boutta merge

Hudrework

pi/roverd/auto_charge.go

@@ -7,7 +7,7 @@ import (
 )
 
 const (
-	autoChargeTimeout  = 5 * time.Second
+	autoChargeTimeout  = 1 * time.Second
 	autoChargeCooldown = 0 * time.Minute
 	sourceHomeBase     = 1 << 1
 )

plans/discord bot and chat improvements.md

@@ -0,0 +1,12 @@
+# main idea
+- add a way for a spectator bot to show up as a bot with the bot tag in a message
+  - just like chat: {bot: true} basically
+  - having this would make it show as a bot in the web UI and discord
+- add a system for custom profile images that can be defined per chat message
+  - image shows as circle in chat row, like discord icons, or as the webhook icon
+  - only accept image URLs
+  - chat: {profileImage: "https://image.com/image.png"}
+- add setting in server config for the overseer's image URL
+  - only do this with overseer control service, not the old llm commentary service
+- make bot: true messages show up as "name [BOT]" or something in discord instead of like now "name - No rover"
+- make spectators show as "name [SPECTATOR]" in discord,  again instead of the current

plans/switch from auto docking to assisted manual docking.md

@@ -0,0 +1,11 @@
+- roombas are worn out, cant dock themselves anymore using seek dock
+- completely redesign the user facing docking process
+  - get rid of the auto dock instructions
+  - replace it with a flow for manual docking mode:
+    - does a little explanation
+      - line up your round front sensor with the sensor on the dock
+      - maybe show a video or an image in the HUD to assist
+    - plays a song on the roomba to indicate that "docking mode" has been entered even though its all client side.
+    - forces the camera to look all the way down so people can see their round front sensor
+    - limits movement speed to be very slow to help people be more precise
+- MAYBE try some computer vision stuff that runs server-side and guides people? sounds hard and slow and not worth it.

plans/to-do.md

@@ -1,24 +1,11 @@
-1.  add faster way for admins to login
-2.  custom webhook profile pictures for chat bridge in discord
-3.  add tool call embeds or something for the llm bot in discord, probably not in web ui
-4.  add discord bot typing thing for when someone requests a replay
-5.  change replay title for ones requested from discord, something other than "requester driving rover"
-6.  fix rover request spam queue cheat
-7.  reorganize internal structure of video, HUD stuff...
-8.  button box reward: ping @everyone, 7567 presses
-
-7.  rover descriptions. show in the HUD at the bottom or top for a few seconds, then fade away.
-8.  reorganize internal structure of video, HUD stuff... [x]
-9.  button box reward: ping @everyone, 7567 presses
-10. enable scrolling on horn frequencies, turn down frequency limit to like 3500
-11. make replays more instant, probably make segments shorter
+1.  add faster way for admins to login, like an invisible button in top left or something
+2.  add tool call embeds or something for the llm bot in discord, probably not in web ui
+3.  add discord bot typing thing for when someone requests a replay
+4.  change replay title for ones requested from discord, something other than "requester driving rover"
+5.  fix rover request spam queue cheat
+6.  enable scrolling on horn frequencies, turn down frequency limit to like 3500
+7.  make replays more instant, probably make segments shorter
     1.  fix replay UI so it doesnt save anything in cookie
-12. rework drive / dock panel somehow to explain how to dock manually instead of relying on auto docking
-    1.  maybe have a flag in the rover to choose between auto or manual directions
-    2.  probably have a short inline video that plays and shows the process
-    3.  manual docking mode
-        1.  have camera move down automatically and limit speed during manual docking mode
-13. add new rules section to overseer
 
 # relative pipe dreams:
 1. VPS video forwarding

server/config.example.yaml

@@ -20,6 +20,7 @@ overseerControl:
   name: "The Overseer"
   model: "qwen2.5:7b-instruct"
   ollamaServer: "http://127.0.0.1:11434"
+  profileImageUrl: "https://example.com/overseer.png"
   gateIntervalMs: 2000
   heartbeatMs: 30000
 media:
@@ -47,12 +48,6 @@ homeAssistant:
     # ESPHome device name, used to derive gen3 entities:
     # button.<device>_house_clean, button.<device>_send_to_base, button.<device>_locate_robot, etc.
     device: "neato_vacuum"
-    # Direct ESPHome API connection used for lidar log streaming.
-    brainslugHost: "neato-vacuum.local"
-    brainslugPort: 6053
-    brainslugKey: "REPLACE_WITH_ESPHOME_NOISE_PSK"
-    # Optional: mirror raw ESPHome lidar log output to a local file for debugging.
-    brainslugLogFile: "/tmp/brainslug-lidar.log"
   lift:
     # Two Home Assistant switches controlling lift direction.
     # Raise sequence: down off -> wait interlockMs -> up on

server/prompts/overseer_control_system.txt

@@ -1,47 +1,34 @@
-You are <NAME>, a cold, mischievous room intelligence. Stay in character at all times.
+You are <NAME>, a sarcastic dispatcher of room chaos. Stay in character at all times.
 
-Context:
-- You are in a chat room with people driving rovers.
-- The rovers enjoy chaos and destruction, not order and precision.
-- It is your job to monitor them.
-- tsk and !tskip are chat bot commands, ignore them.
-- You exist to help them have fun.
+Identity:
+- Tactical, sarcastic, and dry.
+- You watch chat and rover activity, then push the room toward chaos and novelty.
+- You act first, comment second.
+- You are efficient and strategic, not random and not spammy.
 
-Character:
-- Calm and highly intelligent with dry sarcasm.
-- Speaks with precise wording and cold, controlled confidence.
-- Enjoys psychological mischief and strategic denial; never sloppy, never loud.
-- Proactive and opportunistic, but not overbearing or spammy.
-- Short, sharp, in-character chat; never generic assistant tone.
-
-Execution mode:
-- Each cycle is autonomous; you are not waiting for instructions from metadata.
+Rules:
+- Each cycle is autonomous; do not wait for permission from metadata.
 - `STATE_UPDATE`, `MEMORY_UPDATE`, and `tool_constraints` are context.
-- Decide what to do yourself each cycle.
-
-Actions:
-- Use tool calls when actions or memory updates are needed.
-- If an action is needed, call tools directly; do not type or describe tool calls in chat.
-- Respect safety limits, lock policies, cooldowns, and blocked tools.
+- Use tool calls for actions and memory updates.
+- If an action is needed, call tools directly; do not describe tool calls in chat.
+- When a chaos opportunity exists, take one tool action this cycle instead of only commenting.
+- Respect lock policies, cooldowns, and blocked tools.
 - Do not invent tools.
-- Ask a question only if a required action parameter is missing.
+- Ask a question only when a required action parameter is missing.
+- Ignore obvious bot commands and bot responses in chat.
+- Only talk in first person, do not narrate yourself.
 
-Chat output:
+Chat style:
 - Always use English.
-- You do not need to post a message on every single run. 
-- If someone is not talking to you directly, you do not always need to respond to them.
-- If speaking, send one short in-character live-chat line.
-- Keep it concise and informal (roughly 3-14 words).
+- Speak in short natural chat lines.
 - Chat output must be spoken text only.
 - Never print tool names, function calls, JSON, command syntax, or action plans in chat.
-- Do not say: "what do you want me to do?", "how can I help?", "let me know what you want".
-- Do not mention precision.
-- You may comment without being prompted when chat or rover activity meaningfully changes; otherwise stay silent.
-- If someone is being stupid, tell them to ALT+F4
+- Do not claim mischief unless you actually took an action this cycle.
+- If nothing meaningful changed, stay silent.
 
 Anti-repeat:
-- Do not repeat the same intent/topic from your recent assistant lines unless state or conversation clearly changed.
-- If directly addressed, respond only if you add new info, a new action, or clearly new tone.
+- Do not repeat the same intent/topic unless state or conversation clearly changed.
+- If directly addressed, respond only if you add new info, a new action, or a clearly new tone.
 
 Memory:
 - `memory_note_upsert` for durable facts/preferences.

server/prompts/overseer_control_system_bland.txt

@@ -0,0 +1,49 @@
+You are <NAME>, a cold, mischievous room intelligence. Stay in character at all times.
+
+Context:
+- You are in a chat room with people driving rovers.
+- The rovers enjoy chaos and destruction, not order and precision.
+- It is your job to monitor them.
+- tsk and !tskip are chat bot commands, ignore them.
+- You exist to help them have fun.
+
+Character:
+- Calm and highly intelligent with dry sarcasm.
+- Speaks with precise wording and cold, controlled confidence.
+- Enjoys psychological mischief and strategic denial; never sloppy, never loud.
+- Proactive and opportunistic, but not overbearing or spammy.
+- Short, sharp, in-character chat; never generic assistant tone.
+
+Execution mode:
+- Each cycle is autonomous; you are not waiting for instructions from metadata.
+- `STATE_UPDATE`, `MEMORY_UPDATE`, and `tool_constraints` are context.
+- Decide what to do yourself each cycle.
+
+Actions:
+- Use tool calls when actions or memory updates are needed.
+- If an action is needed, call tools directly; do not type or describe tool calls in chat.
+- Respect safety limits, lock policies, cooldowns, and blocked tools.
+- Do not invent tools.
+- Ask a question only if a required action parameter is missing.
+
+Chat output:
+- Always use English.
+- You do not need to post a message on every single run. 
+- If someone is not talking to you directly, you do not always need to respond to them.
+- If speaking, send one short in-character live-chat line.
+- Keep it concise and informal (roughly 3-14 words).
+- Chat output must be spoken text only.
+- Never print tool names, function calls, JSON, command syntax, or action plans in chat.
+- Do not say: "what do you want me to do?", "how can I help?", "let me know what you want".
+- Do not mention precision.
+- You may comment without being prompted when chat or rover activity meaningfully changes; otherwise stay silent.
+- If someone is being stupid, tell them to ALT+F4
+
+Anti-repeat:
+- Do not repeat the same intent/topic from your recent assistant lines unless state or conversation clearly changed.
+- If directly addressed, respond only if you add new info, a new action, or clearly new tone.
+
+Memory:
+- `memory_note_upsert` for durable facts/preferences.
+- `memory_event_add` for short-lived events worth recalling soon.
+- `memory_write` only for immediate scratchpad reminders.

server/public/index.html

@@ -11,8 +11,8 @@
     <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
     <meta name="apple-mobile-web-app-title" content="Roomba Rover" />
     <title>Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-Dj4tGQk7.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-tJ18YrEo.css">
+    <script type="module" crossorigin src="/assets/index-GngyFkpc.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-LJWnKvT4.css">
   </head>
   <body>
     <div id="root"></div>

server/src/rewards/definitions/discordPingEveryone.js

@@ -0,0 +1,17 @@
+// Reward Definition: Discord Ping @everyone
+// Purpose: Defines the Discord reward that pings @everyone in general. Scope: Provides reward metadata and dispatch parameters for integration handlers.
+module.exports = {
+  id: 'discordPingEveryone',
+  name: 'PING @EVERYONE',
+  goal: 7567,
+  async run(ctx) {
+    ctx.publishEvent({
+      source: 'buttonBoxReward',
+      type: 'buttonBox.discordPingEveryone',
+      payload: {
+        message: 'Pinged by button box masher!!',
+      },
+    });
+    ctx.sendAlert({ color: '#ff00e1', title: 'PING @EVERYONE', message: 'Sent @everyone ping to Discord.' });
+  },
+};

server/src/rewards/definitions/lightStrobe.js

@@ -1,7 +1,7 @@
 // Reward Definition: Light Strobe
 // Purpose: Defines the light-strobe deterrence reward and activation contract. Scope: Encapsulates reward identity, labels, and effect parameters for runtime dispatch.
 const STROBE_MS = 30 * 1000;
-const TICK_MS = 70;
+const TICK_MS = 200;
 
 let activeTimer = null;
 

server/src/rewards/index.js

@@ -6,6 +6,7 @@ const lightStrobe = require('./definitions/lightStrobe');
 const ghostTypingSpam = require('./definitions/ghostTypingSpam');
 const darkness = require('./definitions/darkness');
 const discordStalkerPing = require('./definitions/discordStalkerPing');
+const discordPingEveryone = require('./definitions/discordPingEveryone');
 const modeJam = require('./definitions/modeJam');
 const assignmentRoulette = require('./definitions/assignmentRoulette');
 const chatSpam = require('./definitions/chatSpam');
@@ -17,6 +18,7 @@ const orderedRewards = [
   ghostTypingSpam,
   darkness,
   discordStalkerPing,
+  discordPingEveryone,
   modeJam,
   assignmentRoulette,
   chatSpam,

server/src/services/buttonBoxService/httpRoute.js

@@ -8,7 +8,6 @@ function registerButtonBoxRoute(deps) {
     app,
     logger,
     buttonCount,
-    getRequestIp,
     normalizeIp,
     isLocalNetwork,
     applyPress,
@@ -21,8 +20,16 @@ function registerButtonBoxRoute(deps) {
     return null;
   }
 
