Merge branch 'main' into REFACTOR-participation-mode-ptz

rover VLA slop testing
more queue related convergence for the future.
2026-11-14 10:42:45 -05:00 · 2026-09-27 18:11:37 -04:00 · 2026-09-27 17:52:32 -04:00 · 2026-09-27 17:19:56 -04:00 · 2026-09-24 18:36:24 -04:00 · 2026-09-24 18:06:24 -04:00
261 changed files with 13363 additions and 6379 deletions
@@ -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.")
@@ -1 +0,0 @@
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+      :host {
+        display: inline-block;
+        line-height: 0;
+      }
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+      video,
+      audio {
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+        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>
@@ -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);
@@ -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;
@@ -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',
+  ]);
+});
@@ -22,8 +22,8 @@ const { MODES, getMode, setMode } = require('../modeManager');
 const { sendExternalMessage, sendExternalTyping } = require('../chatService');
 const { commandReplyToText } = require('../chatService/commandResultFormatter');
 const { buildReplayVideo, getReplaySources, getDefaultDiscordSources, validateSources, tryTriggerReplay } = require('../replayEngineV2');
-const { getActiveDrivers } = require('../turnService');
-const { getNickname } = require('../nicknameService');
+const { getActiveDrivers, turnEvents } = require('../turnService');
+const { getNickname, nicknameEvents } = require('../nicknameService');
 const { getGlobalObjective, setGlobalObjective, clearGlobalObjective } = require('../globalObjectiveService');
 const { getAdminReason, setAdminReason, clearAdminReason } = require('../adminReasonService');
 const homeAssistantService = require('../homeAssistantService');
@@ -67,12 +67,14 @@ const {
 } = require('../privateRoverAccessRequestService');
 const { subscribe } = require('../eventBus');
 const { createPresenceManager } = require('./presence');
+const { createConnectionManager } = require('./connection');
 const { createChannelIO } = require('./channelIO');
 const { createCommandHandlers } = require('../operatorCommandService');
 const greenModeService = require('../greenModeService');
 const { createDiscordTransportHandlers, createDiscordCommandRequest } = require('./commandAdapter');
 const { createIntegrations } = require('./integrations');
 const { createFleetDailyReports } = require('./fleetDailyReports');
+const { createLiveStatus } = require('./liveStatus');
 const fleetReportService = require('../fleetReportService');
 const { registerPreferredDeliveryProvider } = require('../replayDeliveryService');
 const {
@@ -86,9 +88,7 @@ const {
  buildStatusMessage,
 } = require('../replayDeliveryService/workflow');

-// Discord helper modules retain references to these objects. Mutating those
-// references on configuration application updates command and integration
-// behavior without registering a second tree of Discord/event listeners.
+// Keep configuration object identities stable for the active runtime's helpers.
 const config = structuredClone(loadConfig());
 const discordConfig = config.discord || {};
 let enabled = Boolean(discordConfig.enabled);
@@ -106,11 +106,6 @@ const intents = [
  GatewayIntentBits.MessageContent,
 ];

-const client = new Client({
-  intents,
-  partials: [Partials.Channel, Partials.Message, Partials.Reaction, Partials.User],
-});
-
 function sanitizeMentions(text) {
  if (!text) return '';
  return String(text)
@@ -156,300 +151,322 @@ function countReady() {
  return { ready, total };
 }

-const channelIO = createChannelIO({
-  client,
-  logger,
-  sanitizeMentions,
-});
+// Each connection owns its listeners, timers, and cached Discord objects.
+// Rebuilding them prevents a reconnect from retaining a destroyed client.
+function createDiscordRuntime() {
+  const client = new Client({
+    intents,
+    partials: [Partials.Channel, Partials.Message, Partials.Reaction, Partials.User],
+  });
+  const channelIO = createChannelIO({
+    client,
+    logger,
+    sanitizeMentions,
+  });

-const presence = createPresenceManager({
-  client,
-  logger,
-  getMode,
-  getGlobalObjective,
-  countReady,
-});
+  const presence = createPresenceManager({
+    client,
+    logger,
+    getMode,
+    getGlobalObjective,
+    countReady,
+  });

-const replayCaption = createReplayCaptionBuilder({
-  io,
-  rovers,
-  getActiveDrivers,
-  getNickname,
-  sanitizeMentions,
-});
+  const replayCaption = createReplayCaptionBuilder({
+    io,
+    rovers,
+    getActiveDrivers,
+    getNickname,
+    sanitizeMentions,
+  });

-// Discord is the preferred replay host only while this optional feature is
-// active. The core replay delivery service owns generation and automatically
-// falls back to its local media store when any operation below fails.
-registerPreferredDeliveryProvider({
-    async begin(job) {
-      const channelId = discordConfig.channels?.replay;
-      if (!enabled || !channelId) throw new Error('Discord replay delivery is disabled');
-      const progressMessage = await channelIO.sendToChannel(channelId, buildAcceptedMessage(job), {}, DEFAULT_ALLOWED_MENTIONS);
-      if (!progressMessage) throw new Error('Discord replay progress message could not be sent');
-      const channel = await channelIO.fetchChannel(channelId);
-      return {
-        channelId,
-        progressMessage,
-        stopTyping: startDiscordTypingLoop(channel, logger, 'web replay delivery'),
-      };
-    },
-    async deliver({ job, context, buffer, usedSources = job.sources, missingSources = [] }) {
-      const progressMessage = context?.progressMessage;
-      try {
-        if (progressMessage?.edit) {
-          await progressMessage.edit({ content: buildStatusMessage(job, 'uploading'), allowedMentions: DEFAULT_ALLOWED_MENTIONS });
+  // Discord is the preferred replay host only while this optional feature is
+  // active. The core replay delivery service owns generation and automatically
+  // falls back to its local media store when any operation below fails.
+  const unregisterReplayProvider = registerPreferredDeliveryProvider({
+      async begin(job) {
+        const channelId = discordConfig.channels?.replay;
+        if (!enabled || !channelId) throw new Error('Discord replay delivery is disabled');
+        const progressMessage = await channelIO.sendToChannel(channelId, buildAcceptedMessage(job), {}, DEFAULT_ALLOWED_MENTIONS);
+        if (!progressMessage) throw new Error('Discord replay progress message could not be sent');
+        const channel = await channelIO.fetchChannel(channelId);
+        return {
+          channelId,
+          progressMessage,
+          stopTyping: startDiscordTypingLoop(channel, logger, 'web replay delivery'),
+        };
+      },
+      async deliver({ job, context, buffer, usedSources = job.sources, missingSources = [] }) {
+        const progressMessage = context?.progressMessage;
+        try {
+          if (progressMessage?.edit) {
+            await progressMessage.edit({ content: buildStatusMessage(job, 'uploading'), allowedMentions: DEFAULT_ALLOWED_MENTIONS });
+          }
+          // Every delivery path uses the job creation time, so a Discord upload
+          // and a server-hosted fallback always expose the same replay filename.
+          const attachment = new AttachmentBuilder(buffer, { name: buildReplayFilename(job) });
+          const body = replayCaption.build({ job, usedSources, missingSources });
+          const uploadMessage = await channelIO.sendToChannel(context.channelId, body, { files: [attachment] }, DEFAULT_ALLOWED_MENTIONS);
+          if (!uploadMessage) throw new Error('Discord upload did not return a message');
+          const media = buildDiscordReplayMediaPayload({ message: uploadMessage, attachment: firstAttachmentFromMessage(uploadMessage), job });
+          if (!media) throw new Error('Discord upload did not include a replay attachment URL');
+          if (progressMessage?.edit) {
+            // The attachment URL is already durable once Discord returns it. A
+            // cosmetic progress-edit failure must not trigger a duplicate local
+            // replay or replace the successful media payload sent to clients.
+            await progressMessage.edit({ content: buildStatusMessage(job, 'ready'), allowedMentions: DEFAULT_ALLOWED_MENTIONS }).catch((err) => {
+              logger.warn('Discord replay uploaded but progress message update failed', { jobId: job.id, error: err.message });
+            });
+          }
+          return media;
+        } catch (err) {
+          err.progressMessage = progressMessage;
+          throw err;
+        } finally {
+          if (context?.stopTyping) context.stopTyping();
        }
-        // Every delivery path uses the job creation time, so a Discord upload
-        // and a server-hosted fallback always expose the same replay filename.
-        const attachment = new AttachmentBuilder(buffer, { name: buildReplayFilename(job) });
-        const body = replayCaption.build({ job, usedSources, missingSources });
-        const uploadMessage = await channelIO.sendToChannel(context.channelId, body, { files: [attachment] }, DEFAULT_ALLOWED_MENTIONS);
-        if (!uploadMessage) throw new Error('Discord upload did not return a message');
-        const media = buildDiscordReplayMediaPayload({ message: uploadMessage, attachment: firstAttachmentFromMessage(uploadMessage), job });
-        if (!media) throw new Error('Discord upload did not include a replay attachment URL');
-        if (progressMessage?.edit) {
-          // The attachment URL is already durable once Discord returns it. A
-          // cosmetic progress-edit failure must not trigger a duplicate local
-          // replay or replace the successful media payload sent to clients.
-          await progressMessage.edit({ content: buildStatusMessage(job, 'ready'), allowedMentions: DEFAULT_ALLOWED_MENTIONS }).catch((err) => {
-            logger.warn('Discord replay uploaded but progress message update failed', { jobId: job.id, error: err.message });
+      },
+      async completeFallback({ context, media }) {
+        const publicBaseUrl = String(config.publicUrl || '').replace(/\/$/, '');
+        const publicUrl = publicBaseUrl ? `${publicBaseUrl}${media.url}` : media.url;
+        if (context?.progressMessage?.reply) {
+          await context.progressMessage.reply({
+            content: `Replay hosted by the rover server: ${publicUrl}`,
+            allowedMentions: DEFAULT_ALLOWED_MENTIONS,
          });
        }
-        return media;
-      } catch (err) {
-        err.progressMessage = progressMessage;
-        throw err;
-      } finally {
-        if (context?.stopTyping) context.stopTyping();
-      }
-    },
-    async completeFallback({ context, media }) {
-      const publicBaseUrl = String(config.publicUrl || '').replace(/\/$/, '');
-      const publicUrl = publicBaseUrl ? `${publicBaseUrl}${media.url}` : media.url;
-      if (context?.progressMessage?.reply) {
-        await context.progressMessage.reply({
-          content: `Replay hosted by the rover server: ${publicUrl}`,
-          allowedMentions: DEFAULT_ALLOWED_MENTIONS,
-        });
-      }
-    },
-});
+      },
+  });

