discordId:p,password:r}))}function A(t){t.preventDefault(),o&&j(async()=>I(l,{setupCode:n,fileName:o.name,yaml:await o.text()}))}return e.jsxs("div",{className:"min-h-screen bg-neutral-950 p-1 text-slate-100",children:[e.jsx(P,{}),e.jsxs("main",{className:"mx-auto flex min-h-screen w-full max-w-3xl flex-col justify-center gap-0.5",children:[e.jsxs(c,{title:"MultiRover setup",meta:a===null?"checking":a?"required":"complete",bodyClassName:"space-y-0.5 p-1 text-sm",children:[a?e.jsx("p",{children:"Enter the one-time code from setup-code.txt in the server data folder, then create the first lockdown administrator or import an existing configuration."}):null,a===!1?e.jsx(q,{className:"button-dark inline-block",to:"/admin",children:"Open administration"}):null,g?e.jsx("p",{className:"surface p-1 text-sm text-slate-200",children:g}):null]}),a?e.jsxs(e.Fragment,{children:[e.jsxs(c,{title:"Setup authorization",bodyClassName:"p-1",children:[e.jsx("label",{className:"block text-xs font-semibold text-slate-200",children:"One-time setup code"}),e.jsx("input",{className:"field-input mt-0.5 w-full font-mono",value:n,onChange:t=>b(t.target.value)})]}),e.jsx(c,{title:"Create first administrator",bodyClassName:"p-1",children:e.jsxs("form",{className:"grid gap-0.5 md:grid-cols-2",onSubmit:k,children:[e.jsx("input",{className:"field-input",placeholder:"Username",value:d,onChange:t=>C(t.target.value)}),e.jsx("input",{className:"field-input",placeholder:"Discord id (optional)",value:p,onChange:t=>N(t.target.value)}),e.jsx("input",{className:"field-input",type:"password",placeholder:"Password",value:r,onChange:t=>S(t.target.value)}),e.jsx("input",{className:"field-input",type:"password",placeholder:"Confirm password",value:f,onChange:t=>v(t.target.value)}),e.jsx("button",{className:"button-dark md:col-span-2",type:"submit",disabled:x||!n||!d||!r,children:"Create lockdown administrator"})]})}),e.jsxs(c,{title:"Import configuration file",bodyClassName:"space-y-0.5 p-1 text-sm",children:[e.jsx("p",{className:"text-xs text-slate-400",children:"Choose an existing YAML configuration explicitly. The server validates and imports it once, and its secrets are never displayed back in the browser."}),e.jsxs("form",{className:"flex flex-col gap-0.5 md:flex-row",onSubmit:A,children:[e.jsx("input",{className:"field-input flex-1",type:"file",accept:".yaml,.yml,text/yaml",onChange:t=>w(t.target.files?.[0]||null)}),e.jsx("button",{className:"button-dark",type:"submit",disabled:x||!n||!o,children:"Import selected YAML"})]})]})]}):null]})]})}export{R as default};
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server/public/assets/index-B4nclofW.js

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server/public/assets/react-C61Q8sy9.js

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+import{_ as N,R as A}from"./index-dJH5nUWV.js";import{M as D,C as S}from"./mixin-BY5xW4uI.js";class P extends D(S){static shadowRootOptions={...S.shadowRootOptions};static getTemplateHTML=i=>{const{src:n,...o}=i;return S.getTemplateHTML(o)};#t;attributeChangedCallback(i,n,o){i!=="src"&&super.attributeChangedCallback(i,n,o),i==="src"&&n!=o&&this.load()}async _initThumbnails(i){const n=async(d,m)=>{const v=[],g=i.timescale||1,h=i.startNumber||1,E=i.presentationTimeOffset?i.presentationTimeOffset/g:0,_=i.segmentDuration;for(let l=0;l<d;l++){const T=C({thIndex:l,thduration:m,ttiles:d,tduration:_,startNumber:h,pto:E}),w=T+m,M=new Promise((f,y)=>{this.api.provideThumbnail(T,({url:a,width:s,height:c,x:p,y:b})=>{try{const R=new VTTCue(T,w,`${a}#xywh=${p},${b},${s},${c}`);f(R)}catch(R){y(R)}})});v.push(M)}return await Promise.all(v).catch(l=>console.error("Error processing thumbnails",l))},{totalThumbnails:o,thumbnailDuration:e}=$(i),u=await n(o,e);let r=this.nativeEl.querySelector('track[label="thumbnails"]');if(!r){r=O(),this.nativeEl.appendChild(r);const d=x(u);r.src=d,r.dispatchEvent(new Event("change"))}}async load(){if(this.#t){this.api.attachSource(this.src);return}this.#t=!0;const i=await N(()=>import("./dash.all.min-C9gxBrL1.js"),[]);this.api=i.MediaPlayer().create(),this.api.initialize(this.nativeEl,this.src,this.autoplay),this.api.on(i.MediaPlayer.events.STREAM_INITIALIZED,()=>{const n=this.api.getRepresentationsByType("video");let o=this.videoTracks.getTrackById("main");o||(o=this.addVideoTrack("main"),o.id="main",o.selected=!0),n.forEach(e=>{const u=e.bandwidth??e.bitrate??(Number.isFinite(e.bitrateInKbit)?e.bitrateInKbit*1e3:void 0),r=o.addRendition(e.id,e.width,e.height,e.mimeType??e.codec,u);r.id=e.id}),this.videoRenditions.addEventListener("change",()=>{const e=this.videoRenditions[this.videoRenditions.selectedIndex];e?.id?(this.api.updateSettings({streaming:{abr:{autoSwitchBitrate:{video:!1}}}}),this.api.setRepresentationForTypeById("video",e.id,!0)):this.api.updateSettings({streaming:{abr:{autoSwitchBitrate:{video:!0}}}})}),this.api.isDynamic()||this.api.getRepresentationsByType("image").forEach(async(u,r)=>{r>0||this._initThumbnails(u)})})}}function $(t){var i,n;const o=t.essentialProperties[0],[e,u]=o.value.split("x").map(Number),r=e*u,d=((n=(i=t.adaptation)==null?void 0:i.period)==null?void 0:n.duration)||null,m=t.segmentDuration,v=t.timescale||1,h=m/v/r;return{totalThumbnails:d!=null?Math.ceil(d/h):Math.ceil(m/h),thumbnailDuration:h}}function C({thIndex:t,tduration:i,thduration:n,ttiles:o,startNumber:e,pto:u}){const r=Math.floor(t/o)+e,d=t%o+1,m=(r-1)*i-u,v=(d-1)*n;return m+v}function O(){const t=document.createElement("track");return t.kind="metadata",t.label="thumbnails",t.srclang="en",t.mode="hidden",t.default=!0,t}function x(t){let i=`WEBVTT
+
+`;for(const e of t)i+=`${o(e.startTime)} --> ${o(e.endTime)}
+`,i+=`${e.text}
+
+`;const n=new Blob([i],{type:"text/vtt"});return URL.createObjectURL(n);function o(e){const u=String(Math.floor(e/3600)).padStart(2,"0"),r=String(Math.floor(e%3600/60)).padStart(2,"0"),d=(e%60).toFixed(3).padStart(6,"0");return`${u}:${r}:${d}`}}globalThis.customElements&&!globalThis.customElements.get("dash-video")&&globalThis.customElements.define("dash-video",P);var B=P,H=new Set(["style","children","ref","key","suppressContentEditableWarning","suppressHydrationWarning","dangerouslySetInnerHTML"]),F={className:"class",htmlFor:"for"};function I(t){return t.toLowerCase()}function k(t){if(typeof t=="boolean")return t?"":void 0;if(typeof t!="function"&&!(typeof t=="object"&&t!==null))return t}function W({react:t,tagName:i,elementClass:n,events:o,displayName:e,defaultProps:u,toAttributeName:r=I,toAttributeValue:d=k}){const m=Number.parseInt(t.version)>=19,v=t.forwardRef((g,h)=>{var E,_;const l=t.useRef(null),T=t.useRef(new Map),w={},M={},f={},y={};for(const[a,s]of Object.entries(g)){if(H.has(a)){f[a]=s;continue}const c=r(F[a]??a);if(n.prototype&&a in n.prototype&&!(a in(((E=globalThis.HTMLElement)==null?void 0:E.prototype)??{}))&&!((_=n.observedAttributes)!=null&&_.some(b=>b===c))){y[a]=s;continue}if(a.startsWith("on")){w[a]=s;continue}const p=d(s);if(c&&p!=null&&(M[c]=String(p),m||(f[c]=p)),c&&m){const b=k(s);p!==b?f[c]=p:f[c]=s}}if(typeof window<"u"){for(const a in w){const s=w[a],c=a.endsWith("Capture"),p=(o?.[a]??a.slice(2).toLowerCase()).slice(0,c?-7:void 0);t.useLayoutEffect(()=>{const b=l?.current;if(!(!b||typeof s!="function"))return b.addEventListener(p,s,c),()=>{b.removeEventListener(p,s,c)}},[l?.current,s])}t.useLayoutEffect(()=>{if(l.current===null)return;const a=new Map;for(const s in y)L(l.current,s,y[s]),T.current.delete(s),a.set(s,y[s]);for(const[s,c]of T.current)L(l.current,s,void 0);T.current=a})}if(typeof window>"u"&&n?.getTemplateHTML&&n?.shadowRootOptions){const{mode:a,delegatesFocus:s}=n.shadowRootOptions,c=t.createElement("template",{shadowrootmode:a,shadowrootdelegatesfocus:s,dangerouslySetInnerHTML:{__html:n.getTemplateHTML(M,g)},key:"ce-la-react-ssr-template-shadow-root"});f.children=[c,f.children]}return t.createElement(i,{...u,...f,ref:t.useCallback(a=>{l.current=a,typeof h=="function"?h(a):h!==null&&(h.current=a)},[h])},f.children)});return v.displayName=e??n.name,v}function L(t,i,n){var o;t[i]=n,n==null&&i in(((o=globalThis.HTMLElement)==null?void 0:o.prototype)??{})&&t.removeAttribute(i)}var V=W({react:A,tagName:"dash-video",elementClass:B,toAttributeName(t){return t==="muted"?"":t==="defaultMuted"?"muted":I(t)}});export{V as default};
+//# sourceMappingURL=react-C61Q8sy9.js.map