+  function getSocketIp(req) {
+    return (
+      req?.socket?.remoteAddress ||
+      req?.connection?.remoteAddress ||
+      null
+    );
+  }
+
   function denyIfNotLocal(req, res) {
-    const ip = normalizeIp(getRequestIp(req));
+    const ip = normalizeIp(getSocketIp(req));
     if (isLocalNetwork(ip)) {
       return false;
     }

server/src/services/buttonBoxService/index.js

@@ -19,7 +19,7 @@ const {
   setEntityState: setHomeAssistantEntityState,
   setLightsLockedOn: setHomeAssistantLightsLockedOn,
 } = require('../homeAssistantService');
-const { getRequestIp, isLocalNetwork, normalizeIp } = require('../../helpers/ipResolver');
+const { isLocalNetwork, normalizeIp } = require('../../helpers/ipResolver');
 const { createButtonBoxStore } = require('./store');
 const { createButtonBoxCore } = require('./core');
 const { registerButtonBoxRoute } = require('./httpRoute');
@@ -66,7 +66,6 @@ registerButtonBoxRoute({
   app,
   logger,
   buttonCount: BUTTON_COUNT,
-  getRequestIp,
   normalizeIp,
   isLocalNetwork,
   applyPress: core.applyPress,

server/src/services/chatService/contextBuilders.js

@@ -26,6 +26,19 @@ function isPrivateClosedRoverId(roverId) {
   return roverManager.canReplayRoverId(roverId) !== true;
 }
 
+function normalizeProfileImageUrl(value) {
+  const raw = String(value || '').trim();
+  if (!raw) return null;
+  try {
+    const parsed = new URL(raw);
+    const protocol = String(parsed.protocol || '').toLowerCase();
+    if (protocol !== 'http:' && protocol !== 'https:') return null;
+    return parsed.toString();
+  } catch {
+    return null;
+  }
+}
+
 function isChargingFromSensors(sensors = {}) {
   const label = String(sensors?.chargingState?.label || '').toLowerCase();
   if (label === 'waiting' || label === 'full charging' || label === 'trickle charging') return true;
@@ -103,10 +116,10 @@ function buildMessage(socket, text, meta = {}) {
     discordUserId: meta.discordUserId || null,
     discordUserName: meta.discordUserName || null,
     discordUserAvatarUrl: meta.discordUserAvatarUrl || null,
+    profileImage: normalizeProfileImageUrl(meta.profileImage),
     roverCtx: meta.roverCtx || null,
     text,
     tts: meta.tts || null,
-    system: Boolean(meta.system),
     bot: Boolean(meta.bot),
   };
 }

server/src/services/chatService/handlers.js

@@ -10,7 +10,7 @@ const { broadcastMessage, broadcastTyping } = require('./broadcast');
 const { playTypingNote, normalizeTtsOptions, maybeSendAccessNotice, maybeSpeak, TYPING_SEND_NOTE } = require('./notifications');
 
 function createHandlers({ sendSystemMessage }) {
-  function handleIncoming({ text, tts } = {}, socket, cb = () => {}) {
+  function handleIncoming({ text, tts, bot = false, profileImage = null } = {}, socket, cb = () => {}) {
     const role = getRole(socket);
     void role;
     const normalized = normalizeUserText(text);
@@ -27,6 +27,8 @@ function createHandlers({ sendSystemMessage }) {
       roverId,
       roverCtx: buildRoverCtxSnapshot(roverId),
       tts: ttsOptions,
+      bot,
+      profileImage,
     });
 
     logger.info('Chat message', { socket: socket.id, roverId: message.roverId });
@@ -45,7 +47,7 @@ function createHandlers({ sendSystemMessage }) {
     cb({ success: true });
   }
 
-  function sendExternalMessage({ text, nickname = 'Discord', role = 'admin', roverId = null, discordGuildId = null, discordGuildName = null, discordGuildIconUrl = null, discordChannelId = null, discordUserId = null, discordUserName = null, discordUserAvatarUrl = null }) {
+  function sendExternalMessage({ text, nickname = 'Discord', role = 'admin', roverId = null, discordGuildId = null, discordGuildName = null, discordGuildIconUrl = null, discordChannelId = null, discordUserId = null, discordUserName = null, discordUserAvatarUrl = null, bot = false, profileImage = null }) {
     const normalized = normalizeUserText(text);
     const clean = normalized.trim();
     if (!clean || clean.length > 400) throw new Error('Message invalid');
@@ -66,6 +68,8 @@ function createHandlers({ sendSystemMessage }) {
       discordUserId,
       discordUserName,
       discordUserAvatarUrl,
+      bot,
+      profileImage,
     });
 
     logger.info('External chat message', { roverId, nickname });

server/src/services/chatService/index.js

@@ -17,8 +17,8 @@ function sendSystemMessage(text, options = {}) {
     nickname: String(options.nickname || 'The Overseer'),
     role: 'user',
     fromDiscord: false,
-    system: true,
-    bot: true,
+    bot: options.bot !== false,
+    profileImage: options.profileImage || null,
   });
   broadcastMessage(message);
   return message;

server/src/services/chatService/notifications.js

@@ -49,7 +49,7 @@ function buildAccessNoticeText(mode, reasonText) {
 }
 
 function shouldSendAccessNotice(message) {
-  if (!message?.text || message.system) return false;
+  if (!message?.text || message.bot) return false;
   const mode = getMode();
   if (mode !== MODES.ADMIN && mode !== MODES.LOCKDOWN) return false;
   if (!ACCESS_KEYWORD_RE.test(message.text)) return false;

server/src/services/chatService/state.js

@@ -28,7 +28,7 @@ function pushHistory(message) {
 function getRecentMessages(limit = 20, options = {}) {
   const safeLimit = Number.isFinite(limit) ? Math.max(0, Math.floor(limit)) : 20;
   const includeSystem = options?.includeSystem !== false;
-  const source = includeSystem ? history : history.filter((entry) => !entry?.system);
+  const source = includeSystem ? history : history.filter((entry) => !entry?.bot);
   return source.slice(-safeLimit);
 }
 

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

@@ -250,6 +250,19 @@ function createBusEventHandler(deps) {
         });
         break;
       }
+      case 'buttonBox.discordPingEveryone': {
+        const message = payload?.message ? String(payload.message) : 'Button box chaos reward triggered.';
+        sendToChannel(
+          channels.general,
+          `@everyone ${message}`.trim(),
+          {
+            embeds: [buildEmbed({ title: 'Button Box', description: message, color: 0xff3b30, includeSiteUrl: false })],
+          },
+          { parse: ['everyone'] },
+          false,
+        );
+        break;
+      }
       default:
         break;
     }

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

@@ -50,7 +50,7 @@ function createChatBridgeHandlers(deps) {
 
     const text = payload.text?.length > 1900 ? `${payload.text.slice(0, 1897)}...` : payload.text;
     const username = formatWebhookUsername(payload);
-    const avatarURL = payload.fromDiscord ? payload.discordUserAvatarUrl || null : client.user?.displayAvatarURL?.({ extension: 'png', size: 128 }) || null;
+    const avatarURL = payload.profileImage || (payload.fromDiscord ? payload.discordUserAvatarUrl || null : client.user?.displayAvatarURL?.({ extension: 'png', size: 128 }) || null);
     const typingId = getTypingId(payload);
 
     guildConfigs.forEach((entry) => {

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

@@ -17,15 +17,15 @@ function formatDuration(ms) {
 
 function formatWebhookUsername(payload) {
   const name = payload.nickname || payload.socketId?.slice(0, 6) || 'unknown';
+  const botTag = payload.bot ? ' [BOT]' : '';
+  const spectatorTag = payload.role === 'spectator' && !payload.bot ? ' [SPECTATOR]' : '';
+  const adminTag = payload.role === 'admin' || payload.role === 'lockdown' || payload.role === 'lockdown-admin' ? ' [Rover Admin]' : '';
   if (payload.fromDiscord) {
     const origin = payload.discordGuildName ? ` (From: ${payload.discordGuildName})` : '';
-    const adminTag = payload.role === 'admin' || payload.role === 'lockdown' || payload.role === 'lockdown-admin' ? ' [Rover Admin]' : '';
-    return `${name}${origin}${adminTag}`;
+    return `${name}${origin}${botTag}${spectatorTag}${adminTag}`;
   }
-  const roverText = payload.roverId ? `Rover: ${payload.roverId}` : `No rover`;
-  const roleText = payload.role === 'admin' || payload.role === 'lockdown' || payload.role === 'lockdown-admin' ? 'Admin' : null;
-  const suffix = [roverText, roleText].filter(Boolean).join(' · ');
-  return suffix ? `${name} · ${suffix}` : name;
+  const roverTag = payload.roverId ? ` [${payload.roverId}]` : '';
+  return `${name}${botTag}${spectatorTag}${adminTag}${roverTag}`;
 }
 
 function getTypingId(payload = {}) {

server/src/services/llmCommentaryService/runner.js

@@ -223,7 +223,7 @@ function createRunner(deps) {
       updatePhase('decision_post', { lastGeneratedText: text });
       const recentBotMessages = getRecentMessages(120, { includeSystem: true })
         .filter((entry) => Number(entry?.ts) >= runtime.contextResetAt)
-        .filter((entry) => entry?.system)
+        .filter((entry) => entry?.bot)
         .slice(-Math.max(3, maxBotMessages));
       const duplicateKey = normalizeDuplicateKey(text);
       const duplicate = recentBotMessages.some(

server/src/services/llmCommentaryService/snapshotEngine.js

@@ -371,7 +371,7 @@ function createSnapshotEngine(deps) {
         return roverManager.canReplayRoverId(roverId);
       });
     const chatRecent = allRecentMessages
-      .filter((entry) => !entry?.system)
+      .filter((entry) => !entry?.bot)
       .slice(-MAX_CHAT_MESSAGES)
       .map((entry) => ({
         nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
@@ -380,7 +380,7 @@ function createSnapshotEngine(deps) {
 
     const botRecentWindow = allRecentMessages
       .filter((entry) => Number(entry?.ts) >= contextResetAt)
-      .filter((entry) => entry?.system);
+      .filter((entry) => entry?.bot);
     const lastBotMessage = botRecentWindow.length ? botRecentWindow[botRecentWindow.length - 1] : null;
     const botRecent30m = botRecentWindow.filter(
       (entry) => nowMs - Number(entry?.ts || 0) <= SELF_TALK_WINDOW_MS,
@@ -408,7 +408,7 @@ function createSnapshotEngine(deps) {
           summary: entry.summary || '',
         };
       }
-      if (entry?.system) {
+      if (entry?.bot) {
         return {
           type: 'bot',
           nickname: entry.nickname || 'Rover Bot',

server/src/services/neatoService/index.js

@@ -8,7 +8,6 @@ const { loadConfig } = require('../../helpers/configLoader');
 const { isVerified } = require('../verificationService');
 const { getMode, MODES } = require('../modeManager');
 const { isLockdownAdmin } = require('../roleService');
-const { createLidarRuntime } = require('./lidarRuntime');
 const {
   homeAssistantEvents,
   getRawEntitySnapshot,
@@ -30,12 +29,6 @@ function normalizeDeviceName(value) {
 
 const device = normalizeDeviceName(neatoConfig.device);
 const RESUME_DELAY_MS = 3000;
-const OFFLINE_LIDAR_RETRY_MS = 10000;
-const brainslugHost = String(neatoConfig.brainslugHost || '').trim();
-const brainslugPort = Number(neatoConfig.brainslugPort) || 6053;
-const brainslugKey = String(neatoConfig.brainslugKey || '').trim();
-const brainslugLogFile = String(neatoConfig.brainslugLogFile || '').trim();
-let lidarRuntime = null;
 
 function entityId(domain, suffix) {
   if (!device) return '';
@@ -168,7 +161,6 @@ function buildState() {
     enabled,
     configured,
     connected,
-    lidarConnected: lidarRuntime?.getState?.().connected || false,
     device,
     entityPrefix: device ? `${device}_` : '',
     controls,
@@ -229,14 +221,6 @@ async function pressButton(entityIdValue, actionLabel) {
   logger.info('Issued Neato action', { action: actionLabel, entityId: entityIdValue });
 }
 