-const commandDependencies = {
-  logger,
-  client,
-  io,
-  rovers,
-  roverManager,
-  getMode,
-  MODES,
-  setMode,
-  lockRover,
-  getNickname,
-  getActiveDrivers,
-  buildReplayVideo,
-  getReplaySources,
-  getDefaultDiscordSources,
-  validateSources,
-  tryTriggerReplay,
-  getGlobalObjective,
-  setGlobalObjective,
-  clearGlobalObjective,
-  getAdminReason,
-  setAdminReason,
-  clearAdminReason,
-  // Room-light lock commands must use the same Home Assistant service instance
-  // as sockets, HA button triggers, and idle/darkness policies. Passing the
-  // service into the shared command router keeps Discord and mirrored web-chat
-  // command behavior aligned without duplicating Home Assistant calls here.
-  homeAssistantService,
-  homeAssistantActivitiesService,
-  greenModeService,
-  liftService,
-  neatoService,
-  isFeatureEnabled,
-  getGuildConfig,
-  setGuildConfig,
-  removeGuildConfig,
-  normalizeMode,
-  VALID_MODES,
-  listVerifiedUsers,
-  removeVerifiedUser,
-  listDeterredUsers,
-  listMutedUsers,
-  deterUser,
-  undeterUser,
-  muteUser,
-  unmuteUser,
-  listUsersForAdmin,
-  listUsersWithPermission,
-  listRegisteredPermissions,
-  setUserPermission,
-  sanitizeMentions,
-  sendToChannel: channelIO.sendToChannel,
-  isAdminUser,
-  isLockdownAdminUser,
-  discordConfig,
-  config,
-};
-commandDependencies.transportHandlers = createDiscordTransportHandlers(commandDependencies);
-const commands = createCommandHandlers(commandDependencies);
+  const commandDependencies = {
+    logger,
+    client,
+    io,
+    rovers,
+    roverManager,
+    getMode,
+    MODES,
+    setMode,
+    lockRover,
+    getNickname,
+    getActiveDrivers,
+    buildReplayVideo,
+    getReplaySources,
+    getDefaultDiscordSources,
+    validateSources,
+    tryTriggerReplay,
+    getGlobalObjective,
+    setGlobalObjective,
+    clearGlobalObjective,
+    getAdminReason,
+    setAdminReason,
+    clearAdminReason,
+    // Room-light lock commands must use the same Home Assistant service instance
+    // as sockets, HA button triggers, and idle/darkness policies. Passing the
+    // service into the shared command router keeps Discord and mirrored web-chat
+    // command behavior aligned without duplicating Home Assistant calls here.
+    homeAssistantService,
+    homeAssistantActivitiesService,
+    greenModeService,
+    liftService,
+    neatoService,
+    isFeatureEnabled,
+    getGuildConfig,
+    setGuildConfig,
+    removeGuildConfig,
+    normalizeMode,
+    VALID_MODES,
+    listVerifiedUsers,
+    removeVerifiedUser,
+    listDeterredUsers,
+    listMutedUsers,
+    deterUser,
+    undeterUser,
+    muteUser,
+    unmuteUser,
+    listUsersForAdmin,
+    listUsersWithPermission,
+    listRegisteredPermissions,
+    setUserPermission,
+    sanitizeMentions,
+    sendToChannel: channelIO.sendToChannel,
+    isAdminUser,
+    isLockdownAdminUser,
+    discordConfig,
+    config,
+  };
+  commandDependencies.transportHandlers = createDiscordTransportHandlers(commandDependencies);
+  const commands = createCommandHandlers(commandDependencies);

