add image tag selection to admin ui

Merge pull request #31 from legop3/REFACTOR-docking-undocking-serverside
Refactor docking undocking serverside
2026-11-14 18:58:49 -05:00 · 2026-10-04 13:29:46 -04:00 · 2026-10-02 23:23:23 -04:00 · 2026-10-02 23:18:41 -04:00 · 2026-10-02 23:07:14 -04:00 · 2026-10-02 23:05:39 -04:00
346 changed files with 19159 additions and 7051 deletions
@@ -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

@@ -26,6 +26,8 @@ Phase 1 must be complete and verified before Phase 2 begins. Containerization mu

 ## Decision log

+- 2026-10-02: The admin container controls accept a tag within the repository supplied by Compose through `MULTIROVER_TARGET_IMAGE`. A successful healthy replacement saves the tag in the lifecycle status volume; failed replacements retain the previous selection. Checks and later updates follow that saved tag. Changing repositories in Compose resets the selection. Manual Compose deployments still use the Compose image and can replace a UI-selected image; the UI displays both references. The lifecycle helper itself is updated through Compose. Image rollback does not revert application data migrations. Deploy this feature to both the application and lifecycle services before using tag selection.
+
 - 2026-09-14: Publish `ghcr.io/legop3/multiroombarover:latest` only from the repository's main branch. Every other repository branch publishes one moving development image named for that branch, with invalid tag separators normalized; these are development selectors rather than numbered releases. Pull requests only verify that the image builds. There are no release numbers, semantic-version tags, stable/edge channels, or operator-facing version selection. Docker image digests remain an internal mechanism for detecting an available update and retaining the previously running image for rollback.
 - 2026-09-15: Support only `linux/amd64` for the central server image. Rover computers remain independently ARM-capable, but publishing an untested ARM server image would multiply native-worker, media-binary, TTS-library, and hardware validation without serving the current deployment. ARM server support can be added later when a real ARM server exists to verify it.
 - 2026-09-15: Mount the application data directory from the Docker-managed `multirover-data` named volume instead of a host bind path. Docker initializes the empty volume with the image's non-root ownership, eliminating host UID matching, directory creation, ownership commands, and root application startup. The admin backup/restore system is the supported portable interface to the complete data tree.
@@ -64,6 +64,7 @@ socket.on('connect', async () => {
 // previously stored session with this object instead of merging snapshots.
 socket.on('session:sync', (session) => {
  console.log('Session:', session);
+  console.log('Server mode:', session.mode);
 });

 // chat:init contains the recent chat history available when the bot connects.
@@ -105,6 +106,21 @@ Run it with:
 node bot.js
 ```

+## Reading server mode
+
+Read `session.mode` from the `session:sync` snapshot to get the current server
+mode. Its possible values are `open`, `turns`, `admin`, and `lockdown`.
+
+The server sends a fresh session snapshot whenever the mode changes, so the
+example's handler receives both the initial mode and subsequent updates. No
+polling or separate mode listener is needed. If your bot stores session data for
+its chat-handling logic, replace the stored session on every `session:sync` and
+read the mode from that latest snapshot.
+
+`session.mode` is the server-wide mode; `session.role` is this connection's role
+(such as `spectator`), and `session.operatingMode` is a separate connection field.
+Use `session.mode` when answering chat questions about the server's current mode.
+
 ## Events used

 - `nickname:set` sets the bot's visible nickname.
@@ -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)
@@ -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.")
@@ -7,7 +7,7 @@ import (
 )

 const (
-	autoChargeTimeout  = 1 * time.Second
+	autoChargeTimeout  = 10 * time.Second
 	autoChargeCooldown = 0 * time.Minute
 	sourceHomeBase     = 1 << 1
 )
@@ -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.
@@ -1 +0,0 @@
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+//# sourceMappingURL=Preview-BBzOMZjy.js.map
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+//# sourceMappingURL=Preview-CKTJqKe-.js.map
@@ -1,2 +1,2 @@
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-//# sourceMappingURL=SetupApp-CaWv689i.js.map
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+//# sourceMappingURL=SetupApp-DN7XBkOe.js.map
@@ -0,0 +1,2 @@
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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
@@ -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
@@ -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
@@ -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
@@ -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>
-    <link rel="stylesheet" crossorigin href="/assets/index-xCRVLGjq.css">
+    <script type="module" crossorigin src="/assets/index-dJH5nUWV.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-DOmNOCX4.css">
  </head>
  <body>
    <div id="root"></div>
@@ -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'] },
  ]);
 });

@@ -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(
@@ -1,6 +1,6 @@
 // Configuration Database Migrations
 // Purpose: Applies ordered, transactional schema changes to the configuration and administration database.