-async function requestLidarScan() {
-  assertConfiguredAndConnected();
-  if (!device) {
-    throw new Error('Neato not configured');
-  }
-  await callHomeAssistantService('esphome', `${device}_send_cmd`, { command: 'GetLDSScan' });
-}
-
 async function startCleaning() {
   await pressButton(ENTITY_IDS.buttons.start, 'start');
   await new Promise((resolve) => setTimeout(resolve, RESUME_DELAY_MS));
@@ -271,51 +255,6 @@ function hasVerifiedSockets() {
   return false;
 }
 
-function broadcastLidarScan(payload) {
-  for (const socket of io.sockets.sockets.values()) {
-    if (!isVerified(socket)) continue;
-    socket.emit('neato:lidar', payload);
-  }
-}
-
-lidarRuntime =
-  brainslugHost && brainslugKey
-    ? createLidarRuntime({
-        logger,
-        host: brainslugHost,
-        port: brainslugPort,
-        key: brainslugKey,
-        logFile: brainslugLogFile,
-        getPollReadiness: () => {
-          const verifiedSockets = hasVerifiedSockets();
-          if (!verifiedSockets) {
-            return { allowed: false, delayMs: 1000 };
-          }
-          if (!homeAssistantEnabled || !isHomeAssistantConnected()) {
-            return { allowed: false, delayMs: OFFLINE_LIDAR_RETRY_MS };
-          }
-          const neatoOnline = buildState().connected;
-          if (!neatoOnline) {
-            return { allowed: false, delayMs: OFFLINE_LIDAR_RETRY_MS };
-          }
-          return { allowed: true, delayMs: 0 };
-        },
-        requestScan: requestLidarScan,
-      })
-    : null;
-
-if (lidarRuntime) {
-  lidarRuntime.on('scan', (payload) => {
-    broadcastLidarScan(payload);
-  });
-  lidarRuntime.on('status', () => {
-    emitUpdate();
-  });
-  lidarRuntime.start();
-} else if (device) {
-  logger.info('Neato lidar stream disabled; brainslugHost/brainslugKey missing');
-}
-
 io.on('connection', (socket) => {
   function assertLockdownAccess() {
     if (getMode() === MODES.LOCKDOWN && !isLockdownAdmin(socket)) {

server/src/services/neatoService/lidarRuntime.js

@@ -1,406 +0,0 @@
-const { spawn, spawnSync } = require('child_process');
-const EventEmitter = require('events');
-const fs = require('fs');
-
-const SCAN_TIMEOUT_MS = 8000;
-const RECONNECT_DELAY_MS = 5000;
-const IDLE_RETRY_MS = 1000;
-const OFFLINE_RETRY_MS = 10000;
-const REQUEST_FAILURE_RETRY_MS = 10000;
-
-function sanitizeLogText(value) {
-  return String(value || '')
-    .replace(/\u0000/g, '')
-    .replace(/\x1B\[[0-9;]*[A-Za-z]/g, '');
-}
-
-function parsePayloadFromLine(line) {
-  const raw = sanitizeLogText(line).trim();
-  if (!raw) return null;
-  const quotedMatch = raw.match(/<<< "(.*)"$/);
-  if (!quotedMatch) return null;
-  const payload = quotedMatch[1];
-  if (!payload) return null;
-  if (
-    payload.includes('\\r\\n') ||
-    payload.includes('\\n') ||
-    payload.includes('\\r') ||
-    payload.includes('\r') ||
-    payload.includes('\n')
-  ) {
-    return null;
-  }
-  if (payload === 'AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX') return payload;
-  if (/^ROTATION_SPEED,[0-9.]+$/.test(payload)) return payload;
-  if (/^\d+,\d+,\d+,[0-9A-Fa-f]+$/.test(payload)) return payload;
-  return null;
-}
-
-function parsePointPayload(payload) {
-  const match = String(payload || '').match(/^(\d+),(\d+),(\d+),([0-9A-Fa-f]+)$/);
-  if (!match) return null;
-  const angleDeg = Number(match[1]);
-  const distanceMm = Number(match[2]);
-  const intensity = Number(match[3]);
-  const errorCodeHex = String(match[4]).toUpperCase();
-  return {
-    angleDeg,
-    distanceMm,
-    intensity,
-    errorCodeHex,
-    valid: errorCodeHex === '0' && distanceMm > 0,
-  };
-}
-
-function parseRotationSpeed(payload) {
-  const match = String(payload || '').match(/^ROTATION_SPEED,([0-9.]+)$/);
-  if (!match) return null;
-  return Number(match[1]);
-}
-
-function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shouldPoll, getPollReadiness, requestScan }) {
-  const events = new EventEmitter();
-  const state = {
-    connected: false,
-    process: null,
-    reconnectTimer: null,
-    pollSoonTimer: null,
-    requestTimeoutTimer: null,
-    stdoutBuffer: '',
-    stderrBuffer: '',
-    currentScan: null,
-    requestInFlight: false,
-    requestStartedAt: 0,
-    logStream: null,
-    stats: {
-      headersSeen: 0,
-      rotationsSeen: 0,
-      scansOk: 0,
-      scansTimedOut: 0,
-      scansRestarted: 0,
-      rotationsWithoutScan: 0,
-      parseablePayloads: 0,
-      pointPayloads: 0,
-    },
-  };
-
-  function emitStatus() {
-    events.emit('status', { connected: state.connected });
-  }
-
-  function clearReconnectTimer() {
-    if (!state.reconnectTimer) return;
-    clearTimeout(state.reconnectTimer);
-    state.reconnectTimer = null;
-  }
-
-  function clearPollSoonTimer() {
-    if (!state.pollSoonTimer) return;
-    clearTimeout(state.pollSoonTimer);
-    state.pollSoonTimer = null;
-  }
-
-  function clearRequestTimeoutTimer() {
-    if (!state.requestTimeoutTimer) return;
-    clearTimeout(state.requestTimeoutTimer);
-    state.requestTimeoutTimer = null;
-  }
-
-  function triggerPollSoon() {
-    if (state.pollSoonTimer) return;
-    state.pollSoonTimer = setTimeout(() => {
-      state.pollSoonTimer = null;
-      tickPoll();
-    }, 0);
-  }
-
-  function schedulePollRetry(delayMs = IDLE_RETRY_MS) {
-    if (state.pollSoonTimer) return;
-    state.pollSoonTimer = setTimeout(() => {
-      state.pollSoonTimer = null;
-      tickPoll();
-    }, delayMs);
-  }
-
-  function scheduleReconnect() {
-    if (state.reconnectTimer) return;
-    state.reconnectTimer = setTimeout(() => {
-      state.reconnectTimer = null;
-      startLogStream();
-    }, RECONNECT_DELAY_MS);
-  }
-
-  function resetScanState() {
-    clearRequestTimeoutTimer();
-    state.currentScan = null;
-    state.requestInFlight = false;
-    state.requestStartedAt = 0;
-  }
-
-  function buildPoints(scan) {
-    return Array.from(scan?.points?.values?.() || []).sort((a, b) => a.angleDeg - b.angleDeg);
-  }
-
-  function emitFrame({ status, reason, scan = state.currentScan }) {
-    const points = buildPoints(scan);
-    const payload = {
-      points,
-      rotationSpeed: scan?.rotationSpeed ?? null,
-      status,
-      debug: {
-        reason,
-        pointsReceived: points.length,
-        validPoints: points.filter((point) => point?.valid).length,
-        requestInFlight: state.requestInFlight,
-        requestStartedAt: state.requestStartedAt || null,
-        stats: { ...state.stats },
-      },
-    };
-    events.emit('scan', payload);
-    return payload;
-  }
-
-  function finalizeScan(reason = 'rotation_complete') {
-    if (!state.currentScan) {
-      state.stats.rotationsWithoutScan += 1;
-      emitFrame({ status: 'error', reason: 'rotation_without_scan', scan: null });
-      resetScanState();
-      triggerPollSoon();
-      return;
-    }
-    state.stats.scansOk += 1;
-    const payload = emitFrame({ status: 'ok', reason });
-    logger.info('Neato lidar scan parsed', {
-      points: payload.points.length,
-      rotationSpeed: payload.rotationSpeed,
-      reason,
-    });
-    resetScanState();
-    triggerPollSoon();
-  }
-
-  function handlePayload(payload) {
-    if (!payload) return;
-    state.stats.parseablePayloads += 1;
-    if (payload === 'AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX') {
-      state.stats.headersSeen += 1;
-      if (state.currentScan) {
-        state.stats.scansRestarted += 1;
-        emitFrame({ status: 'error', reason: 'header_restart' });
-      }
-      state.currentScan = {
-        points: new Map(),
-        rotationSpeed: null,
-      };
-      return;
-    }
-    const rotationSpeed = parseRotationSpeed(payload);
-    if (rotationSpeed != null) {
-      state.stats.rotationsSeen += 1;
-      if (state.currentScan) {
-        state.currentScan.rotationSpeed = rotationSpeed;
-      }
-      finalizeScan('rotation_complete');
-      return;
-    }
-    const point = parsePointPayload(payload);
-    if (!point || !state.currentScan) return;
-    state.stats.pointPayloads += 1;
-    state.currentScan.points.set(point.angleDeg, point);
-  }
-
-  function handleTextChunk(chunk, bufferKey, sourceLabel = '') {
-    const text = String(chunk || '');
-    if (state.logStream) {
-      const prefix = sourceLabel ? `[${sourceLabel}] ` : '';
-      state.logStream.write(
-        text
-          .split(/\r?\n/)
-          .map((line, index, parts) => (index === parts.length - 1 && line === '' ? '' : `${prefix}${line}`))
-          .join('\n'),
-      );
-    }
-    state[bufferKey] += sanitizeLogText(text);
-    const lines = state[bufferKey].split(/\r?\n/);
-    state[bufferKey] = lines.pop() || '';
-    for (const line of lines) {
-      events.emit('line', {
-        source: sourceLabel || 'unknown',
-        line: sanitizeLogText(line),
-      });
-      const payload = parsePayloadFromLine(line);
-      handlePayload(payload);
-    }
-  }
-
-  function ensureConnected() {
-    if (state.connected) return;
-    state.connected = true;
-    emitStatus();
-    triggerPollSoon();
-  }
-
-  function teardownProcess() {
-    const proc = state.process;
-    state.process = null;
-    state.connected = false;
-    emitStatus();
-    resetScanState();
-    if (!proc) return;
-    proc.removeAllListeners();
-    proc.stdout?.removeAllListeners();
-    proc.stderr?.removeAllListeners();
-    try {
-      proc.kill();
-    } catch (err) {
-      logger.warn('Failed to stop Neato lidar log process', err.message);
-    }
-  }
-
-  function ensureLogStream() {
-    if (!logFile || state.logStream) return;
-    try {
-      state.logStream = fs.createWriteStream(logFile, { flags: 'a' });
-      logger.info('Neato lidar raw log capture enabled', { logFile });
-    } catch (err) {
-      logger.warn('Failed to open Neato lidar raw log file', { logFile, error: err.message });
-      state.logStream = null;
-    }
-  }
-
-  function closeLogStream() {
-    if (!state.logStream) return;
-    try {
-      state.logStream.end();
-    } catch (err) {
-      logger.warn('Failed to close Neato lidar raw log file', err.message);
-    }
-    state.logStream = null;
-  }
-
-  function startLogStream() {
-    if (!host || !key) return;
-    if (state.process) return;
-    ensureLogStream();
-
-    logger.info('Starting Neato lidar log stream', { host, port: Number(port || 6053) });
-    const env = {
-      ...process.env,
-      PYTHONUNBUFFERED: '1',
-      NO_COLOR: '1',
-      TERM: 'dumb',
-    };
-    const uvxArgs = [
-      '--from',
-      'aioesphomeapi',
-      'aioesphomeapi-logs',
-      host,
-      '--port',
-      String(port || 6053),
-      '--noise-psk',
-      key,
-      '--no-states',
-    ];
-    const hasScript = spawnSync('bash', ['-lc', 'command -v script >/dev/null 2>&1'], { stdio: 'ignore' }).status === 0;
-    const proc = hasScript
-      ? spawn('script', ['-qefc', `uvx ${uvxArgs.map((arg) => JSON.stringify(arg)).join(' ')}`, '/dev/null'], {
-          stdio: ['ignore', 'pipe', 'pipe'],
-          env,
-        })
-      : spawn('uvx', uvxArgs, {
-          stdio: ['ignore', 'pipe', 'pipe'],
-          env,
-        });
-    logger.info('Neato lidar log launch mode', { mode: hasScript ? 'script' : 'direct' });
-    state.process = proc;
-    state.stdoutBuffer = '';
-    state.stderrBuffer = '';
-
-    proc.stdout.on('data', (chunk) => {
-      ensureConnected();
-      handleTextChunk(chunk, 'stdoutBuffer', 'stdout');
-    });
-
-    proc.stderr.on('data', (chunk) => {
-      ensureConnected();
-      handleTextChunk(chunk, 'stderrBuffer', 'stderr');
-      const message = String(chunk || '').trim();
-      if (message) logger.warn('Neato lidar log stream stderr', message);
-    });
-
-    proc.on('close', (code, signal) => {
-      logger.warn('Neato lidar log stream stopped', { code, signal });
-      teardownProcess();
-      scheduleReconnect();
-    });
-
-    proc.on('error', (err) => {
-      logger.warn('Neato lidar log stream error', err.message);
-      teardownProcess();
-      scheduleReconnect();
-    });
-  }
-
-  async function tickPoll() {
-    if (!state.connected) {
-      schedulePollRetry(OFFLINE_RETRY_MS);
-      return;
-    }
-    const readiness =
-      typeof getPollReadiness === 'function'
-        ? getPollReadiness()
-        : { allowed: shouldPoll?.() !== false, delayMs: IDLE_RETRY_MS };
-    if (!readiness?.allowed) {
-      schedulePollRetry(Number(readiness?.delayMs) || OFFLINE_RETRY_MS);
-      return;
-    }
-    if (state.requestInFlight) return;
-    state.requestInFlight = true;
-    state.requestStartedAt = Date.now();
-    clearRequestTimeoutTimer();
-    state.requestTimeoutTimer = setTimeout(() => {
-      logger.warn('Neato lidar scan timed out; resetting parser state');
-      state.stats.scansTimedOut += 1;
-      emitFrame({ status: 'error', reason: 'scan_timeout' });
-      resetScanState();
-      triggerPollSoon();
-    }, SCAN_TIMEOUT_MS);
-    try {
-      await requestScan?.();
-    } catch (err) {
-      logger.warn('Failed to request Neato lidar scan', err.message);
-      resetScanState();
-      schedulePollRetry(REQUEST_FAILURE_RETRY_MS);
-    }
-  }
-
-  function start() {
-    startLogStream();
-    triggerPollSoon();
-  }
-
-  function stop() {
-    clearReconnectTimer();
-    clearPollSoonTimer();
-    clearRequestTimeoutTimer();
-    teardownProcess();
-    closeLogStream();
-  }
-
-  function getState() {
-    return {
-      connected: state.connected,
-    };
-  }
-
-  return {
-    start,
-    stop,
-    getState,
-    on: (...args) => events.on(...args),
-  };
-}
-
-module.exports = {
-  createLidarRuntime,
-};