  const integrations = createIntegrations({
-  logger,
-  client,
-  config,
-  discordConfig,
-  rovers,
-  roverManager,
-  getMode,
-  MODES,
-  getGlobalObjective,
-  getActiveDrivers,
-  getNickname,
-  subscribe,
-  sendExternalMessage,
-  sendExternalTyping,
-  getGuildConfig,
-  listGuildConfigs,
-  attachDmMessage,
-  getRequestByMessageId,
-  approveRequest,
-  denyRequest,
-  attachPrivateAccessDmMessage,
-  getPrivateAccessRequestByMessageId,
-  approvePrivateAccessRequest,
-  denyPrivateAccessRequest,
-  getLockdownAdminIds,
-  isAdminUser,
-  isLockdownAdminUser,
-  sendToChannel: channelIO.sendToChannel,
-  fetchChannel: channelIO.fetchChannel,
-  clearTypingMessage: channelIO.clearTypingMessage,
-  sendTypingMessage: channelIO.sendTypingMessage,
-  schedulePresenceRotation: presence.schedulePresenceRotation,
-  buildReplayVideo,
-  sanitizeMentions,
-});
-
-const integrationHandlers = integrations.register();
-
-function isTextCommand(content) {
-  // Both transports share this parser so command detection cannot drift from
-  // the dispatcher when an installation changes its prefix.
-  return parseCommandText(content, config).matched;
-}
-
-function isBridgeChannelMessage(message) {
-  if (!message?.guild?.id || !message?.channelId) return false;
-  const guildConfig = getGuildConfig(message.guild.id);
-  return Boolean(guildConfig?.channelId && String(message.channelId) === String(guildConfig.channelId));
-}
-
-function createBridgeMirroredCommandMessage(message) {
-  if (!isBridgeChannelMessage(message) || !isTextCommand(message.content)) return message;
-  const originalReply = message.reply.bind(message);
-  return Object.assign(Object.create(message), {
-    reply: async (payload) => {
-      const sent = await originalReply(payload);
-      const text = sanitizeMentions(commandReplyToText(payload));
-      if (text) {
-        // Discord command replies are mirrored to web chat by the Discord
-        // command adapter, not by the chat bridge. The bridge continues to
-        // ignore bot-authored Discord messages, which prevents typing helper
-        // messages and bot replies from feeding back into chat.
-        sendExternalMessage({
-          text,
-          nickname: client.user?.username || 'Rover bot',
-          role: 'admin',
-          roverId: null,
-          discordGuildId: message.guild.id,
-          discordGuildName: message.guild.name,
-          discordGuildIconUrl: message.guild.iconURL?.({ extension: 'png', size: 64 }) || null,
-          discordChannelId: message.channelId,
-          discordUserId: client.user?.id || null,
-          discordUserName: client.user?.username || 'Rover bot',
-          discordUserAvatarUrl: client.user?.displayAvatarURL?.({ extension: 'png', size: 64 }) || null,
-          bot: true,
-          profileImage: client.user?.displayAvatarURL?.({ extension: 'png', size: 64 }) || null,
-        });
-      }
-      return sent;
-    },
-  });
-}
-
-client.on('messageCreate', async (message) => {
-  try {
-    await integrationHandlers.handleBridgeInbound(message);
-    const commandMessage = createBridgeMirroredCommandMessage(message);
-    await commands.handleCommand(createDiscordCommandRequest(commandMessage, { isAdminUser, isLockdownAdminUser }));
-  } catch (err) {
-    logger.warn('Error handling Discord message', err.message);
-  }
-});
-
-let fleetDailyReports = null;
-
-function restartFleetDailyReports() {
-  fleetDailyReports?.stop();
-  fleetDailyReports = createFleetDailyReports({
    logger,
+    client,
+    config,
    discordConfig,
-    fleetConfig: config.fleetReports || {},
-    fleetReportService,
+    rovers,
    roverManager,
+    getMode,
+    MODES,
+    getGlobalObjective,
+    getActiveDrivers,
+    getNickname,
+    subscribe,
+    sendExternalMessage,
+    sendExternalTyping,
+    getGuildConfig,
+    listGuildConfigs,
+    attachDmMessage,
+    getRequestByMessageId,
+    approveRequest,
+    denyRequest,
+    attachPrivateAccessDmMessage,
+    getPrivateAccessRequestByMessageId,
+    approvePrivateAccessRequest,
+    denyPrivateAccessRequest,
+    getLockdownAdminIds,
+    isAdminUser,
+    isLockdownAdminUser,
    sendToChannel: channelIO.sendToChannel,
+    fetchChannel: channelIO.fetchChannel,
+    clearTypingMessage: channelIO.clearTypingMessage,
+    sendTypingMessage: channelIO.sendTypingMessage,
+    schedulePresenceRotation: presence.schedulePresenceRotation,
+    buildReplayVideo,
+    sanitizeMentions,
  });
-  fleetDailyReports.start();
+
+  const integrationHandlers = integrations.register();
+  const liveStatus = createLiveStatus({
+    client, logger, discordConfig, roverManager, getActiveDrivers, getNickname,
+    io, fetchChannel: channelIO.fetchChannel, sanitizeMentions,
+    turnEvents, nicknameEvents,
+  });
+
+  function isTextCommand(content) {
+    // Both transports share this parser so command detection cannot drift from
+    // the dispatcher when an installation changes its prefix.
+    return parseCommandText(content, config).matched;
+  }
+
+  function isBridgeChannelMessage(message) {
+    if (!message?.guild?.id || !message?.channelId) return false;
+    const guildConfig = getGuildConfig(message.guild.id);
+    return Boolean(guildConfig?.channelId && String(message.channelId) === String(guildConfig.channelId));
+  }
+
+  function createBridgeMirroredCommandMessage(message) {
+    if (!isBridgeChannelMessage(message) || !isTextCommand(message.content)) return message;
+    const originalReply = message.reply.bind(message);
+    return Object.assign(Object.create(message), {
+      reply: async (payload) => {
+        const sent = await originalReply(payload);
+        const text = sanitizeMentions(commandReplyToText(payload));
+        if (text) {
+          // Discord command replies are mirrored to web chat by the Discord
+          // command adapter, not by the chat bridge. The bridge continues to
+          // ignore bot-authored Discord messages, which prevents typing helper
+          // messages and bot replies from feeding back into chat.
+          sendExternalMessage({
+            text,
+            nickname: client.user?.username || 'Rover bot',
+            role: 'admin',
+            roverId: null,
+            discordGuildId: message.guild.id,
+            discordGuildName: message.guild.name,
+            discordGuildIconUrl: message.guild.iconURL?.({ extension: 'png', size: 64 }) || null,
+            discordChannelId: message.channelId,
+            discordUserId: client.user?.id || null,
+            discordUserName: client.user?.username || 'Rover bot',
+            discordUserAvatarUrl: client.user?.displayAvatarURL?.({ extension: 'png', size: 64 }) || null,
+            bot: true,
+            profileImage: client.user?.displayAvatarURL?.({ extension: 'png', size: 64 }) || null,
+          });
+        }
+        return sent;
+      },
+    });
+  }
+
+  client.on('messageCreate', async (message) => {
+    try {
+      if (message.channelId === discordConfig.channels?.liveStatus?.trim()) {
+        liveStatus.update(true);
+        return;
+      }
+      await integrationHandlers.handleBridgeInbound(message);
+      const commandMessage = createBridgeMirroredCommandMessage(message);
+      await commands.handleCommand(createDiscordCommandRequest(commandMessage, { isAdminUser, isLockdownAdminUser }));
+    } catch (err) {
+      logger.warn('Error handling Discord message', err.message);
+    }
+  });
+
+  let fleetDailyReports = null;
+
+  function restartFleetDailyReports() {
+    fleetDailyReports?.stop();
+    fleetDailyReports = createFleetDailyReports({
+      logger,
+      discordConfig,
+      fleetConfig: config.fleetReports || {},
+      fleetReportService,
+      roverManager,
+      sendToChannel: channelIO.sendToChannel,
+    });
+    fleetDailyReports.start();
+  }
+
+  client.on('clientReady', () => {
+    logger.info('Discord bot logged in', { tag: client.user?.tag });
+    presence.schedulePresenceRotation();
+    // Discord is only a delivery consumer. Starting its scheduler after the bot
+    // is ready avoids failed sends during login while the collector continues to
+    // operate independently of Discord availability.
+    restartFleetDailyReports();
+    liveStatus.start();
+  });
+
+  return {
+    client,
+    refresh() {
+      if (client.isReady()) restartFleetDailyReports();
+      if (client.isReady()) liveStatus.start();
+    },
+    stop() {
+      for (const event of ['clientReady', 'messageCreate', 'typingStart', 'messageReactionAdd']) {
+        client.removeAllListeners(event);
+      }
+      integrationHandlers.stop();
+      unregisterReplayProvider();
+      presence.stop();
+      liveStatus.stop();
+      channelIO.stop();
+      fleetDailyReports?.stop();
+    },
+  };
 }

-client.on('ready', () => {
-  logger.info('Discord bot logged in', { tag: client.user?.tag });
-  presence.schedulePresenceRotation();
-  // Discord is only a delivery consumer. Starting its scheduler after the bot
-  // is ready avoids failed sends during login while the collector continues to
-  // operate independently of Discord availability.
-  restartFleetDailyReports();
-});
+const connection = createConnectionManager({ createRuntime: createDiscordRuntime, logger });

 function replaceObject(target, source = {}) {
  Object.keys(target).forEach((key) => delete target[key]);
  Object.assign(target, structuredClone(source));
 }