-// Scope: Owns database structure only; configuration-document evolution belongs to the ordered definition and validation.
+// Scope: Upgrades database structure and stored configuration documents before current-schema validation.
 const migrations = [
  {
    version: 1,
@@ -72,6 +72,46 @@ 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();
+    },
+  },
+  {
+    version: 4,
+    run(db) {
+      const rows = db.prepare('SELECT id, config_json FROM configuration_revisions').all();
+      const update = db.prepare('UPDATE configuration_revisions SET config_json = ? WHERE id = ?');
+      // Upgrade history as well as the active revision so a settings rollback
+      // cannot reintroduce fields rejected by the new Automations schema.
+      for (const row of rows) {
+        const config = JSON.parse(row.config_json);
+        let changed = false;
+        for (const item of config.homeAssistantActivities?.items || []) {
+          const hasAction = Object.hasOwn(item, 'idleAction');
+          const hasValue = Object.hasOwn(item, 'idleValue');
+          if (!hasAction && !hasValue) continue;
+          item.automations ??= {};
+          item.automations.idle ??= {};
+          // Preserve any explicitly saved new-format setting when both formats
+          // exist, including an empty text value used to clear an entity.
+          if (hasAction && !Object.hasOwn(item.automations.idle, 'action')) item.automations.idle.action = item.idleAction;
+          if (hasValue && !Object.hasOwn(item.automations.idle, 'value')) item.automations.idle.value = item.idleValue;
+          delete item.idleAction;
+          delete item.idleValue;
+          changed = true;
+        }
+        if (changed) update.run(JSON.stringify(config), row.id);
+      }
+    },
+  },
 ];

 function applySchemaMigrations(db) {
@@ -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()) {
@@ -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);
@@ -109,6 +109,7 @@ async function copyDurableTree(sourceDir, destinationDir, relativeDir = '') {
    const relativePath = path.join(relativeDir, entry.name);
    if (!relativeDir && EXCLUDED_TOP_LEVEL_NAMES.has(entry.name)) continue;
    if (!relativeDir && DATABASE_FILES.has(entry.name)) continue;
+    if (relativePath === path.join('rover-learning', 'recordings')) continue;
    if (entry.isSymbolicLink()) throw new Error(`Backup cannot include symbolic link: ${relativePath}`);
    if (entry.isDirectory()) {
      skipped.push(...await copyDurableTree(sourceDir, destinationDir, relativePath));
@@ -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;
-  /*
-    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;
+  return Boolean(roverId) && roverManager.canReplayRoverId(roverId, socket) === true;
 }

 function isPrivateClosedRoverId(roverId) {
-  if (!roverId) return false;
-  /*
-    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);
+  return Boolean(roverId) && !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,
@@ -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 (String(message.roverId) === ptzCameraService.PTZ_CAMERA_ID) {
+  if (!ttsOptions || !message) return;
+  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;
@@ -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,
@@ -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,
@@ -255,145 +270,172 @@ module.exports = {
  getRecentDriveActivity,
  setDriveCooldown,
  commandEvents,
+  subscribeCommandRecording,
+  submitCommand,
 };

-io.on('connection', (socket) => {
-  function handleCommand({ roverId, type, data } = {}, cb) {
-    const reply = typeof cb === 'function' ? cb : () => {};
-    try {
-      if (!roverId) {
-        throw new Error('roverId required');
+// Shared authorization/safety boundary for browser and service-owned control.