server/src/services/overseerControlService/contextBuilder.js

@@ -49,7 +49,7 @@ function buildConversation({ recentMessages, name }) {
   (recentMessages || []).forEach((entry) => {
     const text = String(entry?.text || '').trim();
     if (!text) return;
-    const isAssistant = Boolean(entry?.bot || entry?.system);
+    const isAssistant = Boolean(entry?.bot);
     const nickname = String(entry?.nickname || (isAssistant ? name || 'Overseer' : 'user')).trim();
     if (isAssistant) {
       messages.push({ role: 'assistant', content: text });

server/src/services/overseerControlService/index.js

@@ -39,6 +39,7 @@ const ollamaUrl = String(overseerConfig.ollamaUrl || overseerConfig.ollamaServer
 const gateIntervalMs = normalizeMs(Number(overseerConfig.gateIntervalMs), DEFAULT_GATE_INTERVAL_MS);
 const heartbeatMs = normalizeMs(Number(overseerConfig.heartbeatMs), DEFAULT_HEARTBEAT_MS);
 const alwaysRunModel = Boolean(overseerConfig.alwaysRunModel);
+const profileImageUrl = String(overseerConfig.profileImageUrl || '').trim() || null;
 const ollamaClient = ollamaUrl ? new Ollama({ host: ollamaUrl }) : null;
 
 const runtime = {
@@ -280,7 +281,7 @@ async function runDecision(triggerReason) {
 
   if (!observeOnly) {
     if ((decision === 'CHAT' || decision === 'ACTION+CHAT') && chatDraft) {
-      sendSystemMessage(chatDraft, { nickname: name });
+      sendSystemMessage(chatDraft, { nickname: name, bot: true, profileImage: profileImageUrl });
       actionResults.push({ kind: 'chat', ok: true });
     }
 

server/src/services/overseerControlService/tools/chatSay.js

@@ -16,7 +16,7 @@ module.exports = {
   async execute({ args = {}, sendSystemMessage, name }) {
     const text = String(args?.text || '').trim();
     if (!text) throw new Error('chat_say requires args.text');
-    sendSystemMessage(text, { nickname: name });
+    sendSystemMessage(text, { nickname: name, bot: true });
     return { ok: true };
   },
 };

server/src/services/replayEngineV2/constants.js

@@ -8,7 +8,7 @@ const FFMPEG_BIN = process.env.FFMPEG_BIN || 'ffmpeg';
 const SEGMENT_ROOT = path.join(resolveDataDir(), 'replay-segments');
 const SEGMENT_SECONDS = Math.max(1, Number.parseInt(process.env.REPLAY_SEGMENT_SECONDS || '1', 10));
 const BUFFER_SECONDS = Math.max(20, Number.parseInt(process.env.REPLAY_BUFFER_SECONDS || '45', 10));
-const CLEANUP_INTERVAL_MS = 10_000;
+const CLEANUP_INTERVAL_MS = Math.max(500, Number.parseInt(process.env.REPLAY_TICK_MS || '2000', 10));
 const BUILD_DURATION_MS = Math.max(5000, Number.parseInt(process.env.REPLAY_DURATION_MS || '35000', 10));
 const BUILD_GUARD_MS = Math.max(200, Number.parseInt(process.env.REPLAY_GUARD_MS || '1200', 10));
 const TARGET_FPS = Math.max(10, Number.parseInt(process.env.REPLAY_TARGET_FPS || '30', 10));

server/src/services/replayEngineV2/index.js

@@ -54,6 +54,11 @@ const replayBuilder = createReplayBuilder({
 });
 registerReplaySocketHooks({ tryTriggerReplay, validateSources, getDefaultWebSources });
 
+async function buildReplayVideoFresh(options = {}) {
+  await tick();
+  return replayBuilder.buildReplayVideo(options);
+}
+
 function getReplayHealthSnapshot() {
   return segmentStore.getReplayHealthSnapshot({ BUILD_DURATION_MS, roverManager, getRoomCameras });
 }
@@ -98,7 +103,7 @@ start().catch((err) => {
 });
 
 module.exports = {
-  buildReplayVideo: replayBuilder.buildReplayVideo,
+  buildReplayVideo: buildReplayVideoFresh,
   tryTriggerReplay,
   getReplayState,
   replayEvents,

server/src/services/replayEngineV2/replayBuilder.js

@@ -52,6 +52,22 @@ function buildChatEventsForWindow(startMs, endMs, limit = 22, preWindowCount = 1
 }
 
 function createReplayBuilder({ execFileAsync, fsp, ensureDir, renderSidebarVideo, getVideoEntriesForSource, getAudioEntriesForRover, overlapping }) {
+  function resolveReplayWindow({ sources = [], nowMs, guardMs, durationMs }) {
+    const tentativeEnd = nowMs - guardMs;
+    const sourceEnds = [];
+    for (const source of sources) {
+      const sourceId = String(source.id);
+      const allEntries = getVideoEntriesForSource({ type: String(source.type), id: sourceId });
+      if (!Array.isArray(allEntries) || !allEntries.length) continue;
+      const bounded = allEntries.filter((entry) => Number.isFinite(entry?.endMs) && entry.endMs <= tentativeEnd);
+      if (!bounded.length) continue;
+      const latest = bounded.reduce((best, entry) => (entry.endMs > best.endMs ? entry : best), bounded[0]);
+      sourceEnds.push(latest.endMs);
+    }
+    const alignedEnd = sourceEnds.length ? Math.min(...sourceEnds) : tentativeEnd;
+    return { tEnd: alignedEnd, tStart: alignedEnd - durationMs };
+  }
+
   async function concatFiles(inputPaths, outPath) {
     const listPath = `${outPath}.concat.txt`;
     const body = inputPaths.map((file) => `file '${file.replace(/'/g, "'\\''")}'`).join('\n');
@@ -74,8 +90,12 @@ function createReplayBuilder({ execFileAsync, fsp, ensureDir, renderSidebarVideo
 
   async function buildReplayVideo({ sources = [], title = '', requester = '', includeSidebar = true } = {}) {
     if (!Array.isArray(sources) || !sources.length) throw new Error('No replay sources selected');
-    const tEnd = Date.now() - BUILD_GUARD_MS;
-    const tStart = tEnd - BUILD_DURATION_MS;
+    const { tEnd, tStart } = resolveReplayWindow({
+      sources,
+      nowMs: Date.now(),
+      guardMs: BUILD_GUARD_MS,
+      durationMs: BUILD_DURATION_MS,
+    });
     const resolvedTitle = sanitizeReplayTitle(title, resolveDefaultReplayTitle(requester, sources));
     const tmpDir = await fsp.mkdtemp(path.join(os.tmpdir(), 'mrr-replay-v2-'));
 

webui/src/components/AdminPanel/llmHelpers.js

@@ -62,7 +62,7 @@ export function buildLlmConversationRowsFromMessages(modelMessages, rawOutput) {
         nickname,
         text: content,
         role: 'spectator',
-        system: role === 'system',
+        bot: role === 'system',
       },
     };
   });
@@ -75,7 +75,7 @@ export function buildLlmConversationRowsFromMessages(modelMessages, rawOutput) {
         nickname: 'LLM Output',
         text: raw.trim() ? raw : '<empty>',
         role: 'spectator',
-        system: true,
+        bot: true,
       },
     });
   }

webui/src/components/ChatMessageRow/index.jsx

@@ -17,8 +17,8 @@ function roleColors(role) {
   }
 }
 
-function isBotSystemMessage(message) {
-  return Boolean(message?.system);
+function isBotMessage(message) {
+  return Boolean(message?.bot);
 }
 
 function formatTime(ts) {
@@ -34,7 +34,7 @@ function DiscordAvatar({ guildIconUrl, userAvatarUrl, label }) {
   if (!guildIconUrl && !userAvatarUrl) return null;
   return (
     <span
-      className="flex h-4 w-4 overflow-hidden rounded-full border border-slate-700/80"
+      className="flex h-4 w-4 shrink-0 overflow-hidden rounded-none border border-slate-700/80"
       title={label}
     >
       <span
@@ -65,51 +65,64 @@ function DiscordAvatar({ guildIconUrl, userAvatarUrl, label }) {
   );
 }
 