-function applyDiscordConfig(nextDiscordConfig = {}) {
-  const wasEnabled = enabled;
-  const previousToken = discordConfig.token;
+async function applyDiscordConfig(nextDiscordConfig = {}) {
  replaceObject(discordConfig, nextDiscordConfig);
  config.discord = discordConfig;
  enabled = Boolean(discordConfig.enabled);
-
-  if (!enabled) {
-    fleetDailyReports?.stop();
-    fleetDailyReports = null;
-    if (wasEnabled) client.destroy();
-    return;
-  }
-  if (!wasEnabled || previousToken !== discordConfig.token) {
-    if (wasEnabled) client.destroy();
-    // Login health is reported by Discord itself; do not hold the committed
-    // configuration request open while an external network service connects.
-    client.login(discordConfig.token).catch((err) => {
-      logger.error('Discord login failed after configuration change', err.message);
-    });
-  } else if (client.isReady()) {
-    restartFleetDailyReports();
-  }
+  await connection.configure(discordConfig);
+  connection.refresh();
 }

 function applySharedConfigSection(section, value) {
  config[section] = structuredClone(value);
  // Fleet delivery owns a timer derived from both Discord and fleet settings.
  // Reconnecting is unnecessary; rebuild only that scheduler when ready.
-  if (section === 'fleetReports' && client.isReady()) {
-    restartFleetDailyReports();
+  if (section === 'fleetReports') {
+    connection.refresh();
  }
 }

@@ -458,10 +475,8 @@ registerConfigurationHandler('discord', applyDiscordConfig);
  registerConfigurationHandler(section, (value) => applySharedConfigSection(section, value));
 });

-if (enabled) {
-  client.login(discordConfig.token).catch((err) => {
-    logger.error('Discord login failed', err.message);
-  });
-}
+connection.configure(discordConfig).catch((err) => {
+  logger.error('Discord startup failed', err.message);
+});

 module.exports = {};
@@ -59,12 +59,6 @@ function createChatBridgeHandlers(deps) {
  function handleChatBridgeOutbound(event) {
    const payload = event?.payload;
    if (!payload) return;
-    /*
-      Outbound bridge filtering must use chat visibility, not rover replay
-      visibility. PTZ deliberately uses roverId: "ptz-camera" so the existing
-      chat badge path can be reused, but that id is not a roverManager rover and
-      would be dropped by canReplayRoverId().
-    */
    if (payload?.roverId && !isPublicChatTargetId(payload.roverId)) return;
    const guildConfigs = listGuildConfigs();
    if (!guildConfigs.length) return;
@@ -24,14 +24,8 @@ function formatWebhookUsername(payload) {
    const origin = payload.discordGuildName ? ` (From: ${payload.discordGuildName})` : '';
    return `${name}${origin}${botTag}${spectatorTag}${adminTag}`;
  }
-  /*
-    The chat payload already carries the resolved display name for rover-like
-    targets. Prefer that name so PTZ, which is intentionally pretending to be a
-    rover in chat, shows up as "PTZ Camera" instead of the internal id
-    "ptz-camera"; fall back to the id for older payloads or missing metadata.
-  */
-  const roverTagLabel = payload.roverName || payload.roverId;
-  const roverTag = payload.roverId ? ` [${roverTagLabel}]` : '';
+  const tagLabel = payload.operatingModeDisplay?.name || payload.roverName || payload.roverId;
+  const roverTag = tagLabel ? ` [${tagLabel}]` : '';
  return `${name}${botTag}${spectatorTag}${adminTag}${roverTag}`;
 }

@@ -24,6 +24,7 @@ function createIntegrations(deps) {
  const userAnnouncements = createUserAnnouncements({ ...deps, sendToChannel, schedulePresenceRotation });

  function register() {
+    let stopped = false;
    client.on('typingStart', (typing) => {
      chat.handleDiscordTypingStart(typing).catch((err) => logger.warn('Error handling Discord typing', err.message));
    });
@@ -33,14 +34,31 @@ function createIntegrations(deps) {
      dm.handlePrivateAccessReaction(reaction, user).catch((err) => logger.warn('Error handling private access reaction', err.message));
    });

-    subscribe('*', handleBusEvent);
-    subscribe('*', userAnnouncements.handleBusEvent);
-    subscribe('verification.requested', dm.sendVerificationRequestDms);
-    subscribe('privateRoverAccess.requested', dm.sendPrivateRoverAccessRequestDms);
-    subscribe('chat:message', chat.handleChatBridgeOutbound);
-    subscribe('chat:typing', chat.handleChatTypingOutbound);
+    // Only the active, ready connection consumes server events. Retain each
+    // unsubscribe function so replacement clients never duplicate deliveries.
+    const unsubscribe = [];
+    function subscribeWhileReady(type, handler) {
+      unsubscribe.push(subscribe(type, (event) => {
+        Promise.resolve().then(() => {
+          if (!stopped && client.isReady()) return handler(event);
+        }).catch((err) => {
+          logger.warn('Error handling Discord integration event', { type, error: err.message });
+        });
+      }));
+    }
+
+    subscribeWhileReady('*', handleBusEvent);
+    subscribeWhileReady('*', userAnnouncements.handleBusEvent);
+    subscribeWhileReady('verification.requested', dm.sendVerificationRequestDms);
+    subscribeWhileReady('privateRoverAccess.requested', dm.sendPrivateRoverAccessRequestDms);
+    subscribeWhileReady('chat:message', chat.handleChatBridgeOutbound);
+    subscribeWhileReady('chat:typing', chat.handleChatTypingOutbound);