server/public/assets/react-CVBBC_mw.js

@@ -0,0 +1,35 @@
+import{R as W}from"./index-dJH5nUWV.js";const $=["abort","canplay","canplaythrough","durationchange","emptied","encrypted","ended","error","loadeddata","loadedmetadata","loadstart","pause","play","playing","progress","ratechange","seeked","seeking","stalled","suspend","timeupdate","volumechange","waiting","waitingforkey","resize","enterpictureinpicture","leavepictureinpicture","webkitbeginfullscreen","webkitendfullscreen","webkitpresentationmodechanged"],A=globalThis.document?.createElement("template");A&&(A.innerHTML=`
+    <style>
+      :host {
+        display: inline-block;
+        line-height: 0;
+      }
+
+      video,
+      audio {
+        max-width: 100%;
+        max-height: 100%;
+        min-width: 100%;
+        min-height: 100%;
+      }
+    </style>
+    <slot></slot>
+  `);const N=(i,{tag:t,is:s})=>{const d=globalThis.document?.createElement(t,{is:s}),f=d?S(d):[];return class g extends i{static Events=$;static template=A;static skipAttributes=[];static#t;static get observedAttributes(){return g.#l(),[...d?.constructor?.observedAttributes??[],"autopictureinpicture","disablepictureinpicture","disableremoteplayback","autoplay","controls","controlslist","crossorigin","loop","muted","playsinline","poster","preload","src"]}static#l(){if(this.#t)return;this.#t=!0;const e=new Set(this.observedAttributes);e.delete("muted");for(let o of f){if(o in this.prototype)continue;if(typeof d[o]=="function")this.prototype[o]=function(...r){this.#e();const a=()=>this.call?this.call(o,...r):this.nativeEl[o].apply(this.nativeEl,r);return this.loadComplete&&!this.isLoaded?this.loadComplete.then(a):a()};else{let r={get(){this.#e();let a=o.toLowerCase();if(e.has(a)){const p=this.getAttribute(a);return p===null?!1:p===""?!0:p}return this.get?.(o)??this.nativeEl?.[o]??this.#s[o]}};o!==o.toUpperCase()&&(r.set=async function(a){this.#e();let p=o.toLowerCase();if(e.has(p)){a===!0||a===!1||a==null?this.toggleAttribute(p,!!a):this.setAttribute(p,a);return}if(this.loadComplete&&!this.isLoaded&&await this.loadComplete,this.set){this.set(o,a);return}this.nativeEl[o]=a}),Object.defineProperty(this.prototype,o,r)}}}#o;#n;#r=!1;#i=!1;#a;#s;constructor(){super(),this.shadowRoot||(this.attachShadow({mode:"open"}),this.shadowRoot.append(this.constructor.template.content.cloneNode(!0))),this.load!==g.prototype.load&&(this.loadComplete=new O)}get loadComplete(){return this.#n}set loadComplete(e){this.#i=!1,this.#n=e,e?.then(()=>{this.#i=!0})}get isLoaded(){return this.#i}get nativeEl(){return this.#a??this.shadowRoot.querySelector(t)??this.querySelector(t)}set nativeEl(e){this.#a=e}get defaultMuted(){return this.hasAttribute("muted")}set defaultMuted(e){this.toggleAttribute("muted",!!e)}get src(){return this.getAttribute("src")}set src(e){this.setAttribute("src",`${e}`)}get preload(){return this.getAttribute("preload")??this.nativeEl?.preload}set preload(e){this.setAttribute("preload",`${e}`)}async#e(){if(this.#o)return;this.#o=!0,this.#u(),this.#c();for(let u of f)this.#d(u);const e=new Map,o=this.shadowRoot.querySelector("slot:not([name])");o?.addEventListener("slotchange",()=>{const u=new Map(e);o.assignedElements().filter(r=>["track","source"].includes(r.localName)).forEach(async r=>{u.delete(r);let a=e.get(r);a||(a=r.cloneNode(),e.set(r,a)),this.loadComplete&&!this.isLoaded&&await this.loadComplete,this.nativeEl.append?.(a)}),u.forEach(r=>r.remove())});for(let u of this.constructor.Events)this.shadowRoot.addEventListener?.(u,r=>{r.target===this.nativeEl&&this.dispatchEvent(new CustomEvent(r.type,{detail:r.detail}))},!0)}#d(e){if(Object.prototype.hasOwnProperty.call(this,e)){const o=this[e];delete this[e],this[e]=o}}#u(){const e=document.createElement(t,{is:s});e.muted=this.hasAttribute("muted");for(let{name:o,value:u}of this.attributes)e.setAttribute(o,u);this.#s={};for(let o of S(e))this.#s[o]=e[o];e.removeAttribute("src"),e.load()}async#c(){if(this.loadComplete&&!this.isLoaded&&await this.loadComplete,!this.nativeEl){const e=document.createElement(t,{is:s});e.part=t,this.shadowRoot.append(e)}this.nativeEl.muted=this.hasAttribute("muted")}attributeChangedCallback(e,o,u){this.#e(),e==="src"&&this.load!==g.prototype.load&&this.#h(),this.#p(e,o,u)}async#h(){this.#r&&(this.loadComplete=new O),this.#r=!0,await Promise.resolve(),await this.load(),this.loadComplete?.resolve(),await this.loadComplete}async#p(e,o,u){this.loadComplete&&!this.isLoaded&&await this.loadComplete,!["id","class",...this.constructor.skipAttributes].includes(e)&&(u===null?this.nativeEl.removeAttribute?.(e):this.nativeEl.setAttribute?.(e,u))}connectedCallback(){this.#e()}}};function S(i){let t=[];for(let s=Object.getPrototypeOf(i);s&&s!==HTMLElement.prototype;s=Object.getPrototypeOf(s))t.push(...Object.getOwnPropertyNames(s));return t}class O extends Promise{constructor(t=()=>{}){let s,d;super((f,c)=>{t(f,c),s=f,d=c}),this.resolve=s,this.reject=d}}const B=globalThis.document?N(HTMLElement,{tag:"video"}):class{};globalThis.document&&N(HTMLElement,{tag:"audio"});var H,R;const L=(H=globalThis.document)==null?void 0:H.createElement("template");L&&(L.innerHTML=`
+  <div class="wistia_embed"></div>
+  `);const P=(R=globalThis.document)==null?void 0:R.createElement("template");P&&(P.innerHTML=`
+  <style>
+    :host {
+      display: inline-block;
+      min-width: 300px;
+      min-height: 150px;
+      position: relative;
+    }
+    ::slotted(.wistia_embed) {
+      position: absolute;
+      width: 100%;
+      height: 100%;
+    }
+  </style>
+  <slot></slot>
+  `);function D(i,t){if(Object.hasOwn(i,t)){const s=i[t];delete i[t],i[t]=s}}class q extends B{static template=P;static skipAttributes=["src"];#t=null;constructor(){super(),D(this,"config")}get config(){return this.#t}set config(t){this.#t=t}get nativeEl(){var t;return((t=this.api)==null?void 0:t.elem())??this.querySelector("video")}async load(){var t;if((t=this.querySelector(".wistia_embed"))==null||t.remove(),!this.src)return;await new Promise(o=>setTimeout(o,50));const s=/(?:wistia\.com|wi\.st)\/(?:medias|embed)\/(.*)$/i,d=this.src.match(s)[1],f={autoPlay:this.autoplay,silentAutoPlay:this.autoplay?"allow":void 0,preload:this.preload??"metadata",playsinline:this.playsInline,endVideoBehavior:this.loop?"loop":void 0,chromeless:!this.controls,playButton:this.controls,muted:this.defaultMuted,...this.#t??{}};this.append(L.content.cloneNode(!0));const c=this.querySelector(".wistia_embed");c.id||(c.id=z(d)),c.classList.add(`wistia_async_${d}`),await F("https://fast.wistia.com/assets/external/E-v1.js","Wistia"),this.api=await new Promise(o=>{globalThis._wq.push({id:c.id,onReady:o,options:f})})}async attributeChangedCallback(t,s,d){if(t==="controls"){switch(await this.loadComplete,t){case"controls":this.api.bigPlayButtonEnabled(this.controls),this.controls?this.api.releaseChromeless():this.api.requestChromeless();break}return}super.attributeChangedCallback(t,s,d)}get duration(){var t;return(t=this.api)==null?void 0:t.duration()}async play(){return await this.loadComplete,this.api.play(),new Promise(t=>this.addEventListener("playing",t))}}const T={};async function F(i,t){if(T[i])return T[i];if(self[t])return self[t];const s=new Promise((d,f)=>{const c=document.createElement("script");c.defer=!0,c.src=i,c.onload=()=>d(self[t]),c.onerror=f,document.head.append(c)});return T[i]=s,s}let U=0;function z(i){const t=++U;return`${i}${t}`}globalThis.customElements&&!globalThis.customElements.get("wistia-video")&&globalThis.customElements.define("wistia-video",q);var V=q,G=new Set(["style","children","ref","key","suppressContentEditableWarning","suppressHydrationWarning","dangerouslySetInnerHTML"]),J={className:"class",htmlFor:"for"};function I(i){return i.toLowerCase()}function j(i){if(typeof i=="boolean")return i?"":void 0;if(typeof i!="function"&&!(typeof i=="object"&&i!==null))return i}function K({react:i,tagName:t,elementClass:s,events:d,displayName:f,defaultProps:c,toAttributeName:e=I,toAttributeValue:o=j}){const u=Number.parseInt(i.version)>=19,r=i.forwardRef((a,p)=>{var M,k;const m=i.useRef(null),E=i.useRef(new Map),C={},_={},v={},w={};for(const[n,l]of Object.entries(a)){if(G.has(n)){v[n]=l;continue}const h=e(J[n]??n);if(s.prototype&&n in s.prototype&&!(n in(((M=globalThis.HTMLElement)==null?void 0:M.prototype)??{}))&&!((k=s.observedAttributes)!=null&&k.some(b=>b===h))){w[n]=l;continue}if(n.startsWith("on")){C[n]=l;continue}const y=o(l);if(h&&y!=null&&(_[h]=String(y),u||(v[h]=y)),h&&u){const b=j(l);y!==b?v[h]=y:v[h]=l}}if(typeof window<"u"){for(const n in C){const l=C[n],h=n.endsWith("Capture"),y=(d?.[n]??n.slice(2).toLowerCase()).slice(0,h?-7:void 0);i.useLayoutEffect(()=>{const b=m?.current;if(!(!b||typeof l!="function"))return b.addEventListener(y,l,h),()=>{b.removeEventListener(y,l,h)}},[m?.current,l])}i.useLayoutEffect(()=>{if(m.current===null)return;const n=new Map;for(const l in w)x(m.current,l,w[l]),E.current.delete(l),n.set(l,w[l]);for(const[l,h]of E.current)x(m.current,l,void 0);E.current=n})}if(typeof window>"u"&&s?.getTemplateHTML&&s?.shadowRootOptions){const{mode:n,delegatesFocus:l}=s.shadowRootOptions,h=i.createElement("template",{shadowrootmode:n,shadowrootdelegatesfocus:l,dangerouslySetInnerHTML:{__html:s.getTemplateHTML(_,a)},key:"ce-la-react-ssr-template-shadow-root"});v.children=[h,v.children]}return i.createElement(t,{...c,...v,ref:i.useCallback(n=>{m.current=n,typeof p=="function"?p(n):p!==null&&(p.current=n)},[p])},v.children)});return r.displayName=f??s.name,r}function x(i,t,s){var d;i[t]=s,s==null&&t in(((d=globalThis.HTMLElement)==null?void 0:d.prototype)??{})&&i.removeAttribute(t)}var X=K({react:W,tagName:"wistia-video",elementClass:V,toAttributeName(i){return i==="muted"?"":i==="defaultMuted"?"muted":I(i)}});export{X as default};
+//# sourceMappingURL=react-CVBBC_mw.js.map