+function submitCommand(socket, { roverId, type, data } = {}, cb) {
+  const reply = typeof cb === 'function' ? cb : () => {};
+  try {
+    if (!roverId) {
+      throw new Error('roverId required');
+    }
+    if (!type) {
+      throw new Error('type required');
+    }
+    if (type === 'audioLevels') {
+      throw new Error('audioLevels command is service-managed');
+    }
+    let payload = data ? { ...data } : {};
+    if (type === 'headlight' && isHeadlightBlocked()) {
+      logger.info('Ignoring headlight command while darkness lock is active', { socketId: socket.id, roverId });
+      reply({ ignored: true, reason: 'darknessActive' });
+      return;
+    }
+    if (type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
+      logger.info('Ignoring laser command while room lights are locked on', {
+        socketId: socket.id,
+        roverId,
+        action: getLaserAction(payload),
+      });
+      reply({ ignored: true, reason: 'roomLightsLockedOn' });
+      return;
+    }
+    const isRebootCommand = type === 'reboot';
+    const isUpdateCommand = type === 'update';
+    const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
+    const isAdminSocket = isAdmin(socket);
+    if (!isAdminSocket && isDeterred(socket)) {
+      throw new Error('Not authorized');
+    }
+    /*
+      Both structured song commands and raw Open Interface song payloads
+      reach this shared flag. Enforcing mute here covers the VIP MIDI beeper
+      and any future browser beeper without affecting unrelated driving.
+    */
+    if (!isAdminSocket && isSongCommand && isMuted(socket)) {
+      throw new Error('Muted');
+    }
+    // Rover updates run a privileged, root-owned helper on the Pi. Keep this
+    // in the same explicit admin-only branch as reboot instead of relying on
+    // drive ownership checks, because having a turn should not grant system
+    // maintenance privileges.
+    if ((isRebootCommand || isUpdateCommand) && !isAdminSocket) {
+      throw new Error('Not authorized');
+    }
+    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) {
+        const safeDrive = roverManager.applyPrivateDriveSafety(roverId, socket, driveDirect);
+        if (safeDrive) {
+          payload.driveDirect = safeDrive;
+        }
      }
-      if (!type) {
-        throw new Error('type required');
-      }
-      if (type === 'audioLevels') {
-        throw new Error('audioLevels command is service-managed');
-      }
-      let payload = data ? { ...data } : {};
-      if (type === 'headlight' && isHeadlightBlocked()) {
-        logger.info('Ignoring headlight command while darkness lock is active', { socketId: socket.id, roverId });
-        reply({ ignored: true, reason: 'darknessActive' });
-        return;
+      const left = Number(payload?.driveDirect?.left);
+      const right = Number(payload?.driveDirect?.right);
+      const speed = Math.max(Math.abs(left), Math.abs(right));
+      if (!isAdminSocket) {
+        const blockedUntil = driveCooldowns.get(roverId);
+        if (blockedUntil && Date.now() < blockedUntil && speed > 0) {
+          const reason = isLockdownAdmin(socket)
+            ? 'Drive blocked: cooldown'
+            : 'Drive blocked: safety cooldown';
+          throw new Error(reason);
+        }
      }
-      if (type === 'laser' && isLaserCommandBlockedByRoomLightLock(payload)) {
-        logger.info('Ignoring laser command while room lights are locked on', {
+      if (speed > 0) {
+        let direction = 'turn';
+        if (left > 0 && right > 0) direction = 'forward';
+        if (left < 0 && right < 0) direction = 'backward';
+        lastDriveActivity.set(roverId, {
+          ts: Date.now(),
          socketId: socket.id,
-          roverId,
-          action: getLaserAction(payload),
-        });
-        reply({ ignored: true, reason: 'roomLightsLockedOn' });
-        return;
-      }
-      const isRebootCommand = type === 'reboot';
-      const isUpdateCommand = type === 'update';
-      const isSongCommand = type === 'song' || (type === 'raw' && isSongRawPayload(payload));
-      const isAdminSocket = isAdmin(socket);
-      if (!isAdminSocket && isDeterred(socket)) {
-        throw new Error('Not authorized');
-      }
-      /*
-        Both structured song commands and raw Open Interface song payloads
-        reach this shared flag. Enforcing mute here covers the VIP MIDI beeper
-        and any future browser beeper without affecting unrelated driving.
-      */
-      if (!isAdminSocket && isSongCommand && isMuted(socket)) {
-        throw new Error('Muted');
-      }
-      // Rover updates run a privileged, root-owned helper on the Pi. Keep this
-      // in the same explicit admin-only branch as reboot instead of relying on
-      // drive ownership checks, because having a turn should not grant system
-      // maintenance privileges.