    return {
+      stop() {
+        stopped = true;
+        unsubscribe.forEach((remove) => remove());
+      },
      handleBridgeInbound: chat.handleBridgeInbound,
      handleBusEvent,
    };
@@ -0,0 +1,184 @@
+// Owns the single-message live report and the dedicated channel's cleanup.
+const { PermissionFlagsBits } = require('discord.js');
+const { buildRoverStatusSnapshot } = require('./batteryEmbeds');
+
+function createLiveStatus({ client, logger, discordConfig, roverManager, getActiveDrivers,
+  getNickname, io, fetchChannel, sanitizeMentions,
+  turnEvents, nicknameEvents }) {
+  const COOLDOWN_MS = 2000;
+  let timer = null;
+  let sweepTimer = null;
+  let pending = false;
+  let cleanupNeeded = false;
+  let nextUpdateAt = 0;
+  let listening = false;
+  const unsubscribe = [];
+  let stopped = false;
+  let running = false;
+  let channelId = null;
+  let messageId = null;
+  let lastContent = null;
+
+  const clean = (value, limit = 120) => sanitizeMentions(String(value ?? ''))
+    .replace(/[\r\n]+/g, ' ').slice(0, limit);
+
+  function buildReport() {
+    const drivers = getActiveDrivers();
+    const roster = roverManager.getRoster();
+    const lines = [];
+    for (const rover of roster) {
+      const snapshot = buildRoverStatusSnapshot(roverManager.rovers.get(rover.id));
+      const driverId = drivers[rover.id];
+      const driver = driverId ? clean(getNickname(io.sockets.sockets.get(driverId)) || 'Someone', 32) : null;
+      const status = snapshot?.docked ? 'docked' : rover.needsHelp ? 'needs help'
+        : driver ? `${driver} driving` : rover.locked ? 'locked' : 'available';
+      lines.push(`${clean(rover.name, 60)}: ${status}`);
+    }
+    let content = lines.join('\n') || 'No rovers online.';
+    if (content.length > 2000) content = `${content.slice(0, 1950)}\n… More rovers online.`;
+    return { content, allowedMentions: { parse: [] } };
+  }
+
+  function schedule() {
+    if (stopped || running || timer || !pending || !client.isReady()
+      || !discordConfig.channels?.liveStatus?.trim()) return;
+    // Use a fixed deadline rather than resetting a debounce on every sensor
+    // frame: a continuously changing rover must not postpone updates forever.
+    timer = setTimeout(() => {
+      timer = null;
+      flush();
+    }, Math.max(0, nextUpdateAt - Date.now()));
+    timer.unref?.();
+  }
+
+  function update(forceCleanup = false) {
+    if (stopped) return;
+    pending = true;
+    cleanupNeeded ||= forceCleanup;
+    schedule();
+  }
+
+  async function flush() {
+    if (stopped || running || !client.isReady()) return;
+    pending = false;
+    const target = discordConfig.channels?.liveStatus?.trim();
+    if (target !== channelId) {
+      channelId = target;
+      messageId = null;
+      lastContent = null;
+    }
+    if (!target) return;
+    running = true;
+    const cleanup = cleanupNeeded;
+    cleanupNeeded = false;
+    let usedDiscord = false;
+    const active = () => !stopped && client.isReady()
+      && discordConfig.channels?.liveStatus?.trim() === target;
+    try {
+      const report = buildReport();
+      const replace = report.content !== lastContent;
+      // Sensor events can arrive many times per second. Compare the rendered
+      // report locally before consuming any Discord API capacity.
+      if (!replace && !cleanup) return;
+      usedDiscord = true;
+      const channel = await fetchChannel(target);
+      if (!active()) return;
+      if (!channel?.isTextBased() || !channel.guild || !channel.messages || !channel.send) {
+        throw new Error('Live status requires a guild text channel');
+      }
+      const permissions = channel.permissionsFor(client.user);
+      if (!permissions?.has([PermissionFlagsBits.ViewChannel, PermissionFlagsBits.ReadMessageHistory,
+        PermissionFlagsBits.SendMessages, PermissionFlagsBits.ManageMessages])) {
+        throw new Error('Live status requires View Channel, Read Message History, Send Messages, and Manage Messages');
+      }
+      let found = false;
+      let before;
+      // Paginate the entire history, including pinned and old messages. Individual
+      // deletion also handles messages too old for Discord's bulk-delete endpoint.
+      while (active()) {
+        const messages = await channel.messages.fetch({ limit: 100, before, cache: false });
+        if (!active()) return;
+        for (const message of messages.values()) {
+          if (!active()) return;
+          if (!replace && message.id === messageId) {
+            found = true;
+            continue;
+          }
+          try {
+            await message.delete();
+          } catch (err) {
+            if (err.code !== 10008) throw err; // Already-deleted messages need no cleanup.
+          }
+        }
+        if (messages.size < 100) break;
+        before = messages.last().id;
+      }
+      if (!active()) return;
+      if (replace || !found) {
+        const message = await channel.send(report);
+        if (!active()) return;
+        messageId = message.id;
+        lastContent = report.content;
+      }
+    } catch (err) {
+      cleanupNeeded = true;
+      logger.warn('Discord live status update failed', { channelId: target, error: err.message });
+    } finally {
+      running = false;
+      // Cool down after completion, so slow deletions and rate-limited requests
+      // cannot overlap with another batch. Events received meanwhile stay pending.
+      if (usedDiscord) nextUpdateAt = Date.now() + COOLDOWN_MS;
+      schedule();
+    }
+  }
+
+  const onChange = () => update();
+  function onDelete(message) {
+    if (message.channelId === discordConfig.channels?.liveStatus?.trim()
+      && message.id === messageId) update(true);
+  }
+  function onBulkDelete(messages) {
+    for (const message of messages.values()) onDelete(message);
+  }
+
+  return {
+    update,
+    start() {
+      if (stopped) return;
+      if (!listening) {
+        listening = true;
+        for (const event of ['rover', 'sensor', 'lock', 'private', 'help']) {
+          roverManager.managerEvents.on(event, onChange);
+          unsubscribe.push(() => roverManager.managerEvents.off(event, onChange));
+        }
+        turnEvents.on('activeDriver', onChange);
+        nicknameEvents.on('change', onChange);
+        client.on('messageDelete', onDelete);
+        client.on('messageDeleteBulk', onBulkDelete);
+        unsubscribe.push(
+          () => turnEvents.off('activeDriver', onChange),
+          () => nicknameEvents.off('change', onChange),
+          () => client.off('messageDelete', onDelete),
+          () => client.off('messageDeleteBulk', onBulkDelete),
+        );
+      }
+      clearInterval(sweepTimer);
+      sweepTimer = null;
+      if (discordConfig.channels?.liveStatus?.trim()) {
+        // Recover from missed gateway events and failed operations without polling
+        // for normal rover changes, which are handled by the subscriptions above.
+        sweepTimer = setInterval(() => update(true), 30000);
+        sweepTimer.unref?.();
+      }
+      update(true);
+    },
+    stop() {
+      stopped = true;
+      clearTimeout(timer);
+      clearInterval(sweepTimer);
+      unsubscribe.forEach((remove) => remove());
+    },
+  };
+}
+
+module.exports = { createLiveStatus };
@@ -7,6 +7,7 @@ function createPresenceManager({ client, logger, getMode, getGlobalObjective, co
  const PRESENCE_ROTATE_MS = 20000;
  let presenceInterval = null;
  let presenceShowObjective = false;
+  let stopped = false;

  function truncatePresenceText(text, maxLength) {
    if (!text) return '';
@@ -40,6 +41,7 @@ function createPresenceManager({ client, logger, getMode, getGlobalObjective, co
  }

  function schedulePresenceRotation() {
+    if (stopped) return;
    if (presenceInterval) {
      clearInterval(presenceInterval);
      presenceInterval = null;
@@ -59,6 +61,11 @@ function createPresenceManager({ client, logger, getMode, getGlobalObjective, co
  }

  return {
+    stop() {
+      stopped = true;
+      clearInterval(presenceInterval);
+      presenceInterval = null;
+    },
    schedulePresenceRotation,
  };
 }
@@ -10,7 +10,8 @@ const { loadConfig, getFeatureFlags, registerConfigurationHandler } = require('.
 const { getConfiguredSocials } = require('../sessionService/configuration');
 const { getMode, MODES } = require('../modeManager');
 const roverManager = require('../roverManager');
-const { getTurnQueues } = require('../turnService');
+const { getTurnQueues, getActiveDrivers } = require('../turnService');
+const { buildRoverTurn } = require('../turnService/display');
 const { getRoomCameras, getRoomCameraState } = require('../roomCameraService');
 const { getRoverSnapshotState } = require('../roverSnapshotService');
 const { getRole } = require('../roleService');
@@ -157,22 +158,6 @@ function publicRoverIdSet(roster = []) {
  return new Set(roster.map((rover) => String(rover?.id || '')).filter(Boolean));
 }