server/public/assets/react-DxdYv-AY.js

@@ -0,0 +1,35 @@
+import{R as W}from"./index-5EWtcenj.js";const $=["abort","canplay","canplaythrough","durationchange","emptied","encrypted","ended","error","loadeddata","loadedmetadata","loadstart","pause","play","playing","progress","ratechange","seeked","seeking","stalled","suspend","timeupdate","volumechange","waiting","waitingforkey","resize","enterpictureinpicture","leavepictureinpicture","webkitbeginfullscreen","webkitendfullscreen","webkitpresentationmodechanged"],A=globalThis.document?.createElement("template");A&&(A.innerHTML=`
+    <style>
+      :host {
+        display: inline-block;
+        line-height: 0;
+      }
+
+      video,
+      audio {
+        max-width: 100%;
+        max-height: 100%;
+        min-width: 100%;
+        min-height: 100%;
+      }
+    </style>
+    <slot></slot>
+  `);const N=(i,{tag:t,is:s})=>{const d=globalThis.document?.createElement(t,{is:s}),f=d?S(d):[];return class g extends i{static Events=$;static template=A;static skipAttributes=[];static#t;static get observedAttributes(){return g.#l(),[...d?.constructor?.observedAttributes??[],"autopictureinpicture","disablepictureinpicture","disableremoteplayback","autoplay","controls","controlslist","crossorigin","loop","muted","playsinline","poster","preload","src"]}static#l(){if(this.#t)return;this.#t=!0;const e=new Set(this.observedAttributes);e.delete("muted");for(let o of f){if(o in this.prototype)continue;if(typeof d[o]=="function")this.prototype[o]=function(...r){this.#e();const a=()=>this.call?this.call(o,...r):this.nativeEl[o].apply(this.nativeEl,r);return this.loadComplete&&!this.isLoaded?this.loadComplete.then(a):a()};else{let r={get(){this.#e();let a=o.toLowerCase();if(e.has(a)){const p=this.getAttribute(a);return p===null?!1:p===""?!0:p}return this.get?.(o)??this.nativeEl?.[o]??this.#s[o]}};o!==o.toUpperCase()&&(r.set=async function(a){this.#e();let p=o.toLowerCase();if(e.has(p)){a===!0||a===!1||a==null?this.toggleAttribute(p,!!a):this.setAttribute(p,a);return}if(this.loadComplete&&!this.isLoaded&&await this.loadComplete,this.set){this.set(o,a);return}this.nativeEl[o]=a}),Object.defineProperty(this.prototype,o,r)}}}#o;#n;#r=!1;#i=!1;#a;#s;constructor(){super(),this.shadowRoot||(this.attachShadow({mode:"open"}),this.shadowRoot.append(this.constructor.template.content.cloneNode(!0))),this.load!==g.prototype.load&&(this.loadComplete=new O)}get loadComplete(){return this.#n}set loadComplete(e){this.#i=!1,this.#n=e,e?.then(()=>{this.#i=!0})}get isLoaded(){return this.#i}get nativeEl(){return this.#a??this.shadowRoot.querySelector(t)??this.querySelector(t)}set nativeEl(e){this.#a=e}get defaultMuted(){return this.hasAttribute("muted")}set defaultMuted(e){this.toggleAttribute("muted",!!e)}get src(){return this.getAttribute("src")}set src(e){this.setAttribute("src",`${e}`)}get preload(){return this.getAttribute("preload")??this.nativeEl?.preload}set preload(e){this.setAttribute("preload",`${e}`)}async#e(){if(this.#o)return;this.#o=!0,this.#u(),this.#c();for(let u of f)this.#d(u);const e=new Map,o=this.shadowRoot.querySelector("slot:not([name])");o?.addEventListener("slotchange",()=>{const u=new Map(e);o.assignedElements().filter(r=>["track","source"].includes(r.localName)).forEach(async r=>{u.delete(r);let a=e.get(r);a||(a=r.cloneNode(),e.set(r,a)),this.loadComplete&&!this.isLoaded&&await this.loadComplete,this.nativeEl.append?.(a)}),u.forEach(r=>r.remove())});for(let u of this.constructor.Events)this.shadowRoot.addEventListener?.(u,r=>{r.target===this.nativeEl&&this.dispatchEvent(new CustomEvent(r.type,{detail:r.detail}))},!0)}#d(e){if(Object.prototype.hasOwnProperty.call(this,e)){const o=this[e];delete this[e],this[e]=o}}#u(){const e=document.createElement(t,{is:s});e.muted=this.hasAttribute("muted");for(let{name:o,value:u}of this.attributes)e.setAttribute(o,u);this.#s={};for(let o of S(e))this.#s[o]=e[o];e.removeAttribute("src"),e.load()}async#c(){if(this.loadComplete&&!this.isLoaded&&await this.loadComplete,!this.nativeEl){const e=document.createElement(t,{is:s});e.part=t,this.shadowRoot.append(e)}this.nativeEl.muted=this.hasAttribute("muted")}attributeChangedCallback(e,o,u){this.#e(),e==="src"&&this.load!==g.prototype.load&&this.#h(),this.#p(e,o,u)}async#h(){this.#r&&(this.loadComplete=new O),this.#r=!0,await Promise.resolve(),await this.load(),this.loadComplete?.resolve(),await this.loadComplete}async#p(e,o,u){this.loadComplete&&!this.isLoaded&&await this.loadComplete,!["id","class",...this.constructor.skipAttributes].includes(e)&&(u===null?this.nativeEl.removeAttribute?.(e):this.nativeEl.setAttribute?.(e,u))}connectedCallback(){this.#e()}}};function S(i){let t=[];for(let s=Object.getPrototypeOf(i);s&&s!==HTMLElement.prototype;s=Object.getPrototypeOf(s))t.push(...Object.getOwnPropertyNames(s));return t}class O extends Promise{constructor(t=()=>{}){let s,d;super((f,c)=>{t(f,c),s=f,d=c}),this.resolve=s,this.reject=d}}const B=globalThis.document?N(HTMLElement,{tag:"video"}):class{};globalThis.document&&N(HTMLElement,{tag:"audio"});var H,R;const L=(H=globalThis.document)==null?void 0:H.createElement("template");L&&(L.innerHTML=`
+  <div class="wistia_embed"></div>
+  `);const P=(R=globalThis.document)==null?void 0:R.createElement("template");P&&(P.innerHTML=`
+  <style>
+    :host {
+      display: inline-block;
+      min-width: 300px;
+      min-height: 150px;
+      position: relative;
+    }
+    ::slotted(.wistia_embed) {
+      position: absolute;
+      width: 100%;
+      height: 100%;
+    }
+  </style>
+  <slot></slot>
+  `);function D(i,t){if(Object.hasOwn(i,t)){const s=i[t];delete i[t],i[t]=s}}class q extends B{static template=P;static skipAttributes=["src"];#t=null;constructor(){super(),D(this,"config")}get config(){return this.#t}set config(t){this.#t=t}get nativeEl(){var t;return((t=this.api)==null?void 0:t.elem())??this.querySelector("video")}async load(){var t;if((t=this.querySelector(".wistia_embed"))==null||t.remove(),!this.src)return;await new Promise(o=>setTimeout(o,50));const s=/(?:wistia\.com|wi\.st)\/(?:medias|embed)\/(.*)$/i,d=this.src.match(s)[1],f={autoPlay:this.autoplay,silentAutoPlay:this.autoplay?"allow":void 0,preload:this.preload??"metadata",playsinline:this.playsInline,endVideoBehavior:this.loop?"loop":void 0,chromeless:!this.controls,playButton:this.controls,muted:this.defaultMuted,...this.#t??{}};this.append(L.content.cloneNode(!0));const c=this.querySelector(".wistia_embed");c.id||(c.id=z(d)),c.classList.add(`wistia_async_${d}`),await F("https://fast.wistia.com/assets/external/E-v1.js","Wistia"),this.api=await new Promise(o=>{globalThis._wq.push({id:c.id,onReady:o,options:f})})}async attributeChangedCallback(t,s,d){if(t==="controls"){switch(await this.loadComplete,t){case"controls":this.api.bigPlayButtonEnabled(this.controls),this.controls?this.api.releaseChromeless():this.api.requestChromeless();break}return}super.attributeChangedCallback(t,s,d)}get duration(){var t;return(t=this.api)==null?void 0:t.duration()}async play(){return await this.loadComplete,this.api.play(),new Promise(t=>this.addEventListener("playing",t))}}const T={};async function F(i,t){if(T[i])return T[i];if(self[t])return self[t];const s=new Promise((d,f)=>{const c=document.createElement("script");c.defer=!0,c.src=i,c.onload=()=>d(self[t]),c.onerror=f,document.head.append(c)});return T[i]=s,s}let U=0;function z(i){const t=++U;return`${i}${t}`}globalThis.customElements&&!globalThis.customElements.get("wistia-video")&&globalThis.customElements.define("wistia-video",q);var V=q,G=new Set(["style","children","ref","key","suppressContentEditableWarning","suppressHydrationWarning","dangerouslySetInnerHTML"]),J={className:"class",htmlFor:"for"};function I(i){return i.toLowerCase()}function j(i){if(typeof i=="boolean")return i?"":void 0;if(typeof i!="function"&&!(typeof i=="object"&&i!==null))return i}function K({react:i,tagName:t,elementClass:s,events:d,displayName:f,defaultProps:c,toAttributeName:e=I,toAttributeValue:o=j}){const u=Number.parseInt(i.version)>=19,r=i.forwardRef((a,p)=>{var M,k;const m=i.useRef(null),E=i.useRef(new Map),C={},_={},v={},w={};for(const[n,l]of Object.entries(a)){if(G.has(n)){v[n]=l;continue}const h=e(J[n]??n);if(s.prototype&&n in s.prototype&&!(n in(((M=globalThis.HTMLElement)==null?void 0:M.prototype)??{}))&&!((k=s.observedAttributes)!=null&&k.some(b=>b===h))){w[n]=l;continue}if(n.startsWith("on")){C[n]=l;continue}const y=o(l);if(h&&y!=null&&(_[h]=String(y),u||(v[h]=y)),h&&u){const b=j(l);y!==b?v[h]=y:v[h]=l}}if(typeof window<"u"){for(const n in C){const l=C[n],h=n.endsWith("Capture"),y=(d?.[n]??n.slice(2).toLowerCase()).slice(0,h?-7:void 0);i.useLayoutEffect(()=>{const b=m?.current;if(!(!b||typeof l!="function"))return b.addEventListener(y,l,h),()=>{b.removeEventListener(y,l,h)}},[m?.current,l])}i.useLayoutEffect(()=>{if(m.current===null)return;const n=new Map;for(const l in w)x(m.current,l,w[l]),E.current.delete(l),n.set(l,w[l]);for(const[l,h]of E.current)x(m.current,l,void 0);E.current=n})}if(typeof window>"u"&&s?.getTemplateHTML&&s?.shadowRootOptions){const{mode:n,delegatesFocus:l}=s.shadowRootOptions,h=i.createElement("template",{shadowrootmode:n,shadowrootdelegatesfocus:l,dangerouslySetInnerHTML:{__html:s.getTemplateHTML(_,a)},key:"ce-la-react-ssr-template-shadow-root"});v.children=[h,v.children]}return i.createElement(t,{...c,...v,ref:i.useCallback(n=>{m.current=n,typeof p=="function"?p(n):p!==null&&(p.current=n)},[p])},v.children)});return r.displayName=f??s.name,r}function x(i,t,s){var d;i[t]=s,s==null&&t in(((d=globalThis.HTMLElement)==null?void 0:d.prototype)??{})&&i.removeAttribute(t)}var X=K({react:W,tagName:"wistia-video",elementClass:V,toAttributeName(i){return i==="muted"?"":i==="defaultMuted"?"muted":I(i)}});export{X as default};
+//# sourceMappingURL=react-DxdYv-AY.js.map