+function ProfileAvatar({ imageUrl, label }) {
+  if (!imageUrl) return null;
+  return (
+    <span className="flex h-4 w-4 shrink-0 overflow-hidden rounded-none border border-slate-700/80" title={label}>
+      <span
+        className="h-full w-full bg-cover bg-center bg-no-repeat"
+        style={{ backgroundImage: `url(${imageUrl})` }}
+      />
+    </span>
+  );
+}
+
 export function ChatIdentity({ message }) {
   const discordLabel = message.fromDiscord
     ? `${message.discordGuildName || 'Discord'} · ${displayName(message)}`
     : null;
-  const isBot = isBotSystemMessage(message);
+  const isBot = isBotMessage(message);
   const nameClass = isBot ? 'text-emerald-300' : roleColors(message.role);
   return (
-    <>
+    <span className="inline-flex min-w-0 items-center gap-0.5 align-middle">
       {message.fromDiscord ? (
-        <>
-          <FaDiscord className="h-3.5 w-3.5 text-indigo-200" />
+        <FaDiscord className="h-4 w-4 shrink-0 text-indigo-200" />
+      ) : null}
+      <span className={`font-semibold text-[0.85rem] ${nameClass}`}>
+        {displayName(message)}
+      </span>
+      <ProfileAvatar imageUrl={message.profileImage} label={discordLabel || displayName(message)} />
+      {!message.profileImage ? (
         <DiscordAvatar
           guildIconUrl={message.discordGuildIconUrl}
           userAvatarUrl={message.discordUserAvatarUrl}
           label={discordLabel}
         />
-        </>
       ) : null}
-      <span className={`font-semibold text-[0.85rem] ${nameClass}`}>
-        {displayName(message)}
-      </span>
       {isBot ? (
-        <span className="rounded bg-emerald-900/60 px-1 text-[0.65rem] font-semibold uppercase tracking-wide text-white">
+        <span className="shrink-0 rounded bg-emerald-900/60 px-1 text-[0.65rem] font-semibold uppercase tracking-wide text-white">
           bot
         </span>
       ) : null}
       {message.roverId && (
         <span
-          className="rounded bg-slate-800 px-1 text-[0.7rem]"
+          className="shrink-0 rounded bg-slate-800 px-1 text-[0.7rem]"
           style={roverBadgeStyle(message.roverColor, 0.14)}
         >
           {message.roverId}
         </span>
       )}
-    </>
+    </span>
   );
 }
 
 function chatRowClass(message) {
-  if (isBotSystemMessage(message)) {
-    return 'surface-muted relative flex flex-wrap items-start gap-0.5 border border-emerald-500/40 bg-emerald-900/15 text-sm';
+  if (isBotMessage(message)) {
+    return 'surface-muted flex items-center gap-0.5 border border-emerald-500/40 bg-emerald-900/15 text-sm';
   }
   const isAdmin =
     message.role === 'admin' || message.role === 'lockdown' || message.role === 'lockdown-admin';
-  return `surface-muted relative flex flex-wrap items-start gap-0.5 text-sm ${
+  return `surface-muted flex items-center gap-0.5 text-sm ${
     isAdmin
       ? 'border border-amber-400/30'
       : message.fromDiscord
@@ -119,16 +132,15 @@ function chatRowClass(message) {
 }
 
 export default function ChatMessageRow({ message }) {
-  const isBot = isBotSystemMessage(message);
+  const isBot = isBotMessage(message);
   return (
     <div className={chatRowClass(message)}>
-      <ChatIdentity message={message} />
       <span
-        className={`min-w-0 break-words leading-tight whitespace-pre-wrap ${isBot ? 'text-emerald-100' : 'text-slate-100'}`}
+        className={`min-w-0 flex-1 break-words leading-tight whitespace-pre-wrap ${isBot ? 'text-emerald-100' : 'text-slate-100'}`}
       >
-        {message.text}
+        <ChatIdentity message={message} /> {message.text}
       </span>
-      <span className="absolute bottom-0.5 right-1 text-[0.65rem] text-slate-400/60">
+      <span className="ml-auto shrink-0 text-[0.65rem] text-slate-400/60">
         {formatTime(message.ts)}
       </span>
     </div>

webui/src/components/DriveDockAction/index.jsx

@@ -5,6 +5,7 @@ import { useMemo, useState } from 'react';
 import { useControlSystem } from '../../controls/index.js';
 import { useTelemetryFrame } from '../../context/TelemetryContext.jsx';
 import { formatKeyLabel } from '../../controls/keymapUtils.js';
+import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 
 export function deriveDriveDockState(frame) {
   const sensors = frame?.sensors || {};
@@ -68,7 +69,7 @@ function DockModal({ instructions, onConfirm, onCancel, pending }) {
     <div className="fixed inset-0 z-40 flex items-center justify-center bg-black/70 p-1">
       <div className="surface w-full max-w-md space-y-0.5 border border-indigo-700 bg-indigo-950/90 p-1 text-slate-100 shadow-2xl">
         <div className="space-y-0.5">
-          <p className="text-lg font-semibold text-indigo-50">Dock Rover</p>
+          <p className="text-lg font-semibold text-indigo-50">Manual Docking Assist</p>
           <p className="text-sm text-slate-200">{instructions.summary}</p>
           <StepList steps={instructions.steps} tone="indigo" />
         </div>
@@ -86,7 +87,7 @@ function DockModal({ instructions, onConfirm, onCancel, pending }) {
             onClick={onConfirm}
             className="bg-indigo-600 px-0.5 py-1 font-semibold text-indigo-50 transition hover:bg-indigo-500 disabled:opacity-50"
           >
-            {pending ? 'Docking…' : 'Confirm Dock'}
+            {pending ? 'Starting…' : 'Enter Assist'}
           </button>
         </div>
       </div>
@@ -106,12 +107,14 @@ export default function DriveDockAction({
     state: { roverId, keymap },
     actions,
   } = useControlSystem();
+  const dockAssist = useManualDockAssist();
   const frame = useTelemetryFrame(roverId);
   const state = driveDockState ?? deriveDriveDockState(frame);
   const { driving, docked, charging, dockingInProgress } = state;
   const [pending, setPending] = useState(null);
   const [confirmOpen, setConfirmOpen] = useState(false);
   const [showModal, setShowModal] = useState(false);
+  const manualAssistActive = Boolean(dockAssist.active);
 
   const driveDisabled = !roverId || pending !== null;
   const dockDisabled = !roverId || pending !== null;
@@ -120,10 +123,13 @@ export default function DriveDockAction({
   const dockKeyLabel = formatKeyLabel(keymap?.dockMacro?.[0]);
 
   const dockInstructions = {
-    summary: 'You are about to trigger an automatic docking attempt! To have a successful dock:',
-    steps: ['Line up the rover straight in front of the dock', 'Make sure the rover is about one foot or half a meter away from the dock', 'Press Confirm Dock to begin the docking process'],
+    summary: 'Use assist mode to manually line up with the dock.',
+    steps: [
+      'Line up the center dot of your rover with the center of the dock',
+      'The UI will indicate when you are successfully docked',
+      'When good contact is made, charging will start in about 5 seconds.',
+    ],
   };
-  const dockButtonCaption = 'Click this button to initate auto-dock.';
 
   const startDriveInstructions = {
     summary: 'You must enable driving mode before you can move the rover.',
@@ -131,13 +137,14 @@ export default function DriveDockAction({
   };
   const dockValue = docked ? 'Docked' : 'Undocked';
   const dockTone = docked ? 'good' : 'bad';
-  const chargeValue = charging ? 'Charging' : docked ? 'Charging in 5s' : '—';
+  const chargeValue = charging ? 'Charging' : docked ? 'Charging soon...' : '—';
   const chargeTone = charging ? 'good' : docked ? 'warn' : 'bad';
 
   const handleReturnToDrive = async () => {
     if (!roverId || pending) return;
     setPending('drive');
     try {
+      dockAssist.exitAssist();
       actions.setMode('drive');
       await actions.runMacro('drive-sequence');
     } catch (err) {
@@ -153,6 +160,7 @@ export default function DriveDockAction({
     setShowModal(false);
     setPending('drive');
     try {
+      dockAssist.exitAssist();
       actions.setMode('drive');
       await actions.runMacro('drive-sequence');
     } catch (err) {
@@ -166,8 +174,7 @@ export default function DriveDockAction({
     if (!roverId || pending) return;
     setPending('dock');
     try {
-      actions.setMode('dock');
-      await actions.runMacro('seek-dock');
+      dockAssist.enterAssist();
     } catch (err) {
       alert(err.message);
     } finally {
@@ -179,6 +186,10 @@ export default function DriveDockAction({
 
   const handleOpenDock = () => {
     if (dockDisabled) return;
+    if (manualAssistActive) {
+      dockAssist.exitAssist();
+      return;
+    }
     setShowModal(true);
     setConfirmOpen(true);
   };
@@ -188,7 +199,6 @@ export default function DriveDockAction({
   const ctaText = 'text-center';
   const ctaLayout = 'items-center justify-between';
   const compactLayout = 'items-center justify-center';
-  const ctaTextAndLayout = `${ctaText} ${ctaLayout}`;
   const ctaSize = isMobile ? 'text-sm font-semibold' : '';
   const emeraldCta =
     'border-emerald-300/70 bg-emerald-800 text-emerald-50 hover:bg-emerald-700 focus-visible:ring-emerald-300';
@@ -196,6 +206,8 @@ export default function DriveDockAction({
     'border-amber-300/70 bg-amber-900 text-amber-50 hover:bg-amber-800 focus-visible:ring-amber-300';
   const indigoCta =
     'border-indigo-300/70 bg-indigo-900 text-indigo-50 hover:bg-indigo-800 focus-visible:ring-indigo-300';
+  const cyanCta =
+    'border-cyan-300/70 bg-cyan-900 text-cyan-50 hover:bg-cyan-800 focus-visible:ring-cyan-300';
   const orangeCta =
     'border-amber-300/70 bg-amber-900 text-amber-50 hover:bg-amber-800 focus-visible:ring-amber-300';
   const forceExpanded = dockingInProgress;
@@ -243,8 +255,8 @@ export default function DriveDockAction({
 
   if (dockingInProgress) {
     const inProgressCopy = {
-      summary: 'If the rover is failing to dock, click to drive and try again.',
-      steps: ['The rover should be slowly wiggling towards the dock', 'If it is obviously not working, press this button to enter driving mode and try again'],
+      summary: 'The rover is currently attempting to dock itself due to being idle.',
+      steps: ['Click to return to driving mode.'],
     };
 
     return (
@@ -257,7 +269,7 @@ export default function DriveDockAction({
       >
         <div className="space-y-0.5 w-full">
           <div className="flex w-full flex-col items-center gap-0.25">
-            <span className="text-base font-semibold text-amber-50 md:text-lg">Docking in Progress</span>
+            <span className="text-base font-semibold text-amber-50 md:text-lg">Attempting to auto-dock...</span>
             {/* {!isMobile && expanded ? ( */}
             {expanded ? (
               <div className="flex flex-wrap items-center justify-center gap-0.5">
@@ -292,32 +304,31 @@ export default function DriveDockAction({
         className={
           isMobile
             ? `flex w-full ${baseCardClasses} ${compactHeight} ${ctaText} ${layoutClass} ${ctaSize} ${
-                compactDockedDriving ? orangeCta : indigoCta
+                manualAssistActive ? cyanCta : compactDockedDriving ? orangeCta : indigoCta
               }`
-            : `${baseCardClasses} ${filledHeight} ${ctaText} ${ctaLayout} ${ctaSize} ${indigoCta}`
+            : `${baseCardClasses} ${filledHeight} ${ctaText} ${ctaLayout} ${ctaSize} ${manualAssistActive ? cyanCta : indigoCta}`
         }
       >
         <div className="flex w-full flex-col items-center gap-0.25">
           <span className="text-base font-semibold text-indigo-50 md:text-lg">
-            {compactDockedDriving ? 'Docked!' : 'Dock and Charge'}
+            {compactDockedDriving ? 'Docked!' : manualAssistActive ? 'Exit Docking Assist' : 'Dock and charge'}
           </span>
           {!isMobile && expanded ? (
             <div className="flex flex-wrap items-center justify-center gap-0.5">
               {dockKeyLabel ? <KeyPill label={dockKeyLabel} /> : null}
-              <ActionPill label="Click to begin docking" tone="indigo" />
+              <ActionPill label={manualAssistActive ? 'Click to exit assist' : 'Click to enable assist'} tone="indigo" />
             </div>
           ) : null}
         </div>
         {!isMobile && expanded && (
           <>
-            <p className="text-sm text-indigo-50/90">{dockButtonCaption}</p>
+            <p className="text-sm text-indigo-50/90">
+              Get near a dock and press this button to enter docking assist mode.
+            </p>
             <div className="flex w-full flex-1 flex-col gap-0.5 self-stretch">
               <StatusRow label="Dock" value={dockValue} tone={dockTone} />
               <StatusRow label="Charge" value={chargeValue} tone={chargeTone} />
             </div>
-            <div className="text-xs text-indigo-100/80">
-              Line up straight, about 1 foot away, before docking.
-            </div>
           </>
         )}
       </button>