-function filterPublicTurnQueues(turnQueues = {}, publicIds) {
-  const visible = publicIds instanceof Set ? publicIds : new Set();
-  const next = {};
-  /*
-    RoverQueuesPanel creates fallback rows for queue ids that are not present in
-    the roster, so the public payload must filter queues with the exact same
-    privacy boundary as the roster. Otherwise a closed-private rover can leak as
-    an orphan queue row after a private access grant assigns someone to it.
-  */
-  Object.entries(turnQueues || {}).forEach(([roverId, info]) => {
-    if (!visible.has(String(roverId))) return;
-    next[roverId] = info;
-  });
-  return next;
-}
-
 function filterPublicUsers(users = [], publicIds) {
  const visible = publicIds instanceof Set ? publicIds : new Set();
  /*
@@ -203,6 +188,8 @@ function buildLocalInfo() {
  const publicIds = publicRoverIdSet(publicRoster);
  const roster = publicRoster.map((rover) => (lockdown ? rover : addRoverSnapshotLinks(rover)));
  const users = filterPublicUsers(Array.from(io.sockets.sockets.values()).map(buildUserEntry), publicIds);
+  const turnQueues = getTurnQueues();
+  const activeDrivers = getActiveDrivers();
  const roomCameras = lockdown || !features.roomCameras ? [] : getRoomCameras().map(buildRoomCameraInfo);
  return {
    instance: {
@@ -212,8 +199,12 @@ function buildLocalInfo() {
      features,
      updatedAt: Date.now(),
    },
-    roster,
-    turnQueues: filterPublicTurnQueues(getTurnQueues(), publicIds),
+    // Only public roster entries reach the builder; queue metadata follows the
+    // same visibility boundary instead of creating separate orphan queue rows.
+    roster: roster.map((rover) => ({
+      ...rover,
+      turn: buildRoverTurn({ rover, mode, socketId: null, turnInfo: turnQueues[rover.id], activeDriverId: activeDrivers[rover.id], users }),
+    })),
    users,
    roomCameras,
    socials: features.socials ? getConfiguredSocials(config) : [],
@@ -349,7 +340,6 @@ function normalizeRemotePayload(entry, payload) {
      features: instance.features && typeof instance.features === 'object' ? instance.features : {},
    },
    roster: Array.isArray(payload?.roster) ? payload.roster : [],
-    turnQueues: payload?.turnQueues && typeof payload.turnQueues === 'object' ? payload.turnQueues : {},
    users: Array.isArray(payload?.users) ? payload.users : [],
    roomCameras: Array.isArray(payload?.roomCameras) ? payload.roomCameras : [],
    socials: Array.isArray(payload?.socials) ? payload.socials : [],
@@ -419,7 +409,6 @@ function markOffline(entry, error) {
      publicUrl: previous.instance?.publicUrl || entry.url,
    },
    roster: previous.roster || [],
-    turnQueues: previous.turnQueues || {},
    users: previous.users || [],
    roomCameras: previous.roomCameras || [],
    socials: previous.socials || [],
@@ -370,11 +370,6 @@ function createSnapshotEngine(deps) {
      .filter((entry) => {
        const roverId = entry?.roverId ? String(entry.roverId) : null;
        if (!roverId) return true;
-        /*
-          This is a chat transcript filter, not a physical-rover filter. PTZ
-          chat intentionally carries a rover-like id so transcript consumers can
-          render it consistently, even though roverManager cannot replay that id.
-        */
        return isPublicChatTargetId(roverId);
      });
    const chatRecent = allRecentMessages
@@ -430,6 +425,8 @@ function createSnapshotEngine(deps) {
        type: 'chat',
        nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
        text: entry.text || '',
+        operating_mode: entry.operatingMode || null,
+        operating_mode_name: entry.operatingModeDisplay?.name || null,
        rover_id: roverId,
        rover_ctx: { ...baseCtx, ...storedCtx },
      };
@@ -0,0 +1,74 @@
+const EventEmitter = require('events');
+
+const operatingModeEvents = new EventEmitter();
+const transitions = new WeakMap();
+
+function getOperatingMode(socket) {
+  // Handshake intent reserves the mode before role-driven assignment runs.
+  // It grants no camera permissions; entry still checks access and readiness.
+  return socket?.data?.operatingMode
+    || (socket?.handshake?.auth?.operatingMode === 'ptz' ? 'ptz' : 'rover');
+}
+
+async function transition(socket, operatingMode) {
+  // Resolve services at the action boundary to avoid a dependency cycle with
+  // assignment and camera policy, which both read operating mode.
+  const assignment = require('../assignmentService');
+  const roverManager = require('../roverManager');
+  const ptz = require('../ptzCameraService');
+  if (operatingMode === 'rover' && getOperatingMode(socket) === 'rover') {
+    return { operatingMode, state: ptz.getPublicState(socket) };
+  }
+  if (operatingMode === 'ptz') {
+    await ptz.prepareParticipation(socket);
+    if (socket.disconnected) throw new Error('Session disconnected');
+    ptz.checkParticipationAccess(socket);
+    const leave = roverManager.canLeaveCurrentRover(socket);
+    if (!leave.ok) throw new Error(leave.message);
+
+    // Block new rover ownership before release events notify other services.
+    socket.data.operatingMode = 'ptz';
+    assignment.releaseForOperatingMode(socket);
+    socket.data.ptzEntered = true;
+  } else {
+    ptz.releaseTurn(socket);
+    socket.data.ptzEntered = false;
+    socket.data.operatingMode = 'rover';
+    assignment.resumeAssignment(socket);
+  }
+  operatingModeEvents.emit('change', { socket, operatingMode });
+  return { operatingMode, state: ptz.getPublicState(socket) };
+}
+
+function enqueueTransition(socket, action) {
+  // Camera initialization can yield. Serialize switches and turn release per
+  // socket so a late entry cannot undo a subsequent exit or release request.
+  const previous = transitions.get(socket) || Promise.resolve();
+  const next = previous.catch(() => {}).then(() => {
+    if (socket.disconnected) throw new Error('Session disconnected');
+    return action();
+  });
+  transitions.set(socket, next);
+  return next;
+}
+
+function setOperatingMode(socket, operatingMode) {
+  if (!['rover', 'ptz'].includes(operatingMode)) {
+    return Promise.reject(new Error('Invalid operating mode'));
+  }
+  return enqueueTransition(socket, () => transition(socket, operatingMode));
+}
+
+function runPtzTurnAction(socket, action) {
+  return enqueueTransition(socket, () => {
+    const ptz = require('../ptzCameraService');
+    if (action === 'release') return ptz.releaseTurn(socket);
+    if (action !== 'request') throw new Error('Invalid PTZ turn action');
+    if (getOperatingMode(socket) !== 'ptz' || !socket.data.ptzEntered) {
+      throw new Error('Enter PTZ before requesting a turn');
+    }
+    return ptz.claimTurn(socket);
+  });
+}
+
+module.exports = { getOperatingMode, setOperatingMode, runPtzTurnAction, operatingModeEvents };
@@ -396,11 +396,6 @@ async function runDecision(triggerReason) {
    .filter((entry) => Number(entry?.ts || 0) >= runtime.contextResetAt)
    .filter((entry) => {
      if (!entry?.roverId) return true;
-      /*
-        Chat context should preserve every public chat target, including the
-        PTZ virtual rover. Rover replay visibility alone would drop PTZ because
-        it is owned by ptzCameraService instead of roverManager.
-      */
      return isPublicChatTargetId(entry.roverId);
    })
    .slice(-(MAX_CHAT_CONTEXT + MAX_BOT_CONTEXT));
@@ -2,7 +2,6 @@
 // Purpose: Generates server-side TTS files and sends them to the Reolink TrackMix speaker through neolink.
 // Scope: Owns file/cache/process details for PTZ speech only; PTZ ownership, chat identity, and camera motion stay in index.js.
 const crypto = require('crypto');
-const fs = require('fs');
 const fsp = require('fs/promises');
 const path = require('path');
 const { spawn } = require('child_process');
@@ -78,6 +77,7 @@ function createPtzAudioPlayback(deps) {
  const volume = clampNumber(audioConfig.volume, DEFAULT_VOLUME, 0, 4);
  const fliteDefaultVoice = String(audioConfig.fliteDefaultVoice || 'kal').trim();

+  let disposed = false;
  let playbackProc = null;
  let playbackSeq = 0;

@@ -244,12 +244,16 @@ function createPtzAudioPlayback(deps) {
    }, 1200);
  }

-  async function playFile(filePath, context = {}) {
-    if (!audioEnabled) throw new Error('PTZ audio disabled');
+  async function playFile(filePath, context = {}, authorize = () => {}) {
+    if (disposed || !audioEnabled) throw new Error('PTZ audio unavailable');
+    authorize();
    const neolinkConfigPath = await ensureNeolinkConfig();
    const stat = await fsp.stat(filePath);
    if (!stat.isFile()) throw new Error(`PTZ TTS file is not a regular file: ${filePath}`);