server/public/assets/react-gdx3v4jU.js

@@ -0,0 +1,7 @@
+import{_ as N,R as A}from"./index-5EWtcenj.js";import{M as D,C as S}from"./mixin-BY5xW4uI.js";class P extends D(S){static shadowRootOptions={...S.shadowRootOptions};static getTemplateHTML=i=>{const{src:n,...o}=i;return S.getTemplateHTML(o)};#t;attributeChangedCallback(i,n,o){i!=="src"&&super.attributeChangedCallback(i,n,o),i==="src"&&n!=o&&this.load()}async _initThumbnails(i){const n=async(d,m)=>{const v=[],g=i.timescale||1,h=i.startNumber||1,E=i.presentationTimeOffset?i.presentationTimeOffset/g:0,_=i.segmentDuration;for(let l=0;l<d;l++){const T=C({thIndex:l,thduration:m,ttiles:d,tduration:_,startNumber:h,pto:E}),w=T+m,M=new Promise((f,y)=>{this.api.provideThumbnail(T,({url:a,width:s,height:c,x:p,y:b})=>{try{const R=new VTTCue(T,w,`${a}#xywh=${p},${b},${s},${c}`);f(R)}catch(R){y(R)}})});v.push(M)}return await Promise.all(v).catch(l=>console.error("Error processing thumbnails",l))},{totalThumbnails:o,thumbnailDuration:e}=$(i),u=await n(o,e);let r=this.nativeEl.querySelector('track[label="thumbnails"]');if(!r){r=O(),this.nativeEl.appendChild(r);const d=x(u);r.src=d,r.dispatchEvent(new Event("change"))}}async load(){if(this.#t){this.api.attachSource(this.src);return}this.#t=!0;const i=await N(()=>import("./dash.all.min-C9gxBrL1.js"),[]);this.api=i.MediaPlayer().create(),this.api.initialize(this.nativeEl,this.src,this.autoplay),this.api.on(i.MediaPlayer.events.STREAM_INITIALIZED,()=>{const n=this.api.getRepresentationsByType("video");let o=this.videoTracks.getTrackById("main");o||(o=this.addVideoTrack("main"),o.id="main",o.selected=!0),n.forEach(e=>{const u=e.bandwidth??e.bitrate??(Number.isFinite(e.bitrateInKbit)?e.bitrateInKbit*1e3:void 0),r=o.addRendition(e.id,e.width,e.height,e.mimeType??e.codec,u);r.id=e.id}),this.videoRenditions.addEventListener("change",()=>{const e=this.videoRenditions[this.videoRenditions.selectedIndex];e?.id?(this.api.updateSettings({streaming:{abr:{autoSwitchBitrate:{video:!1}}}}),this.api.setRepresentationForTypeById("video",e.id,!0)):this.api.updateSettings({streaming:{abr:{autoSwitchBitrate:{video:!0}}}})}),this.api.isDynamic()||this.api.getRepresentationsByType("image").forEach(async(u,r)=>{r>0||this._initThumbnails(u)})})}}function $(t){var i,n;const o=t.essentialProperties[0],[e,u]=o.value.split("x").map(Number),r=e*u,d=((n=(i=t.adaptation)==null?void 0:i.period)==null?void 0:n.duration)||null,m=t.segmentDuration,v=t.timescale||1,h=m/v/r;return{totalThumbnails:d!=null?Math.ceil(d/h):Math.ceil(m/h),thumbnailDuration:h}}function C({thIndex:t,tduration:i,thduration:n,ttiles:o,startNumber:e,pto:u}){const r=Math.floor(t/o)+e,d=t%o+1,m=(r-1)*i-u,v=(d-1)*n;return m+v}function O(){const t=document.createElement("track");return t.kind="metadata",t.label="thumbnails",t.srclang="en",t.mode="hidden",t.default=!0,t}function x(t){let i=`WEBVTT
+
+`;for(const e of t)i+=`${o(e.startTime)} --> ${o(e.endTime)}
+`,i+=`${e.text}
+
+`;const n=new Blob([i],{type:"text/vtt"});return URL.createObjectURL(n);function o(e){const u=String(Math.floor(e/3600)).padStart(2,"0"),r=String(Math.floor(e%3600/60)).padStart(2,"0"),d=(e%60).toFixed(3).padStart(6,"0");return`${u}:${r}:${d}`}}globalThis.customElements&&!globalThis.customElements.get("dash-video")&&globalThis.customElements.define("dash-video",P);var B=P,H=new Set(["style","children","ref","key","suppressContentEditableWarning","suppressHydrationWarning","dangerouslySetInnerHTML"]),F={className:"class",htmlFor:"for"};function I(t){return t.toLowerCase()}function k(t){if(typeof t=="boolean")return t?"":void 0;if(typeof t!="function"&&!(typeof t=="object"&&t!==null))return t}function W({react:t,tagName:i,elementClass:n,events:o,displayName:e,defaultProps:u,toAttributeName:r=I,toAttributeValue:d=k}){const m=Number.parseInt(t.version)>=19,v=t.forwardRef((g,h)=>{var E,_;const l=t.useRef(null),T=t.useRef(new Map),w={},M={},f={},y={};for(const[a,s]of Object.entries(g)){if(H.has(a)){f[a]=s;continue}const c=r(F[a]??a);if(n.prototype&&a in n.prototype&&!(a in(((E=globalThis.HTMLElement)==null?void 0:E.prototype)??{}))&&!((_=n.observedAttributes)!=null&&_.some(b=>b===c))){y[a]=s;continue}if(a.startsWith("on")){w[a]=s;continue}const p=d(s);if(c&&p!=null&&(M[c]=String(p),m||(f[c]=p)),c&&m){const b=k(s);p!==b?f[c]=p:f[c]=s}}if(typeof window<"u"){for(const a in w){const s=w[a],c=a.endsWith("Capture"),p=(o?.[a]??a.slice(2).toLowerCase()).slice(0,c?-7:void 0);t.useLayoutEffect(()=>{const b=l?.current;if(!(!b||typeof s!="function"))return b.addEventListener(p,s,c),()=>{b.removeEventListener(p,s,c)}},[l?.current,s])}t.useLayoutEffect(()=>{if(l.current===null)return;const a=new Map;for(const s in y)L(l.current,s,y[s]),T.current.delete(s),a.set(s,y[s]);for(const[s,c]of T.current)L(l.current,s,void 0);T.current=a})}if(typeof window>"u"&&n?.getTemplateHTML&&n?.shadowRootOptions){const{mode:a,delegatesFocus:s}=n.shadowRootOptions,c=t.createElement("template",{shadowrootmode:a,shadowrootdelegatesfocus:s,dangerouslySetInnerHTML:{__html:n.getTemplateHTML(M,g)},key:"ce-la-react-ssr-template-shadow-root"});f.children=[c,f.children]}return t.createElement(i,{...u,...f,ref:t.useCallback(a=>{l.current=a,typeof h=="function"?h(a):h!==null&&(h.current=a)},[h])},f.children)});return v.displayName=e??n.name,v}function L(t,i,n){var o;t[i]=n,n==null&&i in(((o=globalThis.HTMLElement)==null?void 0:o.prototype)??{})&&t.removeAttribute(i)}var V=W({react:A,tagName:"dash-video",elementClass:B,toAttributeName(t){return t==="muted"?"":t==="defaultMuted"?"muted":I(t)}});export{V as default};
+//# sourceMappingURL=react-gdx3v4jU.js.map

server/public/index.html

@@ -12,8 +12,8 @@
     <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
     <!-- site-metadata:inject -->
     <!-- analytics:inject -->
-    <script type="module" crossorigin src="/assets/index-n0JxE1Mv.js"></script>
+    <script type="module" crossorigin src="/assets/index-dJH5nUWV.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-xCRVLGjq.css">
+    <link rel="stylesheet" crossorigin href="/assets/index-DOmNOCX4.css">
   </head>
   <body>
     <div id="root"></div>

server/src/configuration/configuration.test.js

@@ -173,6 +173,8 @@ test('service definitions generate public feature paths without a separate regis
     { key: 'homeAssistant', path: ['homeAssistant', 'enabled'] },
     { key: 'neato', path: ['homeAssistant', 'neato', 'enabled'] },
     { key: 'lift', path: ['homeAssistant', 'lift', 'enabled'] },
+    // Activities remain independently configurable from the shared connection.
+    { key: 'homeAssistantActivities', path: ['homeAssistantActivities', 'enabled'] },
     { key: 'roomCameras', path: ['roomCameras', 'enabled'] },
     { key: 'ptzCamera', path: ['ptzCamera', 'enabled'] },
     { key: 'kinect', path: ['kinect', 'enabled'] },
@@ -182,6 +184,7 @@ test('service definitions generate public feature paths without a separate regis
     { key: 'discord', path: ['discord', 'enabled'] },
     { key: 'socials', path: ['socials', 'enabled'] },
     { key: 'fleetReports', path: ['fleetReports', 'enabled'] },
+    { key: 'roverLearning', path: ['roverLearning', 'enabled'] },
   ]);
 });
 

server/src/configuration/definition.js

@@ -12,6 +12,7 @@ const bandwidthSavings = require('../helpers/bandwidthSavings.configuration');
 const audioForward = require('../services/audioForwardService/configuration');
 const audioLevels = require('../services/audioLevelsService/configuration');
 const homeAssistant = require('../services/homeAssistantService/configuration');
+const homeAssistantActivities = require('../services/homeAssistantActivitiesService/configuration');
 const roomCameras = require('../services/roomCameraService/configuration');
 const ptzCamera = require('../services/ptzCameraService/configuration');
 const kinect = require('../services/kinectService/configuration');
@@ -21,6 +22,7 @@ const barcodeScanner = require('../services/barcodeScannerService/configuration'
 const commands = require('../services/operatorCommandService/configuration');
 const discord = require('../services/discordBotService/configuration');
 const fleetReports = require('../services/fleetReportService/configuration');
+const roverLearning = require('../services/roverLearningService/configuration');
 