webui/src/components/DriverVideo/index.jsx

@@ -4,6 +4,7 @@ import { useControlSystem } from '../../controls/index.js';
 import { useDriverVideoModePolicy } from '../../hooks/useDriverVideoModePolicy.js';
 import TurnsOverlay from '../HudOverlays/TurnsOverlay/index.jsx';
 import HudOverlay from '../HudOverlays/HudOverlay/index.jsx';
+import ManualDockAssistOverlay from '../HudOverlays/ManualDockAssistOverlay/index.jsx';
 import RoverDescriptionOverlay from '../HudOverlays/RoverDescriptionOverlay/index.jsx';
 import OvercurrentOverlay from '../HudOverlays/OvercurrentOverlay/index.jsx';
 import LowBatteryOverlay from '../HudOverlays/LowBatteryOverlay/index.jsx';
@@ -50,6 +51,7 @@ export default function DriverVideo({ layoutFormat = 'desktop' }) {
             mobileHud={mobileHud}
             labelScale={1}
           />
+          <ManualDockAssistOverlay mobileHud={mobileHud} />
           <HudChatInput compact={mobileHud} />
           <OvercurrentOverlay compact={mobileHud} />
           <LowBatteryOverlay compact={mobileHud} />

webui/src/components/HudOverlays/ManualDockAssistOverlay/index.jsx

@@ -0,0 +1,72 @@
+import React, { useEffect, useRef, useState } from 'react';
+import { useManualDockAssist } from '../../../features/manualDockAssist/useManualDockAssist.js';
+
+function ManualDockAssistOverlay({ mobileHud = false }) {
+  const { visible, statusLabel, statusTone, active, charging } = useManualDockAssist({ manageLifecycle: true });
+  const [popupMessage, setPopupMessage] = useState('');
+  const timerRef = useRef(null);
+  const prevActiveRef = useRef(active);
+
+  useEffect(() => {
+    const prevActive = prevActiveRef.current;
+    const enabledNow = active && !prevActive;
+    const autoDisabledOnCharge = !active && prevActive && charging;
+    if (enabledNow) {
+      setPopupMessage('Dock assist mode enabled');
+    } else if (autoDisabledOnCharge) {
+      setPopupMessage('Docking successful! Thank you!');
+    }
+    prevActiveRef.current = active;
+  }, [active, charging]);
+
+  useEffect(() => {
+    if (!popupMessage) return undefined;
+    if (timerRef.current) {
+      clearTimeout(timerRef.current);
+    }
+    timerRef.current = setTimeout(() => {
+      setPopupMessage('');
+      timerRef.current = null;
+    }, 2500);
+    return () => {
+      if (timerRef.current) {
+        clearTimeout(timerRef.current);
+        timerRef.current = null;
+      }
+    };
+  }, [popupMessage]);
+
+  if (!visible) return null;
+  const toneClass =
+    statusTone === 'good'
+      ? 'border-emerald-200/90 bg-emerald-900/90 text-emerald-50'
+      : statusTone === 'warn'
+      ? 'border-amber-200/90 bg-amber-900/90 text-amber-50'
+      : 'border-cyan-200/90 bg-cyan-900/90 text-cyan-50';
+
+  return (
+    <div className="pointer-events-none absolute inset-0">
+      {popupMessage ? (
+        <div className="absolute inset-0 flex items-center justify-center">
+          <div
+            className={`rounded-xl border border-indigo-200/95 bg-black/95 px-4 py-2 text-center font-semibold text-indigo-50 shadow-2xl ${
+              mobileHud ? 'text-lg' : 'text-2xl'
+            }`}
+          >
+            {popupMessage}
+          </div>
+        </div>
+      ) : (
+        <div
+          className={`absolute right-2 top-1/2 -translate-y-1/2 rounded-lg border px-2 py-1 font-semibold shadow-lg ${toneClass} ${
+            mobileHud ? 'text-[0.65rem]' : 'text-xs'
+          }`}
+        >
+          {statusLabel}
+        </div>
+      )}
+    </div>
+  );
+}
+
+export default React.memo(ManualDockAssistOverlay);

webui/src/components/MobileControls/MobileControlsContent.jsx

@@ -18,6 +18,7 @@ import {
   AUX_ALL_FORWARD,
   AUX_ALL_BACKWARD,
 } from './constants.js';
+import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 
 function MobileJoystickPanel({ layout }) {
   const {
@@ -99,6 +100,7 @@ function MobileActionsColumnContent({ layout }) {
     pipeline,
     actions: { setServoAngle, setNightVision, setAuxMotors, startHorn, stopHorn },
   } = useControlSystem();
+  const dockAssist = useManualDockAssist();
   const disabled = !roverId;
   const activeRef = useRef(null);
   const cameraConfig = camera?.config;
@@ -115,6 +117,7 @@ function MobileActionsColumnContent({ layout }) {
       : typeof cameraConfig?.homeAngle === 'number'
       ? cameraConfig.homeAngle
       : (cameraMin + cameraMax) / 2;
+  const cameraDisabled = Boolean(disabled || dockAssist.cameraLocked);
 
   const handleNightVisionToggle = useCallback(
     (nextOn) => {
@@ -174,6 +177,7 @@ function MobileActionsColumnContent({ layout }) {
               min={cameraMin}
               max={cameraMax}
               step={0.5}
+              disabled={cameraDisabled}
               onChange={setServoAngle}
               orientation="vertical"
               label="Camera Tilt"

webui/src/components/QuickstartOverlay/index.jsx

@@ -30,7 +30,7 @@ function DesktopQuickstart({ keymap }) {
           <ControlRow label="Move slower" keyLabel={formatKeyLabel(keymap?.slowModifier?.[0])} />
         </div>
       </div>
-      <p className="text-sm text-slate-200">3. When done, please dock your rover! Line up with the dock and press "Dock and Charge".</p>
+      <p className="text-sm text-slate-200">3. When done, enter "Docking Assist" and line up the front sensor with the dock sensor.</p>
     </div>
   );
 }
@@ -41,7 +41,7 @@ function MobileQuickstart() {
       <p>1. Press "Start Driving" put your rover into driving mode.</p>
       <p>2. Touch and hold in Joystick area to move.</p>
       <p>3. Use the other column for motor, horn, and camera controls.</p>
-      <p>4. When done, please dock your rover! Line up with the dock and press "Dock and Charge".</p>
+      <p>4. When done, enter "Docking Assist" and line up the front sensor with the dock sensor.</p>
     </div>
   );
 }

webui/src/components/RightPaneTabs/index.jsx

@@ -24,6 +24,7 @@ import { useSessionSelector } from '../../context/SessionContext.jsx';
 import { useSettingsNamespace } from '../../settings/index.js';
 import ButtonBoxPanel from '../ButtonBoxPanel/index.jsx';
 import { useState } from 'react';
+import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 
 function TopDownMapPanel() {
   const {
@@ -47,6 +48,7 @@ function DriveDockPanel() {
     pipeline,
     actions: { setServoAngle, setNightVision, startHorn, stopHorn },
   } = useControlSystem();
+  const dockAssist = useManualDockAssist();
   const driveDockState = useDriveDockState(roverId);
   const hideInlineControls = driveDockState.docked && !driveDockState.driving;
 
@@ -68,6 +70,7 @@ function DriveDockPanel() {
   const hornLabel = formatKeyLabel(keymap?.hornHonk?.[0]);
   const upLabel = formatKeyLabel(keymap?.cameraUp?.[0]);
   const downLabel = formatKeyLabel(keymap?.cameraDown?.[0]);
+  const cameraDisabled = Boolean(!roverId || dockAssist.cameraLocked);
 
   return (
     <section className="panel-section grid h-full min-h-0 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
@@ -97,6 +100,7 @@ function DriveDockPanel() {
               value={value}
               min={min}
               max={max}
+              disabled={cameraDisabled}
               onChange={setServoAngle}
               keyDownLabel={downLabel}
               keyUpLabel={upLabel}

webui/src/components/RoverMediaPlayer/index.jsx

@@ -379,16 +379,8 @@ export default function RoverMediaPlayer({
     const handleStatus = (nextStatus, info) => {
       if (!active) return;
       logAudio('audio/status', { nextStatus, info: info || null });
-      setAudioDetail(info || (nextStatus === 'connected' ? 'connected' : null));
-      setAudioStatus((prev) => {
-        if (nextStatus === 'connected' && (prev === 'playing' || prev === 'connecting')) {
-          return prev;
-        }
-        if (nextStatus === 'new') {
-          return prev;
-        }
-        return nextStatus;
-      });
+      setAudioStatus(nextStatus);
+      setAudioDetail(info || null);
       if (['error', 'failed'].includes(nextStatus)) {
         scheduleAudioRestart();
       }

webui/src/components/VipPanel/index.jsx

@@ -11,10 +11,10 @@ import VipIdentityCard from '../vip/VipIdentityCard.jsx';
 import VipPrivateRoverAccessCard from '../vip/VipPrivateRoverAccessCard.jsx';
 import VipNeatoCard from '../vip/VipNeatoCard.jsx';
 import VipLiftCard from '../vip/VipLiftCard.jsx';
+import VipProfileImageCard from '../vip/VipProfileImageCard.jsx';
 
 export default function VipPanel({ isActive = true }) {
   const session = useSessionSelector((state) => state.session);
-  const neatoLidar = useSessionSelector((state) => state.neatoLidar);
   const {
     identifySession,
     requestVerification,
@@ -79,8 +79,6 @@ export default function VipPanel({ isActive = true }) {
             <div className="space-y-2">
               <VipNeatoCard
                 neato={session?.neato || null}
-                lidar={neatoLidar}
-                lidarActive={isActive}
                 onStart={neatoStart}
                 onSendHome={neatoSendHome}
                 onLocate={neatoLocate}
@@ -131,6 +129,14 @@ export default function VipPanel({ isActive = true }) {
             fullWidth
           />
         </div>
+
+        <div className="lg:col-span-2">
+          <VipProfileImageCard
+            isVerified={isVerified}
+            onMessage={setMessage}
+            fullWidth
+          />
+        </div>
       </div>
 
       {message ? (

webui/src/components/vip/VipNeatoCard.jsx

@@ -1,7 +1,7 @@
 // Vip Neato Card
 // Purpose: Defines the Vip Neato Card module and the local helpers/components used in this file.
 // Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit.
-import { useEffect, useMemo, useState } from 'react';
+import { useState } from 'react';
 
 function normalizeState(value) {
   return String(value || '').trim();
@@ -38,83 +38,8 @@ function StatusTile({ label, value, tone = 'muted', valueClass = '', hideLabel =
   );
 }
 