-      if ((isRebootCommand || isUpdateCommand) && !isAdminSocket) {
-        throw new Error('Not authorized');
-      }
-      if (!isSongCommand && !isRebootCommand && !isUpdateCommand && !roverManager.canDrive(roverId, socket)) {
-        throw new Error('Not your turn or no control');
-      }
-      const driveDirect = payload?.driveDirect;
-      if (type === 'drive' && driveDirect) {
-        if (!isAdminSocket) {
-          const safeDrive = roverManager.applyPrivateDriveSafety(roverId, socket, driveDirect);
-          if (safeDrive) {
-            payload.driveDirect = safeDrive;
-          }
-        }
-        const left = Number(payload?.driveDirect?.left);
-        const right = Number(payload?.driveDirect?.right);
-        const speed = Math.max(Math.abs(left), Math.abs(right));
-        if (!isAdminSocket) {
-          const blockedUntil = driveCooldowns.get(roverId);
-          if (blockedUntil && Date.now() < blockedUntil && speed > 0) {
-            const reason = isLockdownAdmin(socket)
-              ? 'Drive blocked: cooldown'
-              : 'Drive blocked: safety cooldown';
-            throw new Error(reason);
-          }
-        }
-        if (speed > 0) {
-          let direction = 'turn';
-          if (left > 0 && right > 0) direction = 'forward';
-          if (left < 0 && right < 0) direction = 'backward';
-          lastDriveActivity.set(roverId, {
-            ts: Date.now(),
-            socketId: socket.id,
-            direction,
-            speed,
-            isAdmin: isAdminSocket,
-          });
-        }
-      }
-
-      if (type === 'drive' || type === 'motors') {
-        /*
-          Role is supplied at the command boundary because telemetry does not
-          identify the operator who produced the active motor intent. Admin and
-          lockdown commands therefore enter the service explicitly bypassed;
-          they are recorded for status visibility but are never scaled, blocked,
-          or countermanded by a later sensor frame.
-        */
-        payload = overcurrentProtectionService.protectCommand(roverId, type, payload, {
-          bypassed: isAdminSocket,
+          direction,
+          speed,
+          isAdmin: isAdminSocket,
        });
      }
-      const id = issueCommand(roverId, { type, ...payload });
-      commandEvents.emit('observation', {
-        ts: Date.now(),
-        roverId: String(roverId),
-        type,
-        commandId: id,
-        outcome: 'issued',
-        socketId: socket.id,
-        // Payloads are omitted deliberately: raw OI, TTS, and maintenance
-        // commands can carry arbitrary content. Their structured type/outcome
-        // supplies analytics without accidentally persisting secret material.
-      });
-      logger.info('Queued command', socket.id, roverId, type);
-      if (shouldRecordTurnActivity(type, payload)) {
-        try {
-          const { recordActivity } = require('../turnService');
-          recordActivity(roverId, socket.id);
-        } catch (err) {
-          // Activity recording is best-effort because command delivery should not fail if turn bookkeeping has a transient issue.
-        }
-      }
-      reply({ id });
-    } catch (err) {
-      logger.warn('Command rejected', socket.id, err.message);
-      commandEvents.emit('observation', {
-        ts: Date.now(),
-        roverId: roverId ? String(roverId) : null,
-        type: type || 'unknown',
-        outcome: 'rejected',
-        socketId: socket.id,
-        error: err.message,
-      });
-      reply({ error: err.message });
    }
-  }

-  socket.on('command', handleCommand);
-  socket.on('command:issue', handleCommand);
+    if (type === 'drive' || type === 'motors') {
+      /*
+        Role is supplied at the command boundary because telemetry does not
+        identify the operator who produced the active motor intent. Admin and
+        lockdown commands therefore enter the service explicitly bypassed;
+        they are recorded for status visibility but are never scaled, blocked,
+        or countermanded by a later sensor frame.
+      */
+      payload = overcurrentProtectionService.protectCommand(roverId, type, payload, {
+        bypassed: isAdminSocket,
+      });
+    }
+    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),
+      type,
+      commandId: id,
+      outcome: 'issued',
+      socketId: socket.id,
+      // Payloads are omitted deliberately: raw OI, TTS, and maintenance
+      // commands can carry arbitrary content. Their structured type/outcome
+      // supplies analytics without accidentally persisting secret material.