+    // Rendering and config IO may outlive a turn or camera configuration.
+    if (disposed) throw new Error('PTZ audio configuration changed');
+    authorize();
    stopActivePlayback('new-playback');
    const seq = ++playbackSeq;
    const args = [
@@ -302,13 +306,13 @@ function createPtzAudioPlayback(deps) {
    return { pid: proc.pid || null, seq };
  }

-  async function speakText(text, ttsOptions = {}, context = {}) {
+  async function speakText(text, ttsOptions = {}, context = {}, authorize = () => {}) {
    const rendered = await ensureTtsFile(text, ttsOptions);
    await playFile(rendered.filePath, {
      ...context,
      engine: rendered.engine,
      cached: rendered.cached,
-    });
+    }, authorize);
    return rendered;
  }

@@ -316,6 +320,10 @@ function createPtzAudioPlayback(deps) {
    getState,
    speakText,
    stopActivePlayback,
+    dispose: () => {
+      disposed = true;
+      stopActivePlayback('configuration-change');
+    },
  };
 }

@@ -0,0 +1,98 @@
+// Owns PTZ turns only. Camera IO, permissions and operating-mode entry are supplied
+// by the service, so queue transitions cannot create physical rover ownership.
+function createParticipation({ io, events, emitChange, getTurnDurationMs, canParticipate, stopMotion, revokeVideo }) {
+  const state = { operatorSocketId: null, queue: [], deadline: null, generation: 0 };
+  let timer = null;
+
+  function remove(socketId) {
+    state.queue = state.queue.filter((id) => id !== socketId);
+  }
+
+  function stopOperator(reason) {
+    clearTimeout(timer);
+    timer = null;
+    const previous = state.operatorSocketId;
+    state.operatorSocketId = null;
+    state.deadline = null;
+    state.generation += 1;
+    if (!previous) return;
+    revokeVideo(previous);
+    stopMotion(reason).catch(() => {});
+    events.emit('operator', { socketId: previous, action: 'release', reason });
+  }
+
+  function scheduleTurn() {
+    // Uncontested control has no deadline. Starting a new wait gets a full turn,
+    // while later queue changes must not reset an already running countdown.
+    if (!state.operatorSocketId || !state.queue.length) {
+      clearTimeout(timer);
+      timer = null;
+      state.deadline = null;
+      return;
+    }
+    if (timer) return;
+    const duration = getTurnDurationMs();
+    state.deadline = Date.now() + duration;
+    timer = setTimeout(() => {
+      timer = null;
+      state.queue = state.queue.filter(eligible);
+      if (state.queue.length) {
+        // Preserve PTZ's explicit request-to-rejoin rule after a handoff.
+        stopOperator('turn-expired');
+        advance('turn-expired');
+      } else {
+        scheduleTurn();
+        emitChange('turn-uncontested');
+      }
+    }, duration);
+  }
+
+  function eligible(socketId) {
+    const socket = io.sockets.sockets.get(socketId);
+    return socket && !socket.disconnected && canParticipate(socket);
+  }
+
+  function advance(reason) {
+    state.queue = state.queue.filter(eligible);
+    while (!state.operatorSocketId && state.queue.length) {
+      const next = state.queue.shift();
+      if (!eligible(next)) continue;
+      state.operatorSocketId = next;
+      state.generation += 1;
+      events.emit('operator', { socketId: next, action: 'active' });
+    }
+    scheduleTurn();
+    emitChange(reason);
+  }
+
+  function claim(socket) {
+    if (!eligible(socket.id)) throw new Error('PTZ participation required');
+    if (state.operatorSocketId === socket.id || state.queue.includes(socket.id)) return;
+    state.queue.push(socket.id);
+    advance('queue-join');
+  }
+
+  function release(socketId, reason = 'turn-release') {
+    remove(socketId);
+    if (state.operatorSocketId === socketId) stopOperator(reason);
+    advance(reason);
+  }
+
+  function reconcile() {
+    state.queue = state.queue.filter(eligible);
+    if (state.operatorSocketId && !eligible(state.operatorSocketId)) stopOperator('access-change');
+    advance('access-change');
+  }
+
+  function clear(reason) {
+    state.queue = [];
+    stopOperator(reason);
+  }
+
+  return {
+    state, claim, release, reconcile, clear,
+    revoke: (reason) => { stopOperator(reason); advance(reason); },
+  };
+}
+
+module.exports = { createParticipation };
@@ -0,0 +1,123 @@
+// Socket transport delegates policy and lifecycle decisions to the PTZ service.
+function registerSocketGateway(deps) {
+  const { io, isAdmin, participation, emitChange, normalizeSocketArgs,
+    runPtzTurnAction, acceptMotionIntent, getStatus, setSpotlight, setIr,
+    listPresets, gotoPreset, createPreset, removePreset, passesMode,
+    normalizeSnapshotIds, addSnapshotSubscription, sendSnapshotFrame,
+    getSnapshot, removeSnapshotSubscriptions } = deps;
+  io.on('connection', (socket) => {
+    socket.on('ptzCamera:revokeOperator', (firstArg, secondArg) => {
+      const { cb } = normalizeSocketArgs(firstArg, secondArg);
+      if (!isAdmin(socket)) return cb({ error: 'Admin required' });
+      participation.revoke('admin-revoke');
+      cb({ ok: true });
+    });
+    socket.on('ptzCamera:requestTurn', async (firstArg, secondArg) => {
+      const { cb } = normalizeSocketArgs(firstArg, secondArg);
+      try { cb({ ok: true, state: await runPtzTurnAction(socket, 'request') }); }
+      catch (err) { cb({ error: err.message }); }
+    });
+    socket.on('ptzCamera:release', async (firstArg, secondArg) => {
+      const { cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb({ ok: true, state: await runPtzTurnAction(socket, 'release') });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:motion', (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        /*
+          Acknowledge acceptance of the newest desired state immediately. The
+          serialized ONVIF pump deliberately runs independently of Socket.IO
+          request latency so browser heartbeats cannot accumulate while waiting
+          for a camera SOAP response.
+        */
+        cb(acceptMotionIntent(socket, payload));
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:status', async (firstArg, secondArg) => {
+      const { cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb({ ok: true, status: await getStatus(socket) });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:spotlight', async (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb({ ok: true, light: await setSpotlight(socket, payload) });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:ir', async (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb({ ok: true, ir: await setIr(socket, payload) });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:presets:list', async (firstArg, secondArg) => {
+      const { cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb({ ok: true, presets: await listPresets(socket) });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:preset:goto', async (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb(await gotoPreset(socket, payload));
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:preset:create', async (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb(await createPreset(socket, payload));
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:preset:remove', async (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        cb(await removePreset(socket, payload));
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:snapshotSubscribe', (firstArg, secondArg) => {
+      const { payload, cb } = normalizeSocketArgs(firstArg, secondArg);
+      try {
+        if (!passesMode(socket)) throw new Error('Not authorized for PTZ snapshots');
+        const ids = normalizeSnapshotIds(payload);
+        addSnapshotSubscription(socket, ids);
+        const lastSnapshotState = getSnapshot();
+        if (lastSnapshotState?.frame) sendSnapshotFrame(socket, lastSnapshotState.frame, lastSnapshotState.ts);
+        cb({ ok: true, subscribed: ids });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    });
+    socket.on('ptzCamera:snapshotUnsubscribe', (firstArg, secondArg) => {
+      const { payload } = normalizeSocketArgs(firstArg, secondArg);
+      removeSnapshotSubscriptions(socket.id, normalizeSnapshotIds(payload));
+    });
+    socket.on('disconnect', () => {
+      participation.release(socket.id, 'disconnect');
+      removeSnapshotSubscriptions(socket.id);
+      emitChange('disconnect');
+    });
+  });
+}
+
+module.exports = { registerSocketGateway };
@@ -0,0 +1,9 @@
+const labels = {
+  ...require('../turnService/labels'),
+  waiting: 'Someone else has control',
+  active: 'You control the camera',
+  showName: 'Show camera name',
+  hideName: 'Hide camera name',
+};
+
+module.exports = labels;
@@ -68,13 +68,13 @@ function getDefaultWebSources(assignment = {}, socket = null) {
    replay`, follows the camera currently controlled by that socket just as it
    follows an assigned rover below.