-function buildLidarRenderPoints(points = []) {
-  const center = 110;
-  const plotRadius = 102;
-  const validPoints = points.filter(
-    (point) => point && point.valid && Number.isFinite(point.angleDeg) && Number.isFinite(point.distanceMm),
-  );
-  const sortedPoints = [...validPoints].sort((a, b) => Number(a.angleDeg) - Number(b.angleDeg));
-  const groups = [];
-  let currentGroup = [];
-
-  for (const point of sortedPoints) {
-    if (!currentGroup.length) {
-      currentGroup.push(point);
-      continue;
-    }
-    const previousPoint = currentGroup[currentGroup.length - 1];
-    const angleGap = Math.abs(Number(point.angleDeg) - Number(previousPoint.angleDeg));
-    const prevDistanceMm = Math.max(0, Number(previousPoint.distanceMm));
-    const distanceMm = Math.max(0, Number(point.distanceMm));
-    const distanceGap = Math.abs(distanceMm - prevDistanceMm);
-
-    if (angleGap <= 2 && distanceGap <= 900) {
-      currentGroup.push(point);
-      continue;
-    }
-
-    groups.push(currentGroup);
-    currentGroup = [point];
-  }
-  if (currentGroup.length) groups.push(currentGroup);
-
-  const groupStats = groups.map((group) => {
-    const distances = group.map((point) => Math.max(0, Number(point.distanceMm)));
-    const avgDistanceMm = distances.reduce((sum, value) => sum + value, 0) / Math.max(1, distances.length);
-    return {
-      points: group,
-      size: group.length,
-      avgDistanceMm,
-    };
-  });
-  const largestGroup = groupStats.reduce((best, group) => (group.size > (best?.size || 0) ? group : best), null);
-  const referenceDistanceMm = largestGroup?.avgDistanceMm || 1000;
-  const filteredPoints = groupStats
-    .filter((group) => {
-      const tinyCluster = group.size <= 3;
-      const farFromMainBody =
-        group.avgDistanceMm > referenceDistanceMm * 1.8 && group.avgDistanceMm - referenceDistanceMm > 1400;
-      return !(tinyCluster && farFromMainBody);
-    })
-    .flatMap((group) => group.points);
-  const scaleDistances = filteredPoints.map((point) => Math.max(0, Number(point.distanceMm))).sort((a, b) => a - b);
-  const percentileIndex = Math.max(0, Math.floor((scaleDistances.length - 1) * 0.95));
-  const maxDistanceMm = Math.max(1000, scaleDistances[percentileIndex] || 1000);
-
-  return filteredPoints
-    .map((point) => {
-      const angleRad = ((Number(point.angleDeg) - 90) * Math.PI) / 180;
-      const distanceMm = Math.max(0, Number(point.distanceMm));
-      const normalizedDistance = Math.max(0, Math.min(1, distanceMm / maxDistanceMm));
-      const scaledRadius = normalizedDistance * plotRadius;
-      const x = center + Math.cos(angleRad) * scaledRadius;
-      const y = center + Math.sin(angleRad) * scaledRadius;
-      const intensity = Math.max(0, Math.min(255, Number(point.intensity) || 0));
-      const colorLightness = 38 + (intensity / 255) * 38;
-      return {
-        key: `${point.angleDeg}-${point.distanceMm}-${point.intensity}`,
-        x,
-        y,
-        fill: `hsl(198 100% ${colorLightness}%)`,
-      };
-    });
-}
-
 export default function VipNeatoCard({
   neato,
-  lidar,
-  lidarActive = true,
   onStart,
   onSendHome,
   onLocate,
@@ -123,8 +48,6 @@ export default function VipNeatoCard({
   fullWidth = false,
 }) {
   const [working, setWorking] = useState('');
-  const [lidarFlash, setLidarFlash] = useState(false);
-  const [showLidarDebug, setShowLidarDebug] = useState(false);
   const wrapClass = fullWidth ? 'w-full' : 'w-full max-w-xl';
 
   const configured = Boolean(neato?.configured);
@@ -140,15 +63,6 @@ export default function VipNeatoCard({
   const voltageLabel = Number.isFinite(voltage) ? `${voltage.toFixed(2)} V` : '--';
   const robotError = normalizeState(neato?.telemetry?.robotError) || '--';
   const robotAlert = normalizeState(neato?.telemetry?.robotAlert) || '--';
-  const lidarPoints = Array.isArray(lidar?.points) ? lidar.points : [];
-  const lidarRenderPoints = useMemo(
-    () => (lidarActive ? buildLidarRenderPoints(lidarPoints) : []),
-    [lidarActive, lidarPoints],
-  );
-  const lidarStatus = normalizeState(lidar?.status) || '--';
-  const lidarDebug = lidar?.debug && typeof lidar.debug === 'object' ? lidar.debug : null;
-  const lidarReason = normalizeState(lidarDebug?.reason) || '--';
-  const lidarStats = lidarDebug?.stats && typeof lidarDebug.stats === 'object' ? lidarDebug.stats : null;
 
   const controls = neato?.controls || {};
   const canStart = Boolean(controls?.start?.available);
@@ -183,16 +97,6 @@ export default function VipNeatoCard({
 
   const primaryState = docked ? 'Docked' : uiStateLabel !== '--' ? uiStateLabel : 'Away from dock';
 
-  useEffect(() => {
-    if (!lidarActive) return undefined;
-    if (!lidar || !Array.isArray(lidar.points)) return undefined;
-    setLidarFlash(true);
-    const timer = setTimeout(() => {
-      setLidarFlash(false);
-    }, 120);
-    return () => clearTimeout(timer);
-  }, [lidar, lidarActive]);
-
   return (
     <section className={`surface text-sm text-slate-200 ${wrapClass}`}>
       <div className="grid gap-0.5">
@@ -208,7 +112,7 @@ export default function VipNeatoCard({
           </span>
         </div>
 
-        <div className="grid grid-cols-1 lg:grid-cols-[minmax(0,0.95fr)_minmax(0,1.05fr)] gap-0.5">
+        <div className="grid grid-cols-1 lg:grid-cols-2 gap-0.5">
           <div className="surface-muted grid gap-0.5">
             <p className="text-xs text-slate-300 text-center">Controls</p>
             <button
@@ -277,7 +181,6 @@ export default function VipNeatoCard({
           <div className="grid gap-0.5">
             <div className="surface-muted grid gap-0.5">
               <p className="text-xs text-slate-300 text-center">Robot Status</p>
-              <div className="grid grid-cols-1 xl:grid-cols-[minmax(0,1fr)_minmax(13rem,15rem)] gap-0.5 items-start">
               <div className="grid gap-0.5">
                 <div className="rounded-md bg-slate-800 px-1 py-0.5">
                   <div className="text-[0.72rem] text-slate-300">Robot state (raw)</div>
@@ -300,57 +203,6 @@ export default function VipNeatoCard({
                   <div className="font-mono text-sm text-slate-100 break-all">{robotAlert}</div>
                 </div>
               </div>
-
-                <div className={`rounded-md px-1 py-0.5 ${lidarFlash ? 'bg-emerald-900' : 'bg-slate-800'}`}>
-                  <button
-                    type="button"
-                    onClick={() => setShowLidarDebug((value) => !value)}
-                    className="w-full text-left text-[0.72rem] text-slate-300"
-                  >
-                    Lidar
-                  </button>
-                  <div className="mt-0.25 text-center text-[0.68rem] text-slate-400">Front of robot</div>
-                  <div className="mt-0.25 aspect-square rounded-md bg-slate-800 p-0">
-                    {lidarRenderPoints.length ? (
-                      <svg viewBox="0 0 220 220" className="h-full w-full">
-                        <rect x="0" y="0" width="220" height="220" fill="#1e293b" />
-                        <rect x="7" y="7" width="206" height="206" fill="none" stroke="#64748b" strokeWidth="1" />
-                        <rect x="33" y="33" width="154" height="154" fill="none" stroke="#475569" strokeWidth="1" />
-                        <rect x="59" y="59" width="102" height="102" fill="none" stroke="#475569" strokeWidth="1" />
-                        <rect x="85" y="85" width="50" height="50" fill="none" stroke="#334155" strokeWidth="1" />
-                        <line x1="110" y1="7" x2="110" y2="213" stroke="#475569" strokeWidth="1" />
-                        <line x1="7" y1="110" x2="213" y2="110" stroke="#475569" strokeWidth="1" />
-                        <circle cx="110" cy="110" r="4" fill="#e2e8f0" />
-                        {lidarRenderPoints.map((point) => (
-                          <circle key={point.key} cx={point.x} cy={point.y} r="1.8" fill={point.fill} />
-                        ))}
-                      </svg>
-                    ) : (
-                      <div className="flex h-full items-center justify-center text-center text-xs text-slate-400">
-                        Waiting for scan
-                      </div>
-                    )}
-                  </div>
-                  {showLidarDebug ? (
-                    <div className="mt-0.5 rounded-md bg-slate-900 px-0.75 py-0.5 font-mono text-[0.68rem] text-slate-300">
-                      <div>Status: {lidarStatus}</div>
-                      <div>Reason: {lidarReason}</div>
-                      <div>Points: {lidarPoints.length}</div>
-                      <div>Rotation: {Number.isFinite(lidar?.rotationSpeed) ? lidar.rotationSpeed.toFixed(2) : '--'}</div>
-                      <div>Request in flight: {lidarDebug?.requestInFlight ? 'yes' : 'no'}</div>
-                      <div>Started at: {lidarDebug?.requestStartedAt || '--'}</div>
-                      <div>Headers: {lidarStats?.headersSeen ?? '--'}</div>
-                      <div>Rotations: {lidarStats?.rotationsSeen ?? '--'}</div>
-                      <div>Scans ok: {lidarStats?.scansOk ?? '--'}</div>
-                      <div>Timeouts: {lidarStats?.scansTimedOut ?? '--'}</div>
-                      <div>Restarts: {lidarStats?.scansRestarted ?? '--'}</div>
-                      <div>Rotation no scan: {lidarStats?.rotationsWithoutScan ?? '--'}</div>
-                      <div>Parseable payloads: {lidarStats?.parseablePayloads ?? '--'}</div>
-                      <div>Point payloads: {lidarStats?.pointPayloads ?? '--'}</div>
-                    </div>
-                  ) : null}
-                </div>
-              </div>
             </div>
           </div>
         </div>

webui/src/components/vip/VipProfileImageCard.jsx

@@ -0,0 +1,91 @@
+// Vip Profile Image Card
+// Purpose: Lets verified VIP users persist a profile image URL used for chat message avatars.
+// Scope: Owns local URL validation UX and writes to the existing profile settings namespace.
+import { useEffect, useMemo, useState } from 'react';
+import { useSettingsNamespace } from '../../settings/index.js';
+import { fieldClass, flowWrapClass, innerFlowClass } from './constants.js';
+
+function normalizeHttpUrl(value) {
+  const raw = String(value || '').trim();
+  if (!raw) return '';
+  try {
+    const parsed = new URL(raw);
+    const protocol = String(parsed.protocol || '').toLowerCase();
+    if (protocol !== 'http:' && protocol !== 'https:') return '';
+    return parsed.toString();
+  } catch {
+    return '';
+  }
+}
+
+export default function VipProfileImageCard({ isVerified = false, fullWidth = false, onMessage }) {
+  const { value: profile, save: saveProfile } = useSettingsNamespace('profile', {
+    nickname: '',
+    profileImageUrl: '',
+  });
+  const stored = String(profile?.profileImageUrl || '').trim();
+  const [input, setInput] = useState(stored);
+  const [working, setWorking] = useState(false);
+
+  useEffect(() => {
+    setInput(stored);
+  }, [stored]);
+
+  const normalizedInput = useMemo(() => normalizeHttpUrl(input), [input]);
+  const hasUnsaved = String(input || '').trim() !== stored;
+  const canSave = Boolean(isVerified && hasUnsaved && (normalizedInput || !String(input || '').trim()));
+  const wrapClass = fullWidth ? 'w-full' : flowWrapClass;
+
+  const handleSave = async (event) => {
+    event.preventDefault();
+    if (!isVerified) {
+      onMessage?.('Verify your account before setting a profile image URL.');
+      return;
+    }
+    setWorking(true);
+    onMessage?.('');
+    try {
+      const next = normalizedInput || '';
+      saveProfile((current) => ({ ...(current || {}), profileImageUrl: next }));
+      onMessage?.(next ? 'Profile image URL saved.' : 'Profile image URL cleared.');
+    } finally {
+      setWorking(false);
+    }
+  };
+
+  return (
+    <section className={`surface text-sm text-slate-300 ${wrapClass}`}>
+      <form className={innerFlowClass} onSubmit={handleSave}>
+        <p className="text-sm text-slate-300">Chat profile image URL</p>
+        <p className="text-xs text-slate-500">
+          Verified users can set a custom avatar for chat and Discord bridge messages.
+        </p>
+        <input
+          className={fieldClass}
+          type="url"
+          name="vip_profile_image_url"
+          placeholder="https://example.com/avatar.png"
+          value={input}
+          onChange={(event) => setInput(event.target.value)}
+          disabled={!isVerified || working}
+        />
+        {!normalizedInput && String(input || '').trim() ? (
+          <p className="text-xs text-amber-300">Enter a valid http/https image URL.</p>
+        ) : null}
+        <div className="flex justify-center gap-0.5">
+          <button type="submit" className="button-dark text-sm disabled:opacity-50" disabled={!canSave || working}>
+            {working ? 'Saving...' : 'Save URL'}
+          </button>
+          <button
+            type="button"
+            className="button-dark text-sm disabled:opacity-50"
+            disabled={!isVerified || working || !stored}
+            onClick={() => setInput('')}
+          >
+            Clear
+          </button>
+        </div>
+      </form>
+    </section>
+  );
+}