+    });
+    logger.info('Queued command', socket.id, roverId, type);
+    if (shouldRecordTurnActivity(type, payload)) {
+      try {
+        const { recordActivity } = require('../turnService');
+        recordActivity(roverId, socket.id);
+      } catch (err) {
+        // Activity recording is best-effort because command delivery should not fail if turn bookkeeping has a transient issue.
+      }
+    }
+    reply({ id });
+  } catch (err) {
+    logger.warn('Command rejected', socket.id, err.message);
+    commandEvents.emit('observation', {
+      ts: Date.now(),
+      roverId: roverId ? String(roverId) : null,
+      type: type || 'unknown',
+      outcome: 'rejected',
+      socketId: socket.id,
+      error: err.message,
+    });
+    reply({ error: err.message });
+  }
+}
+
+io.on('connection', (socket) => {
+  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 : () => {};
@@ -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 };
@@ -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,
@@ -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 }),
@@ -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 };
@@ -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',
+  ]);
+});
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
legop3	fde2fca0a0	add image tag selection to admin ui Container image / image (push) Failing after 50s Details	2026-10-04 13:29:46 -04:00
legop3	d36ea4f672	Merge pull request #31 from legop3/REFACTOR-docking-undocking-serverside Container image / image (push) Failing after 49s Details Refactor docking undocking serverside	2026-10-02 23:23:23 -04:00
legop3	4be6e6c9a2	slop	2026-10-02 23:18:41 -04:00
legop3	7bac2fc447	todoing Container image / image (push) Failing after 50s Details	2026-10-02 23:07:14 -04:00
legop3	e8a407cd49	revise what counts for idle service	2026-10-02 23:05:39 -04:00
legop3	bee1866a70	fixings	2026-10-01 21:40:36 -04:00
legop3	ddfc889a8c	basically moving docking flows to the server instead of being in the web UI	2026-10-01 21:21:39 -04:00
legop3	c71267873a	micrationslop Container image / image (push) Failing after 56s Details	2026-10-01 02:33:56 -04:00
legop3	1ba4ebe5ff	add more better options for HA activities and automatically changing them (for google home switch lol)	2026-10-01 02:11:07 -04:00
legop3	607d327e9c	slop	2026-09-30 22:17:08 -04:00
legop3	1bdca60648	slop	2026-09-30 21:03:06 -04:00
legop3	ea4af2ebb3	add config option for room camera interval Container image / image (push) Failing after 1m5s Details	2026-09-29 22:18:45 -04:00
legop3	b2bbaf2085	slop	2026-09-29 22:14:57 -04:00
legop3	18e7fb8d1b	slop Container image / image (push) Failing after 56s Details	2026-09-28 23:38:19 -04:00
legop3	ba71106544	slop	2026-09-28 23:22:15 -04:00
legop3	a395656056	slop Container image / image (push) Failing after 54s Details	2026-09-28 18:36:29 -04:00
legop3	50c2c1f5db	slop	2026-09-28 18:15:37 -04:00
legop3	b59389870e	slop	2026-09-28 17:43:39 -04:00
legop3	cd4aee4e74	slop	2026-09-28 17:43:23 -04:00
legop3	9de0bfb1e7	Merge pull request #30 from legop3/FEAT-rover-learner-model Feat rover learner model	2026-09-28 15:46:40 -04:00
legop3	008c90edf1	slop Container image / image (push) Failing after 59s Details	2026-09-28 14:46:40 -04:00
legop3	eed88983ca	slop	2026-09-28 14:18:35 -04:00
legop3	923c04736b	slop	2026-09-28 12:52:20 -04:00
legop3	bdc3eb640d	slop	2026-09-28 12:42:31 -04:00
legop3	01354c56e6	better defaults	2026-09-28 00:40:55 -04:00
legop3	0ff03a74a5	slop	2026-09-28 00:29:21 -04:00
legop3	73a78eef20	slop	2026-09-27 18:41:24 -04:00