 /*
   Object property order is preserved by JSON serialization and JSON Schema
@@ -41,6 +43,8 @@ const definitions = [
   audioForward,
   audioLevels,
   homeAssistant,
+  // Activities own a separate catalog even though the HA connection is shared.
+  homeAssistantActivities,
   roomCameras,
   ptzCamera,
   kinect,
@@ -52,6 +56,7 @@ const definitions = [
   sessionConfiguration.socials,
   sessionConfiguration.driverAd,
   fleetReports,
+  roverLearning,
 ];
 
 const defaultConfig = Object.fromEntries(

server/src/configuration/migrations.js

@@ -72,6 +72,18 @@ const migrations = [
       });
     },
   },
+  {
+    version: 3,
+    run(db) {
+      // Migrate historical revisions too, so rolling back settings cannot
+      // restore the removed training-visit limit and break startup again.
+      db.prepare(`
+        UPDATE configuration_revisions
+        SET config_json = json_remove(config_json, '$.roverLearning.training.roundsPerSession')
+        WHERE json_type(config_json, '$.roverLearning.training.roundsPerSession') IS NOT NULL
+      `).run();
+    },
+  },
 ];
 
 function applySchemaMigrations(db) {

server/src/rewards/definitions/lightStrobe.js

@@ -44,7 +44,7 @@ module.exports = {
   goal: 400,
   async run(ctx) {
     startStrobe(ctx, { endsAt: Date.now() + STROBE_MS, on: false });
-    ctx.sendAlert({ color: '#ffc107', title: 'Light Strobe', message: 'All room controls strobing for 60 seconds.' });
+    ctx.sendAlert({ color: '#ffc107', title: 'Light Strobe', message: 'All room lights strobing for 60 seconds.' });
   },
   async recover(ctx, effect) {
     if (!effect || Number(effect.endsAt || 0) <= Date.now()) {

server/src/services/assignmentService/index.js

@@ -7,6 +7,7 @@ const logger = require('../../globals/logger').child('assignment');
 const { MODES, getMode, modeEvents } = require('../modeManager');
 const { roleEvents, getRole, isAdmin, isLockdownAdmin } = require('../roleService');
 const roverManager = require('../roverManager');
+const { getOperatingMode } = require('../operatingModeService');
 const { compareRoversForAssignment } = require('./roverRanking');
 
 const socketRefs = new Map(); // socketId -> socket
@@ -131,7 +132,7 @@ roverManager.managerEvents.on('switch', ({ socketId, roverId }) => {
 });
 
 function assignSocket(socket, options = {}) {
-  if (!socket || isAdmin(socket) || getRole(socket) !== 'user') {
+  if (!socket || getOperatingMode(socket) !== 'rover' || isAdmin(socket) || getRole(socket) !== 'user') {
     return;
   }
   // avoid double assignment
@@ -311,13 +312,22 @@ function describeAssignment(socketId) {
 
 module.exports = {
   assignmentEvents,
+  resumeAssignment: assignSocket,
+  releaseForOperatingMode: (socket) => {
+    // Include direct admin control as well as automatic assignment ownership.
+    const roverIds = new Set(roverManager.getRoversForSocket(socket.id));
+    const assigned = assignments.get(socket.id);
+    if (assigned) roverIds.add(assigned);
+    waiting.delete(socket.id);
+    roverIds.forEach((roverId) => forceRelease(roverId, socket.id));
+  },
   describeAssignment,
   forceRelease,
   forceReleaseWithNotice,
   rerollAssignments,
   getAssignedRover: (socketId) => assignments.get(socketId) || null,
   moveAssignment: (socket, roverId, { releasePrevious = true } = {}) => {
-    if (!socket || !roverId) return;
+    if (!socket || !roverId || getOperatingMode(socket) !== 'rover') return;
     const previous = assignments.get(socket.id);
     if (previous && previous !== roverId && releasePrevious) {
       roverManager.releaseControl(previous, socket);

server/src/services/chatService/contextBuilders.js

@@ -2,20 +2,14 @@
 // Purpose: Builds normalized chat message/typing payloads and rover context snapshots.
 // Scope: Encapsulates chat DTO construction and rover/driver metadata extraction.
 const { v4: uuidv4 } = require('uuid');
-const io = require('../../globals/io');
 const roverManager = require('../roverManager');
 const { getRole } = require('../roleService');
+const { getOperatingMode } = require('../operatingModeService');
 const { describeAssignment } = require('../assignmentService');
 const { getNickname } = require('../nicknameService');
 const ptzCameraService = require('../ptzCameraService');
 
-function resolvePtzChatTarget(socketId) {
-  return ptzCameraService.getChatTargetForSocket(socketId) || null;
-}
-
 function resolveRoverId(socketId) {
-  const ptzTarget = resolvePtzChatTarget(socketId);
-  if (ptzTarget?.roverId) return ptzTarget.roverId;
   const primary = roverManager.getPrimaryRoverForSocket(socketId);
   if (primary) return primary;
   const assignment = describeAssignment(socketId);
@@ -24,54 +18,22 @@ function resolveRoverId(socketId) {
 
 function resolveRoverColor(roverId) {
   if (!roverId) return null;
-  if (String(roverId) === ptzCameraService.PTZ_CAMERA_ID) {
-    return ptzCameraService.getPublicState()?.color || null;
-  }
   const record = roverManager.rovers.get(String(roverId));
   return record?.meta?.color || null;
 }
 
 function resolveRoverName(roverId) {
   if (!roverId) return null;
-  if (String(roverId) === ptzCameraService.PTZ_CAMERA_ID) {
-    return ptzCameraService.getPublicState()?.name || null;
-  }
   const record = roverManager.rovers.get(String(roverId));
   return record?.meta?.name || null;
 }
 
-function isPtzChatTargetId(roverId) {
-  /*
-    PTZ is intentionally treated as a virtual rover for chat identity only. It
-    does not live in roverManager.rovers because movement, video authorization,
-    and queue ownership are PTZ-service concerns, but chat needs one stable
-    "rover-like" id so the existing web UI, Discord bridge, and AI transcript
-    code can all render the same badge without learning PTZ internals.
-  */
-  return Boolean(roverId) && String(roverId) === ptzCameraService.PTZ_CAMERA_ID;
-}
-
 function isPublicChatTargetId(roverId, socket = null) {
-  if (!roverId) return false;
+  return Boolean(roverId) && roverManager.canReplayRoverId(roverId, socket) === true;
-  /*
-    Normal rovers remain governed by the existing replay visibility rule, which
-    is also the rule chat historically used to avoid exposing closed private
-    rover activity. PTZ gets an explicit allow-list entry here because it is a
-    public chat target that deliberately pretends to be a rover, even though it
-    is not a roverManager record.
-  */
-  if (isPtzChatTargetId(roverId)) return true;
-  return roverManager.canReplayRoverId(roverId, socket) === true;
 }
 
 function isPrivateClosedRoverId(roverId) {
-  if (!roverId) return false;
+  return Boolean(roverId) && !isPublicChatTargetId(roverId);
-  /*
-    PTZ uses the existing rover badge fields so chat rows can reuse RoverLabel,
-    but it is not a private rover. Let PTZ-badged messages broadcast normally
-    instead of falling into the closed-private rover path for unknown ids.
-  */
-  return !isPublicChatTargetId(roverId);
 }
 
 function normalizeProfileImageUrl(value) {
@@ -170,6 +132,8 @@ function buildMessage(socket, text, meta = {}) {
     socketId: socket?.id || null,
     nickname: meta.nickname || getNickname(socket) || null,
     role: meta.role || getRole(socket),
+    operatingMode: socket ? getOperatingMode(socket) : null,
+    operatingModeDisplay: socket ? ptzCameraService.getOperatingModeDisplay(socket.id) : null,
     roverId,
     roverName,
     roverColor,
@@ -215,6 +179,8 @@ function buildTypingPayload(socket, meta = {}) {
     socketId,
     nickname: meta.nickname || getNickname(socket) || null,
     role: meta.role || getRole(socket),
+    operatingMode: socket ? getOperatingMode(socket) : null,
+    operatingModeDisplay: socket ? ptzCameraService.getOperatingModeDisplay(socket.id) : null,
     roverId,
     roverName,
     roverColor,
@@ -231,7 +197,6 @@ function buildTypingPayload(socket, meta = {}) {
 
 module.exports = {
   resolveRoverId,
-  isPtzChatTargetId,
   isPublicChatTargetId,
   isPrivateClosedRoverId,
   buildRoverCtxSnapshot,

server/src/services/chatService/notifications.js

@@ -19,13 +19,6 @@ const { getLastAccessNoticeAt, setLastAccessNoticeAt } = require('./state');
 
 function playTypingNote(roverId, note, socketId) {
   if (!roverId) return;
-  /*
-    PTZ borrows the roverId field for chat badges, but it has no rover command
-    channel. Skipping the song command here keeps PTZ chat from producing noisy
-    "unknown rover" command attempts while still allowing the message itself to
-    behave like rover chat everywhere else.
-  */
-  if (String(roverId) === ptzCameraService.PTZ_CAMERA_ID) return;
   try {
     issueCommand(roverId, {
       type: 'song',
@@ -90,8 +83,8 @@ function maybeSendAccessNotice(message, sendSystemMessage) {
 }
 