-    isOperator is deliberately stricter than PTZ access or queue membership:
+    turn.ownsControl is deliberately stricter than PTZ access or queue membership:
    spectators and users waiting for a camera turn must not silently replay a
    camera they are not currently operating. Keeping this rule here also makes
    every web replay entry point share the same default instead of teaching the
    chat-command adapter about PTZ-specific state.
  */
-  if (ptzCameraService.getPublicState(socket).isOperator) {
+  if (ptzCameraService.getPublicState(socket).turn.ownsControl) {
    const source = ptzCameraService.getReplaySource();
    if (!source) return [];
    return [{ type: source.type, id: String(source.id), label: source.label || source.id }];
@@ -1,3 +1,4 @@
+const { getOperatingMode } = require('../operatingModeService');
 // rover Manager private access
 // Purpose: Encapsulates private-rover visibility and control-authorization policy checks.
 // Scope: Keeps runtime behavior unchanged while isolating policy decisions from orchestration wiring.
@@ -80,6 +81,7 @@ function createPrivateAccessPolicy(deps) {
      allowClosedPrivateGrantInLockdown = false,
      allowClosedPrivateCurrentDriver = false,
    } = options;
+    if (getOperatingMode(socket) !== 'rover') return 'Leave PTZ before requesting rover control';
    if (!record) return 'Unknown rover';
    if (!allowUser && !isAdmin(socket)) return 'Only admins can request control';
    if (record.locked && !isAdmin(socket)) return 'Rover locked';
@@ -5,16 +5,18 @@ const io = require('../../globals/io');
 const logger = require('../../globals/logger').child('sessionService');
 const { getFeatureFlags, configurationEvents } = require('../../configuration');
 const { getRole, isAdmin, roleEvents } = require('../roleService');
+const { getOperatingMode, setOperatingMode, operatingModeEvents } = require('../operatingModeService');
 const { getMode, modeEvents } = require('../modeManager');
 const roverManager = require('../roverManager');
 const { managerEvents } = roverManager;
 const assignmentService = require('../assignmentService');
-const { getActiveDrivers, getTurnQueues, turnEvents } = require('../turnService');
+const { getActiveDrivers, getTurnQueues, canDrive, turnEvents } = require('../turnService');
+const { buildRoverTurn } = require('../turnService/display');
 const { getRoomCameras, roomCameraEvents } = require('../roomCameraService');
 const {
  getPublicState: getPtzCameraState,
-  getChatTargetForSocket: getPtzChatTargetForSocket,
-  PTZ_CAMERA_ID,
+  getOperatingModeDisplay,
+  getParticipantSocketIds,
  ptzCameraEvents,
 } = require('../ptzCameraService');
 const { getState: getHomeAssistantState, homeAssistantEvents } = require('../homeAssistantService');
@@ -111,18 +113,13 @@ function buildBandwidthSavingsSessionState(socket, controllableUserCount = 0) {

 function countControllableUsers(userEntries = []) {
  const ids = new Set();
+  const ptzParticipants = new Set(getParticipantSocketIds());
  userEntries.forEach((entry) => {
    const role = String(entry?.role || '');
    if (role === 'spectator') return;
    const socketId = String(entry?.socketId || '').trim();
    const roverId = String(entry?.roverId || '').trim();
-    /*
-      buildUserEntry already maps PTZ queued/operators to the PTZ pseudo-rover
-      id and normal drivers to their physical rover. Counting entries after that
-      normalization gives the browser the same conceptual "controllable users"
-      count it shows in the user/queue panels without duplicating PTZ UI logic.
-    */
-    if (socketId && roverId) ids.add(socketId);
+    if (socketId && (roverId || ptzParticipants.has(socketId))) ids.add(socketId);
  });
  return ids.size;
 }
@@ -146,19 +143,14 @@ function buildUserEntry(socket) {
    && roverManager.isDriver(assignment.roverId, socket)
    ? assignment.roverId
    : null;
-  const ptzChatTarget = getPtzChatTargetForSocket(socket.id);
  return {
    socketId: socket.id,
    userId: socket?.data?.userId || null,
    nickname: getNickname(socket) || null,
    role,
-    /*
-      PTZ is not inserted into the physical rover roster, but for chat and user
-      presence it should read like the user moved to a rover-like target. Prefer
-      the PTZ chat target while the socket is queued or operating so presence,
-      queue lookup, and chat identity all agree.
-    */
-    roverId: ptzChatTarget?.roverId || verifiedPrimaryRover || verifiedAssignmentRover || null,
+    operatingMode: getOperatingMode(socket),
+    operatingModeDisplay: getOperatingModeDisplay(socket.id),
+    roverId: verifiedPrimaryRover || verifiedAssignmentRover || null,
  };
 }

@@ -171,15 +163,7 @@ function buildSession(socket) {
  const controllableUserCount = countControllableUsers(userEntries);
  const users = userEntries.map((entry) => ({
    ...entry,
-    /*
-      PTZ is intentionally not a roverManager record, so the normal physical
-      rover visibility filter would erase the user's PTZ chat target. Preserve
-      it here because getPtzChatTargetForSocket already applied the PTZ access
-      and queue/operator rules before buildUserEntry returned it.
-    */
-    roverId: entry.roverId === PTZ_CAMERA_ID
-      ? entry.roverId
-      : filterVisibleRoverId(socket, entry.roverId),
+    roverId: filterVisibleRoverId(socket, entry.roverId),
  }));
  const roster = roverManager.getRosterForSocket(socket);
  const assignment = assignmentService.describeAssignment(socket?.id || '');
@@ -201,6 +185,7 @@ function buildSession(socket) {
  return {
    socketId: socket?.id || null,
    role: getRole(socket),
+    operatingMode: getOperatingMode(socket),
    mode: getMode(),
    isLocalNetwork: isLocalNetwork(getSocketIp(socket)),
    bandwidthSavings: buildBandwidthSavingsSessionState(socket, controllableUserCount),
@@ -210,15 +195,24 @@ function buildSession(socket) {
      of navigation and layout without maintaining another feature registry.
    */
    features,
-    roster,
+    roster: roster.map((rover) => ({
+      ...rover,
+      permissions: { canControl: getRole(socket) !== 'spectator' && canDrive(rover.id, socket) },
+      turn: buildRoverTurn({
+        rover,
+        mode: getMode(),
+        socketId: socket?.id,
+        turnInfo: turnQueues[rover.id],
+        activeDriverId: activeDrivers[rover.id],
+        users,
+      }),
+    })),
    odometers: roverManager.getOdometersForSocket(socket),
    assignment: {
      ...assignment,
      roverId: assignmentRoverId,
      status: assignmentRoverId ? assignment.status : assignment.status === 'waiting' ? 'waiting' : null,
    },
-    activeDrivers,
-    turnQueues,
    roomCameras: getRoomCameras(),
    ptzCamera: getPtzCameraState(socket),
    homeAssistant: getHomeAssistantState(),
@@ -280,10 +274,19 @@ function syncAll() {
 }

 io.on('connection', (socket) => {
+  socket.on('session:setOperatingMode', async ({ operatingMode } = {}, cb = () => {}) => {
+    try {
+      cb({ ok: true, ...await setOperatingMode(socket, operatingMode) });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
  logger.info('New socket connected', socket.id);
  syncSocket(socket);
 });

+operatingModeEvents.on('change', () => syncAll());
+
 roleEvents.on('change', ({ socket }) => {
  if (!socket) return;
  logger.info('Role changed; syncing session', socket.id);
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
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
				`@@ -1 +0,0 @@`
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