legop3	a157ece816	Merge pull request #29 from legop3/REFACTOR-participation-mode-ptz Container image / image (push) Failing after 1m1s Details Refactor participation mode ptz	2026-09-27 18:18:49 -04:00
legop3	8cb7cc5bdc	Merge branch 'main' into REFACTOR-participation-mode-ptz Container image / image (push) Failing after 55s Details	2026-09-27 18:11:37 -04:00
legop3	dbcb7f6a7a	rover VLA slop testing Container image / image (push) Failing after 1m7s Details	2026-09-27 17:52:32 -04:00
legop3	34936ab05c	more queue related convergence for the future.	2026-09-27 17:19:56 -04:00
legop3	7231809140	gonna break stuff now Container image / image (push) Failing after 51s Details	2026-09-24 18:36:24 -04:00
legop3	8ca714cf1a	pause ptz turns when no ones on	2026-09-24 18:06:24 -04:00
legop3	ffd34de56c	improving the UI side of ptz... and improving the way turns works with UI....	2026-09-24 17:54:46 -04:00
legop3	aeeff6fe1b	spectate pages have been upgraded Container image / image (push) Failing after 55s Details	2026-09-23 13:54:41 -04:00
legop3	846c9dae55	new internal concept: operating mode. will allow for more UI and separate pages to be made to operate things other than rovers. Converted PTZ to new system.	2026-09-22 14:42:21 -04:00
legop3	e750712a39	alert feed betterification Container image / image (push) Failing after 1m0s Details	2026-09-20 16:22:04 -04:00
legop3	ff8b0c530e	add link embedding in chat, update tailwind, update icons, tweak column layout. (8000 files changed because tailwind changed stuff in the update)	2026-09-20 15:41:45 -04:00
legop3	69c5bfe544	Merge pull request #28 from legop3/FEAT-live-discord-cnannel Feat live discord cnannel	2026-09-20 15:05:57 -04:00
legop3	3ad95b376a	add alertfeed to display, adjust alert feed opacities	2026-09-19 22:42:45 -04:00
legop3	bda740b08d	add current thing too! and better visuals Container image / image (push) Failing after 1m0s Details	2026-09-19 18:43:03 -04:00
legop3	3c8c5f5883	glorm	2026-09-19 17:03:59 -04:00
legop3	c35544e515	add battery voltage to /display so you can see voltages of batteries on the /display page by looking at /display to see the voltages of the batteries on the roombas in case you want to see the battery voltages!! yay!!!!	2026-09-19 17:00:23 -04:00
legop3	0df4a5ec89	smaller cooldown	2026-09-18 16:48:24 -04:00
legop3	8e301e7db7	remove embed stuff	2026-09-18 16:36:19 -04:00
legop3	b712fb89c6	omarchy	2026-09-18 16:05:10 -04:00
legop3	fe2c29371f	fix discord bot config restart and startup connection retry Container image / image (push) Failing after 1m1s Details	2026-09-18 14:41:11 -04:00
legop3	61ee692815	Merge pull request #27 from legop3/homeassistant-accessories Homeassistant accessories	2026-09-18 14:27:27 -04:00
legop3	487666eed8	rename old room controls to lights and rename new thing to activity controls Container image / image (push) Failing after 1m2s Details	2026-09-16 14:45:09 -04:00
legop3	51b42ea778	undo undo	2026-09-16 13:59:13 -04:00
legop3	318cad1846	slorp	2026-09-16 13:11:16 -04:00
legop3	f3e3b6a803	home assistant entities yay yay	2026-09-16 12:22:41 -04:00
legop3	b48348d89e	Merge pull request #26 from legop3/containerizemodernize Container image / image (push) Failing after 51s Details Containerizemodernize	2026-09-16 00:11:07 -04:00
				`@@ -1 +0,0 @@`