 function maybeSpeak(socket, message, ttsOptions) {
-  if (!ttsOptions || !message?.roverId) return;
+  if (!ttsOptions || !message) return;
-  if (String(message.roverId) === ptzCameraService.PTZ_CAMERA_ID) {
+  if (message.operatingMode === 'ptz') {
     /*
       PTZ has no rover websocket, but it does have a real speaker behind the
       Reolink/neolink path. Keep PTZ routing here so chat remains the single
@@ -107,6 +100,7 @@ function maybeSpeak(socket, message, ttsOptions) {
       });
     return;
   }
+  if (!message.roverId) return;
   const record = roverManager.rovers.get(message.roverId);
   const ttsEnabled = Boolean(record?.meta?.audio?.ttsEnabled);
   if (!ttsEnabled) return;

server/src/services/chatService/textCommands.js

@@ -10,6 +10,8 @@ const { getNickname } = require('../nicknameService');
 const { getGlobalObjective, setGlobalObjective, clearGlobalObjective } = require('../globalObjectiveService');
 const { getAdminReason, setAdminReason, clearAdminReason } = require('../adminReasonService');
 const homeAssistantService = require('../homeAssistantService');
+// Both command transports use the same activity lock owner.
+const homeAssistantActivitiesService = require('../homeAssistantActivitiesService');
 const greenModeService = require('../greenModeService');
 const liftService = require('../liftService');
 const neatoService = require('../neatoService');
@@ -177,6 +179,7 @@ async function runChatTextCommand({ text, socket, sendSystemMessage }) {
     // lights lock/unlock` from becoming transport-specific, and it preserves
     // the existing session update path for all connected browsers.
     homeAssistantService,
+    homeAssistantActivitiesService,
     greenModeService,
     liftService,
     neatoService,

server/src/services/commandService/index.js

@@ -11,6 +11,7 @@ const logger = require('../../globals/logger').child('commandService');
 const { isHeadlightBlocked } = require('../../rewards/definitions/darkness');
 const homeAssistantService = require('../homeAssistantService');
 const overcurrentProtectionService = require('../overcurrentProtectionService');
+const { subscribeCommandRecording, observeCommand, recordCommandRequest } = require('./recording');
 
 // Command observations are intentionally separate from the global event bus.
 // Drive and motor commands can run at control-loop frequency, and publishing
@@ -84,7 +85,7 @@ function normalizeOutboundCommandPayload(payload = {}) {
   };
 }
 
-function issueCommand(roverId, payload) {
+function issueCommand(roverId, payload, options = {}) {
   const record = roverManager.rovers.get(roverId);
   if (!record || !record.ws) {
     throw new Error('Rover offline');
@@ -92,10 +93,16 @@ function issueCommand(roverId, payload) {
   if (payload?.type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
     throw new Error('Laser disabled while room lights are locked on');
   }
+  if (options.dockingOwned && payload.driveDirect && getCommandMotionMagnitude('drive', payload) > 0
+    && Date.now() < (driveCooldowns.get(roverId) || 0)) {
+    throw new Error('Drive blocked: safety cooldown');
+  }
+  payload = require('../dockingService').protectCommand(record, payload, options);
   const id = uuidv4();
   const normalizedPayload = normalizeOutboundCommandPayload(payload);
   const message = { ...normalizedPayload, id };
   record.ws.send(JSON.stringify(message));
+  observeCommand({ phase: 'dispatched', roverId, commandId: id, command: normalizedPayload });
   pendingCommands.set(id, { roverId, ts: Date.now(), type: normalizedPayload.type });
   logger.info('Issued command', roverId, normalizedPayload.type, id);
   return id;
@@ -122,7 +129,14 @@ overcurrentProtectionService.configureCommandIssuer((roverId, payload) => {
     */
     return false;
   }
-  issueCommand(roverId, payload);
+  const record = roverManager.rovers.get(roverId);
+  const reverseAdjustment = payload.driveDirect
+    && (payload.driveDirect.left < 0 || payload.driveDirect.right < 0)
+    && payload.driveDirect.left <= 0 && payload.driveDirect.right <= 0
+    && require('../dockingService').canAdjustReverse(record);
+  // Only protection's adjustments to the active reverse inherit controller
+  // ownership. Zero remains an ordinary stop and cancels the sequence.
+  issueCommand(roverId, payload, { dockingOwned: Boolean(reverseAdjustment) });
   return true;
 });
 
@@ -130,6 +144,7 @@ function handleAck(msg) {
   const pending = pendingCommands.get(msg.id);
   if (!pending) return;
   pendingCommands.delete(msg.id);
+  observeCommand({ phase: 'acknowledged', roverId: pending.roverId, commandId: msg.id, acknowledgement: msg });
   logger.info('Command acknowledged', pending.roverId, pending.type, msg.status);
   io.emit('commandAck', {
     roverId: pending.roverId,
@@ -255,10 +270,12 @@ module.exports = {
   getRecentDriveActivity,
   setDriveCooldown,
   commandEvents,
+  subscribeCommandRecording,
+  submitCommand,
 };
 
-io.on('connection', (socket) => {
+// Shared authorization/safety boundary for browser and service-owned control.
-  function handleCommand({ roverId, type, data } = {}, cb) {
+function submitCommand(socket, { roverId, type, data } = {}, cb) {
   const reply = typeof cb === 'function' ? cb : () => {};
   try {
     if (!roverId) {
@@ -310,6 +327,22 @@ io.on('connection', (socket) => {
     if (!isSongCommand && !isRebootCommand && !isUpdateCommand && !roverManager.canDrive(roverId, socket)) {
       throw new Error('Not your turn or no control');
     }
+    const record = roverManager.rovers.get(roverId);
+    if (!record?.ws) throw new Error('Rover offline');
+    const docking = require('../dockingService');
+    // The controller owns wheel output during undocking. Discard all ordinary
+    // drive input, including neutral, before it can alter protection's intent.
+    if (docking.shouldIgnoreDriveInput(record, payload)) {
+      reply({ ignored: true, reason: 'undocking' });
+      return;
+    }
+    // Reject before recording held motor intent: otherwise a rejected input
+    // could be replayed by protection as soon as the docking lock is released.
+    if (!docking.intents.has(type)) {
+      const guarded = docking.protectCommand(record, { ...payload, type });
+      type = guarded.type;
+      payload = guarded;
+    }
     const driveDirect = payload?.driveDirect;
     if (type === 'drive' && driveDirect) {
       if (!isAdminSocket) {
@@ -356,7 +389,14 @@ io.on('connection', (socket) => {
         bypassed: isAdminSocket,
       });
     }
-      const id = issueCommand(roverId, { type, ...payload });
+    const isDockingIntent = docking.intents.has(type);
+    const id = isDockingIntent
+      ? docking.issueIntent(roverManager.rovers.get(roverId), type, payload, socket)
+      : issueCommand(roverId, { ...payload, type });
+    if (isDockingIntent) {
+      // The server acknowledges accepting the intent; telemetry reports its completion.
+      io.emit('commandAck', { roverId, id, status: 'ok' });
+    }
     commandEvents.emit('observation', {
       ts: Date.now(),
       roverId: String(roverId),
@@ -392,8 +432,10 @@ io.on('connection', (socket) => {
   }
 }
 
-  socket.on('command', handleCommand);
+io.on('connection', (socket) => {
-  socket.on('command:issue', handleCommand);
+  const recordedCommand = (request, reply) => recordCommandRequest(socket, request, reply, (message, cb) => submitCommand(socket, message, cb));
+  socket.on('command', recordedCommand);
+  socket.on('command:issue', recordedCommand);
 
   socket.on('command:updateAllRovers', (_payload = {}, cb) => {
     const reply = typeof cb === 'function' ? cb : () => {};

server/src/services/commandService/recording.js

@@ -0,0 +1,55 @@
+// Optional detailed command observation, separate from payload-free analytics.
+// Subscribers must only enqueue work; recorder failures cannot fail a command.
+const { AsyncLocalStorage } = require('node:async_hooks');
+const { randomUUID } = require('node:crypto');
+
+const observers = new Set();
+const requests = new AsyncLocalStorage();
+
+function subscribeCommandRecording(observer) {
+  observers.add(observer);
+  return () => observers.delete(observer);
+}
+
+function observeCommand(event) {
+  if (!observers.size) return;
+  const scope = requests.getStore();
+  const context = scope?.active ? scope.context : null;
+  for (const observer of observers) {
+    try {
+      // Snapshot before safety code or a caller mutates a nested payload. Each
+      // subscriber receives its own copy and cannot change command delivery.
+      observer(structuredClone({
+        ts: Date.now(),
+        monotonicNs: process.hrtime.bigint().toString(),
+        source: context ? 'client' : 'server',
+        ...context,
+        ...event,
+      }));
+    } catch {
+      // Recording is deliberately best-effort at this boundary. The owning
+      // recorder reports its storage health independently of driver replies.
+    }
+  }
+}
+
+function recordCommandRequest(socket, request, reply, execute, source = 'client') {
+  if (!observers.size) return execute(request, reply);
+  const context = { requestId: randomUUID(), socketId: socket.id, userId: socket.data?.userId || null, source };
+  const scope = { active: true, context };
+  return requests.run(scope, () => {
+    try {
+      observeCommand({ phase: 'requested', roverId: request?.roverId, command: request });
+      return execute(request, (result) => {
+        observeCommand({ phase: 'result', roverId: request?.roverId, result });
+        if (typeof reply === 'function') reply(result);
+      });
+    } finally {
+      // The command handler is synchronous. A safety timer created inside it
+      // inherits async context but its later commands are server actions.
+      scope.active = false;
+    }
+  });
+}
+
+module.exports = { subscribeCommandRecording, observeCommand, recordCommandRequest };

server/src/services/discordBotService/channelIO.js

@@ -6,12 +6,14 @@ const { MessageFlags } = require('discord.js');
 function createChannelIO({ client, logger, sanitizeMentions }) {
   const channelCache = new Map();
   const typingMessageCache = new Map();
+  let stopped = false;
 
   async function fetchChannel(id) {
-    if (!id) return null;
+    if (stopped || !client.isReady() || !id) return null;
     if (channelCache.has(id)) return channelCache.get(id);
     try {
       const channel = await client.channels.fetch(id);
+      if (stopped) return null;
       if (channel) {
         channelCache.set(id, channel);
         return channel;
@@ -68,6 +70,7 @@ function createChannelIO({ client, logger, sanitizeMentions }) {
     const content = `-# *${username} is typing...*`;
     try {
       const message = await channel.send({ content, allowedMentions: { parse: [] }, flags: [MessageFlags.SuppressNotifications]});
+      if (stopped) return;
       const timeoutId = setTimeout(() => {
         clearTypingMessage(entry.guildId, typingId);
       }, 20000);
@@ -78,6 +81,12 @@ function createChannelIO({ client, logger, sanitizeMentions }) {
   }
 