				.configuration-tree{margin-top:.25rem}.configuration-tree>:not([hidden])~:not([hidden]){--tw-space-y-reverse: 0;margin-top:calc(1.5rem * calc(1 - var(--tw-space-y-reverse)));margin-bottom:calc(1.5rem * var(--tw-space-y-reverse))}.configuration-card{min-width:0px}.configuration-card-header{top:var(--configuration-sticky-top, 0px)}.configuration-card .configuration-card{margin-left:1rem;width:calc(100% - 1rem)}.configuration-card-body>:not([hidden])~:not([hidden]){--tw-space-y-reverse: 0;margin-top:calc(.125rem * calc(1 - var(--tw-space-y-reverse)));margin-bottom:calc(.125rem * var(--tw-space-y-reverse))}.configuration-card-body{padding:.125rem}.configuration-children>:not([hidden])~:not([hidden]){--tw-space-y-reverse: 0;margin-top:calc(.125rem * calc(1 - var(--tw-space-y-reverse)));margin-bottom:calc(.125rem * var(--tw-space-y-reverse))}.configuration-line{display:grid;min-width:0px;grid-template-columns:repeat(1,minmax(0,1fr));align-items:flex-start;gap:.125rem;border-radius:.375rem;--tw-bg-opacity: 1;background-color:rgb(38 38 38 / var(--tw-bg-opacity));padding:.125rem}@media(min-width:640px){.configuration-line{grid-template-columns:minmax(9rem,16rem) minmax(12rem,40rem)}}.configuration-line{justify-content:start}.configuration-key,.configuration-value{min-width:0px}.configuration-key-label{font-size:1rem;line-height:1.5rem;font-weight:600;line-height:1.375;--tw-text-opacity: 1;color:rgb(241 245 249 / var(--tw-text-opacity))}.configuration-root-description,.configuration-branch-description,.configuration-item-description,.configuration-value-description{display:block;font-size:.875rem;line-height:1.25rem;line-height:1.375;--tw-text-opacity: 1;color:rgb(203 213 225 / var(--tw-text-opacity));margin-top:.125rem}.configuration-root-description{margin-bottom:.25rem}.configuration-branch-description,.configuration-item-description{max-width:56rem}.configuration-value-description{margin-bottom:.125rem;max-width:40rem}.configuration-value input:not([type=checkbox]),.configuration-value select,.configuration-value textarea{width:100%;border-radius:.375rem;border-width:1px;--tw-border-opacity: 1;border-color:rgb(82 82 82 / var(--tw-border-opacity));--tw-bg-opacity: 1;background-color:rgb(64 64 64 / var(--tw-bg-opacity));padding:.125rem;--tw-text-opacity: 1;color:rgb(255 255 255 / var(--tw-text-opacity))}.configuration-value input:not([type=checkbox])::-moz-placeholder,.configuration-value select::-moz-placeholder,.configuration-value textarea::-moz-placeholder{--tw-text-opacity: 1;color:rgb(148 163 184 / var(--tw-text-opacity))}.configuration-value input:not([type=checkbox])::placeholder,.configuration-value select::placeholder,.configuration-value textarea::placeholder{--tw-text-opacity: 1;color:rgb(148 163 184 / var(--tw-text-opacity))}.configuration-value input:not([type=checkbox]):focus,.configuration-value select:focus,.configuration-value textarea:focus{outline:2px solid transparent;outline-offset:2px;--tw-ring-offset-shadow: var(--tw-ring-inset) 0 0 0 var(--tw-ring-offset-width) var(--tw-ring-offset-color);--tw-ring-shadow: var(--tw-ring-inset) 0 0 0 calc(1px + var(--tw-ring-offset-width)) var(--tw-ring-color);box-shadow:var(--tw-ring-offset-shadow),var(--tw-ring-shadow),var(--tw-shadow, 0 0 #0000);--tw-ring-opacity: 1;--tw-ring-color: rgb(14 165 233 / var(--tw-ring-opacity))}.configuration-value input[type=checkbox]{height:1rem;width:1rem;vertical-align:middle;accent-color:#0ea5e9}.configuration-value .checkbox label{display:flex;min-height:1.75rem;align-items:center;--tw-text-opacity: 1;color:rgb(241 245 249 / var(--tw-text-opacity))}.configuration-value .error-detail{margin-top:.125rem;font-size:.75rem;line-height:1rem;--tw-text-opacity: 1;color:rgb(252 165 165 / var(--tw-text-opacity))}.configuration-value .help-block{margin-top:.125rem;display:block;font-size:.7rem;--tw-text-opacity: 1;color:rgb(100 116 139 / var(--tw-text-opacity))}.configuration-secret{min-width:0px}.configuration-item-actions,.configuration-array-actions{display:flex;flex-wrap:wrap;gap:.125rem}