   return {
+    stop() {
+      stopped = true;
+      for (const record of typingMessageCache.values()) clearTimeout(record.timeoutId);
+      typingMessageCache.clear();
+      channelCache.clear();
+    },
     fetchChannel,
     sendToChannel,
     clearTypingMessage,

server/src/services/discordBotService/configuration.js

@@ -18,6 +18,7 @@ module.exports = {
       adminAlerts: '123456789012345678',
       replay: '123456789012345678',
       humanAlerts: '123456789012345678',
+      liveStatus: '',
     },
     roles: {
       stalkerPing: '123456789012345678',
@@ -31,6 +32,7 @@ module.exports = {
     token: string({ title: 'Bot token', description: 'Discord bot token used to log in. The saved value is never returned to the browser.', examples: ['DISCORD_BOT_TOKEN'], writeOnly: true, maxLength: 10000 }),
     guildId: string({ title: 'Guild id', description: 'Reserved Discord server identifier. The current bot runtime does not restrict commands or events using this value.', examples: ['123456789012345678'], maxLength: 100 }),
     channels: strictObject({
+      liveStatus: string({ title: 'Live status', description: 'Dedicated live fleet report channel ID. The bot deletes ALL other messages here. Requires View Channel, Read Message History, Send Messages, and Manage Messages. Leave empty to disable.', examples: ['123456789012345678'], maxLength: 100 }),
       general: string({ description: 'Channel ID used by the button-box stalker-role and everyone-ping rewards.', examples: ['123456789012345678'], maxLength: 100 }),
       announcements: string({ description: 'Channel ID used for public-mode openings, objective changes, and all-rovers-unlocked announcements.', examples: ['123456789012345678'], maxLength: 100 }),
       adminAlerts: string({ description: 'Channel ID used for rover health, battery, dock, help, and daily fleet-report notifications.', examples: ['123456789012345678'], maxLength: 100 }),

server/src/services/discordBotService/connection.js

@@ -0,0 +1,94 @@
+// Owns connection replacement and recovery from failed initial logins.
+function createConnectionManager({ createRuntime, logger }) {
+  let desired = { enabled: false, token: '' };
+  let revision = 0;
+  let runtime = null;
+  let queue = Promise.resolve();
+  let retryTimer = null;
+  let retryDelay = 5000;
+
+  function enqueue(operation) {
+    const pending = queue.then(operation);
+    // Report failures without poisoning subsequent configuration changes.
+    queue = pending.catch((err) => logger.error('Discord connection update failed', err.message));
+    return pending;
+  }
+
+  async function stop() {
+    const previous = runtime;
+    runtime = null;
+    if (!previous) return;
+    previous.stop();
+    // discord.js cannot cancel login while gateway discovery is pending.
+    // Let that attempt settle before destroying it, otherwise it can open a
+    // socket after destroy() has already run and leave an orphan connection.
+    await previous.login;
+    await previous.client.destroy();
+  }
+
+  function scheduleRetry(version) {
+    if (version !== revision || !desired.enabled) return;
+    const delay = retryDelay;
+    retryDelay = Math.min(retryDelay * 2, 60000);
+    logger.warn('Retrying Discord login', { delayMs: delay });
+    retryTimer = setTimeout(() => {
+      retryTimer = null;
+      enqueue(() => start(version));
+    }, delay);
+    retryTimer.unref?.();
+  }
+
+  async function start(version) {
+    if (version !== revision || !desired.enabled) return;
+    await stop();
+    if (version !== revision || !desired.enabled) return;
+    const current = createRuntime();
+    runtime = current;
+    const { client } = current;
+    client.on('error', (err) => logger.error('Discord client error', err.message));
+    client.on('shardError', (err, shardId) => {
+      logger.warn('Discord connection error', { shardId, error: err.message });
+    });
+    client.on('shardDisconnect', (event, shardId) => {
+      logger.warn('Discord disconnected', { shardId, code: event.code });
+    });
+    client.on('clientReady', () => { retryDelay = 5000; });
+
+    // Login must not block configuration saves while the network is down.
+    // Each attempt has its own client, so stale login completion/cleanup cannot
+    // clear the credentials or stop the connection of its replacement.
+    current.login = client.login(desired.token).catch((err) => {
+      if (version !== revision || runtime !== current) return;
+      logger.error('Discord login failed', err.message);
+      enqueue(async () => {
+        if (version !== revision || runtime !== current) return;
+        await stop();
+        // Credentials require an operator edit; retry network/service failures.
+        if (err.code === 'TokenInvalid' || err.status === 401) return;
+        scheduleRetry(version);
+      });
+    });
+  }
+
+  function configure({ enabled, token }) {
+    const next = { enabled: Boolean(enabled), token };
+    if (next.enabled === desired.enabled && next.token === desired.token) return queue;
+    desired = next;
+    const version = ++revision;
+    clearTimeout(retryTimer);
+    retryTimer = null;
+    retryDelay = 5000;
+    return enqueue(async () => {
+      if (version !== revision) return;
+      if (desired.enabled) await start(version);
+      else await stop();
+    });
+  }
+
+  return {
+    configure,
+    refresh() { runtime?.refresh(); },
+  };
+}
+
+module.exports = { createConnectionManager };

server/src/services/discordBotService/connection.test.js

@@ -0,0 +1,146 @@
+const test = require('node:test');
+const assert = require('node:assert/strict');
+const { EventEmitter } = require('node:events');
+const { createConnectionManager } = require('./connection');
+
+const flush = () => new Promise((resolve) => setImmediate(resolve));
+
+function deferred() {
+  let resolve;
+  let reject;
+  const promise = new Promise((yes, no) => { resolve = yes; reject = no; });
+  return { promise, resolve, reject };
+}
+
+function setup(t, attempts = []) {
+  t.mock.timers.enable({ apis: ['setTimeout'] });
+  const runtimes = [];
+  const logs = [];
+  const manager = createConnectionManager({
+    logger: {
+      warn: (...args) => logs.push(args),
+      error: (...args) => logs.push(args),
+    },
+    createRuntime() {
+      const attempt = attempts[runtimes.length] || {};
+      const client = new EventEmitter();
+      const runtime = {
+        client,
+        stopped: false,
+        destroyed: false,
+        refresh() {},
+        stop() { runtime.stopped = true; },
+      };
+      client.login = async (token) => {
+        runtime.token = token;
+        await attempt.login?.();
+      };
+      client.destroy = async () => {
+        await attempt.destroy?.();
+        runtime.destroyed = true;
+      };
+      runtimes.push(runtime);
+      return runtime;
+    },
+  });
+  return { manager, runtimes, logs };
+}
+
+test('retries a network failure at startup with a fresh client', async (t) => {
+  const { manager, runtimes } = setup(t, [{ login: () => { throw new Error('getaddrinfo EAI_AGAIN'); } }]);
+  await manager.configure({ enabled: true, token: 'token' });
+  await flush();
+  assert.equal(runtimes[0].stopped, true);
+  assert.equal(runtimes[0].destroyed, true);
+  t.mock.timers.tick(4999);
+  await flush();
+  assert.equal(runtimes.length, 1);
+  t.mock.timers.tick(1);
+  await flush();
+  assert.equal(runtimes.length, 2);
+  assert.equal(runtimes[1].token, 'token');
+  assert.notEqual(runtimes[0].client, runtimes[1].client);
+});
+
+test('backs off repeated failures and cancels retries when disabled', async (t) => {
+  const failed = { login: () => { throw new Error('Network unavailable'); } };
+  const { manager, runtimes, logs } = setup(t, Array(8).fill(failed));
+  await manager.configure({ enabled: true, token: 'token' });
+  await flush();
+  for (const delay of [5000, 10000, 20000, 40000, 60000]) {
+    t.mock.timers.tick(delay);
+    await flush();
+  }
+  assert.deepEqual(logs.filter(([message]) => message === 'Retrying Discord login').map(([, data]) => data.delayMs),
+    [5000, 10000, 20000, 40000, 60000, 60000]);
+  await manager.configure({ enabled: false, token: 'token' });
+  t.mock.timers.tick(120000);
+  await flush();
+  assert.equal(runtimes.length, 6);
+});
+
+test('waits for logout before logging in with a changed token', async (t) => {
+  const logout = deferred();
+  const { manager, runtimes } = setup(t, [{ destroy: () => logout.promise }]);
+  await manager.configure({ enabled: true, token: 'old' });
+  const change = manager.configure({ enabled: true, token: 'new' });
+  await flush();
+  assert.equal(runtimes[0].stopped, true);
+  assert.equal(runtimes.length, 1);
+  logout.resolve();
+  await change;
+  assert.equal(runtimes[0].destroyed, true);
+  assert.equal(runtimes[1].token, 'new');
+});
+
+test('retires a pending login before replacement and ignores its stale failure', async (t) => {
+  const login = deferred();
+  const { manager, runtimes } = setup(t, [{ login: () => login.promise }]);
+  await manager.configure({ enabled: true, token: 'old' });
+  const change = manager.configure({ enabled: true, token: 'new' });
+  await flush();
+  assert.equal(runtimes[0].stopped, true);
+  assert.equal(runtimes[0].destroyed, false);
+  login.reject(new Error('Old connection failed'));
+  await change;
+  assert.equal(runtimes[0].destroyed, true);
+  assert.equal(runtimes[1].token, 'new');
+  t.mock.timers.tick(120000);
+  await flush();
+  assert.equal(runtimes.length, 2);
+});
+
+test('re-enabling creates a fresh client; unrelated config edits do not reconnect', async (t) => {
+  const { manager, runtimes } = setup(t);
+  await manager.configure({ enabled: true, token: 'token' });
+  await manager.configure({ enabled: true, token: 'token', channels: { general: 'new-channel' } });
+  assert.equal(runtimes.length, 1);
+  await manager.configure({ enabled: false, token: 'token' });
+  assert.equal(runtimes[0].destroyed, true);
+  await manager.configure({ enabled: true, token: 'token' });
+  assert.equal(runtimes.length, 2);
+});
+
+test('invalid credentials wait for a token edit instead of retrying', async (t) => {
+  const { manager, runtimes } = setup(t, [{ login: () => {
+    throw Object.assign(new Error('Invalid token'), { code: 'TokenInvalid' });
+  } }]);
+  await manager.configure({ enabled: true, token: 'bad' });
+  await flush();
+  t.mock.timers.tick(120000);
+  await flush();
+  assert.equal(runtimes.length, 1);
+  await manager.configure({ enabled: true, token: 'fixed' });
+  assert.equal(runtimes[1].token, 'fixed');
+});
+
+test('client and gateway errors are logged without throwing', async (t) => {
+  const { manager, runtimes, logs } = setup(t);
+  await manager.configure({ enabled: true, token: 'token' });
+  runtimes[0].client.emit('error', new Error('Client failure'));
+  runtimes[0].client.emit('shardError', new Error('Gateway failure'), 0);
+  runtimes[0].client.emit('shardDisconnect', { code: 1006 }, 0);
+  assert.deepEqual(logs.map(([message]) => message), [
+    'Discord client error', 'Discord connection error', 'Discord disconnected',
+  ]);
+});

server/src/services/discordBotService/index.js

@@ -22,11 +22,13 @@ const { MODES, getMode, setMode } = require('../modeManager');
 const { sendExternalMessage, sendExternalTyping } = require('../chatService');
 const { commandReplyToText } = require('../chatService/commandResultFormatter');
 const { buildReplayVideo, getReplaySources, getDefaultDiscordSources, validateSources, tryTriggerReplay } = require('../replayEngineV2');
-const { getActiveDrivers } = require('../turnService');
+const { getActiveDrivers, turnEvents } = require('../turnService');
-const { getNickname } = require('../nicknameService');
+const { getNickname, nicknameEvents } = require('../nicknameService');
 const { getGlobalObjective, setGlobalObjective, clearGlobalObjective } = require('../globalObjectiveService');
 const { getAdminReason, setAdminReason, clearAdminReason } = require('../adminReasonService');
 const homeAssistantService = require('../homeAssistantService');
+// Both command transports use the same activity lock owner.
+const homeAssistantActivitiesService = require('../homeAssistantActivitiesService');
 const liftService = require('../liftService');
 const neatoService = require('../neatoService');
 const {
@@ -65,12 +67,14 @@ const {
 } = require('../privateRoverAccessRequestService');
 const { subscribe } = require('../eventBus');
 const { createPresenceManager } = require('./presence');
+const { createConnectionManager } = require('./connection');
 const { createChannelIO } = require('./channelIO');
 const { createCommandHandlers } = require('../operatorCommandService');
 const greenModeService = require('../greenModeService');
 const { createDiscordTransportHandlers, createDiscordCommandRequest } = require('./commandAdapter');
 const { createIntegrations } = require('./integrations');
 const { createFleetDailyReports } = require('./fleetDailyReports');
+const { createLiveStatus } = require('./liveStatus');
 const fleetReportService = require('../fleetReportService');
 const { registerPreferredDeliveryProvider } = require('../replayDeliveryService');
 const {
@@ -84,9 +88,7 @@ const {
   buildStatusMessage,
 } = require('../replayDeliveryService/workflow');
 
-// Discord helper modules retain references to these objects. Mutating those
+// Keep configuration object identities stable for the active runtime's helpers.
-// references on configuration application updates command and integration
-// behavior without registering a second tree of Discord/event listeners.
 const config = structuredClone(loadConfig());
 const discordConfig = config.discord || {};
 let enabled = Boolean(discordConfig.enabled);
@@ -104,11 +106,6 @@ const intents = [
   GatewayIntentBits.MessageContent,
 ];
 
-const client = new Client({
-  intents,
-  partials: [Partials.Channel, Partials.Message, Partials.Reaction, Partials.User],
-});
-
 function sanitizeMentions(text) {
   if (!text) return '';
   return String(text)
@@ -154,6 +151,13 @@ function countReady() {
   return { ready, total };
 }
 
+// Each connection owns its listeners, timers, and cached Discord objects.
+// Rebuilding them prevents a reconnect from retaining a destroyed client.
+function createDiscordRuntime() {
+  const client = new Client({
+    intents,
+    partials: [Partials.Channel, Partials.Message, Partials.Reaction, Partials.User],
+  });
   const channelIO = createChannelIO({
     client,
     logger,
@@ -179,7 +183,7 @@ const replayCaption = createReplayCaptionBuilder({
   // Discord is the preferred replay host only while this optional feature is
   // active. The core replay delivery service owns generation and automatically
   // falls back to its local media store when any operation below fails.
-registerPreferredDeliveryProvider({
+  const unregisterReplayProvider = registerPreferredDeliveryProvider({
       async begin(job) {
         const channelId = discordConfig.channels?.replay;
         if (!enabled || !channelId) throw new Error('Discord replay delivery is disabled');
@@ -262,6 +266,7 @@ const commandDependencies = {
     // service into the shared command router keeps Discord and mirrored web-chat
     // command behavior aligned without duplicating Home Assistant calls here.
     homeAssistantService,
+    homeAssistantActivitiesService,
     greenModeService,
     liftService,
     neatoService,
@@ -331,6 +336,11 @@ const commands = createCommandHandlers(commandDependencies);
   });
 
   const integrationHandlers = integrations.register();
+  const liveStatus = createLiveStatus({
+    client, logger, discordConfig, roverManager, getActiveDrivers, getNickname,
+    io, fetchChannel: channelIO.fetchChannel, sanitizeMentions,
+    turnEvents, nicknameEvents,
+  });
 
   function isTextCommand(content) {
     // Both transports share this parser so command detection cannot drift from
@@ -379,6 +389,10 @@ function createBridgeMirroredCommandMessage(message) {
 
   client.on('messageCreate', async (message) => {
     try {
+      if (message.channelId === discordConfig.channels?.liveStatus?.trim()) {
+        liveStatus.update(true);
+        return;
+      }
       await integrationHandlers.handleBridgeInbound(message);
       const commandMessage = createBridgeMirroredCommandMessage(message);
       await commands.handleCommand(createDiscordCommandRequest(commandMessage, { isAdminUser, isLockdownAdminUser }));
@@ -402,51 +416,57 @@ function restartFleetDailyReports() {
     fleetDailyReports.start();
   }
 
-client.on('ready', () => {
+  client.on('clientReady', () => {
     logger.info('Discord bot logged in', { tag: client.user?.tag });
     presence.schedulePresenceRotation();
     // Discord is only a delivery consumer. Starting its scheduler after the bot
     // is ready avoids failed sends during login while the collector continues to
     // operate independently of Discord availability.
     restartFleetDailyReports();
+    liveStatus.start();
   });
 
+  return {
+    client,
+    refresh() {
+      if (client.isReady()) restartFleetDailyReports();
+      if (client.isReady()) liveStatus.start();
+    },
+    stop() {
+      for (const event of ['clientReady', 'messageCreate', 'typingStart', 'messageReactionAdd']) {
+        client.removeAllListeners(event);
+      }
+      integrationHandlers.stop();
+      unregisterReplayProvider();
+      presence.stop();
+      liveStatus.stop();
+      channelIO.stop();
+      fleetDailyReports?.stop();
+    },
+  };
+}
+
+const connection = createConnectionManager({ createRuntime: createDiscordRuntime, logger });
+
 function replaceObject(target, source = {}) {
   Object.keys(target).forEach((key) => delete target[key]);
   Object.assign(target, structuredClone(source));
 }
 
-function applyDiscordConfig(nextDiscordConfig = {}) {
+async function applyDiscordConfig(nextDiscordConfig = {}) {
-  const wasEnabled = enabled;
-  const previousToken = discordConfig.token;
   replaceObject(discordConfig, nextDiscordConfig);
   config.discord = discordConfig;
   enabled = Boolean(discordConfig.enabled);
-
+  await connection.configure(discordConfig);
-  if (!enabled) {
+  connection.refresh();
-    fleetDailyReports?.stop();
-    fleetDailyReports = null;
-    if (wasEnabled) client.destroy();
-    return;
-  }
-  if (!wasEnabled || previousToken !== discordConfig.token) {
-    if (wasEnabled) client.destroy();
-    // Login health is reported by Discord itself; do not hold the committed
-    // configuration request open while an external network service connects.
-    client.login(discordConfig.token).catch((err) => {
-      logger.error('Discord login failed after configuration change', err.message);
-    });
-  } else if (client.isReady()) {
-    restartFleetDailyReports();
-  }
 }
 
 function applySharedConfigSection(section, value) {
   config[section] = structuredClone(value);
   // Fleet delivery owns a timer derived from both Discord and fleet settings.
   // Reconnecting is unnecessary; rebuild only that scheduler when ready.
-  if (section === 'fleetReports' && client.isReady()) {
+  if (section === 'fleetReports') {
-    restartFleetDailyReports();
+    connection.refresh();
   }
 }
 
@@ -455,10 +475,8 @@ registerConfigurationHandler('discord', applyDiscordConfig);
   registerConfigurationHandler(section, (value) => applySharedConfigSection(section, value));
 });
 
-if (enabled) {
+connection.configure(discordConfig).catch((err) => {
-  client.login(discordConfig.token).catch((err) => {
+  logger.error('Discord startup failed', err.message);
-    logger.error('Discord login failed', err.message);
 });
-}
 
 module.exports = {};

server/src/services/discordBotService/integrations/chatBridge.js

@@ -59,12 +59,6 @@ function createChatBridgeHandlers(deps) {
   function handleChatBridgeOutbound(event) {
     const payload = event?.payload;
     if (!payload) return;
-    /*
-      Outbound bridge filtering must use chat visibility, not rover replay
-      visibility. PTZ deliberately uses roverId: "ptz-camera" so the existing
-      chat badge path can be reused, but that id is not a roverManager rover and
-      would be dropped by canReplayRoverId().
-    */
     if (payload?.roverId && !isPublicChatTargetId(payload.roverId)) return;
     const guildConfigs = listGuildConfigs();
     if (!guildConfigs.length) return;

server/src/services/discordBotService/integrations/helpers.js

@@ -24,14 +24,8 @@ function formatWebhookUsername(payload) {
     const origin = payload.discordGuildName ? ` (From: ${payload.discordGuildName})` : '';
     return `${name}${origin}${botTag}${spectatorTag}${adminTag}`;
   }
-  /*
+  const tagLabel = payload.operatingModeDisplay?.name || payload.roverName || payload.roverId;
-    The chat payload already carries the resolved display name for rover-like
+  const roverTag = tagLabel ? ` [${tagLabel}]` : '';
-    targets. Prefer that name so PTZ, which is intentionally pretending to be a
-    rover in chat, shows up as "PTZ Camera" instead of the internal id
-    "ptz-camera"; fall back to the id for older payloads or missing metadata.
-  */
-  const roverTagLabel = payload.roverName || payload.roverId;
-  const roverTag = payload.roverId ? ` [${roverTagLabel}]` : '';
   return `${name}${botTag}${spectatorTag}${adminTag}${roverTag}`;
 }