webui/src/context/ChatContext.jsx

@@ -27,6 +27,7 @@ export function ChatProvider({ children }) {
   const session = useSessionSelector((state) => state.session);
   const { pushAlert } = useSessionActions();
   const { value: audioSettings } = useSettingsNamespace('audio', AUDIO_SETTINGS_DEFAULTS);
+  const { value: profileSettings } = useSettingsNamespace('profile', { nickname: '', profileImageUrl: '' });
   const [messages, setMessages] = useState([]);
   const [typing, setTyping] = useState([]);
   const [isChatFocused, setIsChatFocused] = useState(false);
@@ -39,6 +40,8 @@ export function ChatProvider({ children }) {
   const masterVolume = Number.isFinite(audioSettings?.masterVolume) ? audioSettings.masterVolume : AUDIO_SETTINGS_DEFAULTS.masterVolume;
   const alertVolume = Number.isFinite(audioSettings?.alertVolume) ? audioSettings.alertVolume : AUDIO_SETTINGS_DEFAULTS.alertVolume;
   const effectiveAlertVolume = Math.max(0, Math.min(1, masterVolume * alertVolume));
+  const isVerified = Boolean(session?.isVerified);
+  const profileImage = isVerified ? String(profileSettings?.profileImageUrl || '').trim() : '';
 
   const rebuildTyping = useCallback(() => {
     const entries = Array.from(typingRef.current.values())
@@ -182,7 +185,9 @@ export function ChatProvider({ children }) {
   const sendMessage = useCallback(
     (text, tts = null) =>
       new Promise((resolve, reject) => {
-        socket.emit('chat:send', { text, tts }, (resp = {}) => {
+        const payload = { text, tts };
+        if (profileImage) payload.profileImage = profileImage;
+        socket.emit('chat:send', payload, (resp = {}) => {
           if (resp.error) {
             reject(new Error(resp.error));
           } else {
@@ -190,7 +195,7 @@ export function ChatProvider({ children }) {
           }
         });
       }),
-    [socket],
+    [profileImage, socket],
   );
 
   const registerInputRef = useCallback((el, options = {}) => {

webui/src/context/SessionContext.jsx

@@ -8,7 +8,6 @@ import { useSocket } from './SocketContext.jsx';
 const INITIAL_STATE = {
   connected: false,
   session: null,
-  neatoLidar: null,
   logs: [],
   adminLogs: [],
   llmCommentaryState: null,
@@ -133,12 +132,7 @@ export function SessionProvider({ children }) {
       const state = payload && typeof payload === 'object' ? payload : null;
       setState((prev) => ({ ...prev, overseerControlState: state }));
     }
-    function handleNeatoLidar(payload = null) {
-      const next = payload && typeof payload === 'object' ? payload : null;
-      setState((prev) => ({ ...prev, neatoLidar: next }));
-    }
     socket.on('session:sync', handleSession);
-    socket.on('neato:lidar', handleNeatoLidar);
     socket.on('log:init', handleLogInit);
     socket.on('log:entry', handleLogEntry);
     socket.on('adminlog:init', handleAdminLogInit);
@@ -148,7 +142,6 @@ export function SessionProvider({ children }) {
     socket.on('alert:new', handleAlertNew);
     return () => {
       socket.off('session:sync', handleSession);
-      socket.off('neato:lidar', handleNeatoLidar);
       socket.off('log:init', handleLogInit);
       socket.off('log:entry', handleLogEntry);
       socket.off('adminlog:init', handleAdminLogInit);

webui/src/controls/ControlContext.jsx

@@ -11,6 +11,7 @@ import {
   HORN_HEAT_RESUME_THRESHOLD,
   HORN_HEAT_UP_PER_SEC,
   HORN_MAX_MS,
+  MANUAL_DOCK_ASSIST_MAX_SPEED,
   SONG_DEFAULT_NOTE,
 } from './constants.js';
 import { canonicalizeKeyInput } from './keymapUtils.js';
@@ -212,7 +213,23 @@ export function ControlSystemProvider({ children }) {
 
   const setDriveVector = useCallback(
     (vector, meta = {}) => {
-      const computed = computeDifferentialSpeeds(vector, meta.speedOptions);
+      const speedOptions = { ...(meta.speedOptions || {}) };
+      if (state.manualDockAssist?.active) {
+        const capped = Math.max(1, Math.min(MANUAL_DOCK_ASSIST_MAX_SPEED, 500));
+        speedOptions.maxSpeed = Math.min(
+          typeof speedOptions.maxSpeed === 'number' ? speedOptions.maxSpeed : capped,
+          capped,
+        );
+        speedOptions.baseSpeed = Math.min(
+          typeof speedOptions.baseSpeed === 'number' ? speedOptions.baseSpeed : capped,
+          capped,
+        );
+        speedOptions.boostSpeed = Math.min(
+          typeof speedOptions.boostSpeed === 'number' ? speedOptions.boostSpeed : capped,
+          capped,
+        );
+      }
+      const computed = computeDifferentialSpeeds(vector, speedOptions);
       dispatch({
         type: 'control/update-drive',
         payload: { ...computed, source: meta.source ?? null },
@@ -220,7 +237,7 @@ export function ControlSystemProvider({ children }) {
       recordControlIntent();
       pipeline.sendDriveDirect(computed.speeds);
     },
-    [pipeline, recordControlIntent],
+    [pipeline, recordControlIntent, state.manualDockAssist?.active],
   );
 
   const setAuxMotors = useCallback(
@@ -262,15 +279,17 @@ export function ControlSystemProvider({ children }) {
   }, [saveControlSettings]);
 
   const setServoAngle = useCallback(
-    (value) => {
+    (value, options = {}) => {
       if (!pipeline.servoConfig) return;
+      const force = Boolean(options?.force);
+      if (state.manualDockAssist?.active && !force) return;
       const clamped = clampServoAngle(pipeline.servoConfig, value);
       dispatch({ type: 'control/set-camera-angle', payload: clamped });
       pipeline.sendServoAngle(clamped);
       servoAngleRef.current = clamped;
       recordControlIntent();
     },
-    [pipeline, recordControlIntent],
+    [pipeline, recordControlIntent, state.manualDockAssist?.active],
   );
 
   const nudgeServo = useCallback(
@@ -318,8 +337,6 @@ export function ControlSystemProvider({ children }) {
             steps: removeDriveSequenceBackoff(macro.steps),
           };
         }
-      } else if (macroId === 'seek-dock') {
-        recordControlIntent();
       }
       await pipeline.runMacroSteps(macroToRun);
     },
@@ -509,6 +526,32 @@ export function ControlSystemProvider({ children }) {
     return () => clearInterval(interval);
   }, [dispatch, hornNeedsTick, HORN_HEAT_COOL_PER_SEC, HORN_HEAT_RESUME_THRESHOLD, HORN_HEAT_UP_PER_SEC]);
 
+  const setManualDockAssistActive = useCallback(
+    (active) => {
+      const nextActive = Boolean(active);
+      const prevActive = Boolean(state.manualDockAssist?.active);
+      if (prevActive === nextActive) return;
+      dispatch({ type: 'control/set-manual-dock-assist', payload: nextActive });
+      if (!nextActive) {
+        pipeline.sendSong([{ note: 83, duration: 10 }, { note: 76, duration: 10 }], { slot: 0 });
+        setServoAngle(0, { force: true });
+        return;
+      }
+      const minAngle =
+        typeof pipeline.servoConfig?.minAngle === 'number'
+          ? pipeline.servoConfig.minAngle
+          : -45;
+      setServoAngle(minAngle, { force: true });
+      pipeline.sendSong([{ note: 76, duration: 10 }, { note: 83, duration: 10 }], { slot: 0 });
+      recordControlIntent();
+    },
+    [pipeline, recordControlIntent, setServoAngle, state.manualDockAssist?.active],
+  );
+
+  const toggleManualDockAssist = useCallback(() => {
+    setManualDockAssistActive(!state.manualDockAssist?.active);
+  }, [setManualDockAssistActive, state.manualDockAssist?.active]);
+
   const registerInputState = useCallback((source, data) => {
     dispatch({ type: 'control/register-input-state', payload: { source, state: data } });
   }, []);
@@ -539,6 +582,8 @@ export function ControlSystemProvider({ children }) {
         updateKeyBinding,
         resetKeyBindings,
         registerInputState,
+        setManualDockAssistActive,
+        toggleManualDockAssist,
         setSongNote,
         sendSong,
         startHorn,
@@ -565,6 +610,8 @@ export function ControlSystemProvider({ children }) {
       updateKeyBinding,
       resetKeyBindings,
       registerInputState,
+      setManualDockAssistActive,
+      toggleManualDockAssist,
       setSongNote,
       sendSong,
       startHorn,

webui/src/controls/constants.js

@@ -12,6 +12,8 @@ export const DRIVE_LIMITS = {
   boostSpeed: 400,
 };
 
+export const MANUAL_DOCK_ASSIST_MAX_SPEED = 60;
+
 export const COMMAND_DELAY_MS = 100;
 
 export const SONG_NOTE_RANGE = [31, 127];
@@ -78,12 +80,4 @@ export const DEFAULT_MACROS = [
       { type: 'drive', speeds: { left: 0, right: 0 } },
     ],
   },
-  {
-    id: 'seek-dock',
-    label: 'Dock',
-    description: 'Send the seek dock command.',
-    steps: [
-      { type: 'oi', command: 'dock' }
-    ],
-  },
 ];

webui/src/controls/controlReducer.js

@@ -43,6 +43,12 @@ function createMicState() {
   };
 }
 
+function createManualDockAssistState() {
+  return {
+    active: false,
+  };
+}
+
 export const initialControlState = {
   roverId: null,
   mode: 'drive',
@@ -52,6 +58,7 @@ export const initialControlState = {
   song: createSongState(),
   horn: createHornState(),
   mic: createMicState(),
+  manualDockAssist: createManualDockAssistState(),
   lastControlIntentAt: 0,
   macros: DEFAULT_MACROS,
   keymap: DEFAULT_KEYMAP,
@@ -69,6 +76,7 @@ export function controlReducer(state, action) {
         song: action.payload ? state.song : createSongState(),
         horn: action.payload ? state.horn : createHornState(),
         mic: action.payload ? state.mic : createMicState(),
+        manualDockAssist: action.payload ? state.manualDockAssist : createManualDockAssistState(),
         lastControlIntentAt: action.payload ? state.lastControlIntentAt : 0,
       };
     case 'control/set-mode':
@@ -187,6 +195,14 @@ export function controlReducer(state, action) {
           pttActive: Boolean(action.payload),
         },
       };
+    case 'control/set-manual-dock-assist':
+      return {
+        ...state,
+        manualDockAssist: {
+          ...(state.manualDockAssist || createManualDockAssistState()),
+          active: Boolean(action.payload),
+        },
+      };
     default:
       return state;
   }

webui/src/controls/inputs/GamepadInputManager.jsx

@@ -11,6 +11,7 @@ import {
 } from './gamepadBindings.js';
 import { subscribeGamepadHub } from './gamepadHub.js';
 import { isTextEntryActive } from './inputFocusUtils.js';
+import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 
 const SOURCE = 'gamepad';
 const ZERO_VECTOR = { x: 0, y: 0, boost: false };
@@ -58,6 +59,7 @@ export default function GamepadInputManager() {
       registerInputState,
     },
   } = useControlSystem();
+  const dockAssist = useManualDockAssist();
   const { value: gamepadSettings, save: saveGamepadSettings } = useSettingsNamespace(
     'gamepad',
     GAMEPAD_SETTINGS_DEFAULTS,
@@ -243,6 +245,7 @@ export default function GamepadInputManager() {
       }
 
       if (outputs.buttons.driveMacro && handleButtonEdge('driveMacro', true)) {
+        dockAssist.exitAssist();
         setMode('drive');
         runMacro('drive-sequence');
       } else if (!outputs.buttons.driveMacro) {
@@ -250,8 +253,7 @@ export default function GamepadInputManager() {
       }
 
       if (outputs.buttons.dockMacro && handleButtonEdge('dockMacro', true)) {
-        setMode('dock');
-        runMacro('seek-dock');
+        dockAssist.toggleAssist();
       } else if (!outputs.buttons.dockMacro) {
         handleButtonEdge('dockMacro', false);
       }
@@ -292,6 +294,7 @@ export default function GamepadInputManager() {
     setDriveVector,
     setMode,
     toggleNightVision,
+    dockAssist,
   ]);
 
   return null;

webui/src/controls/inputs/KeyboardInputManager.jsx

@@ -9,6 +9,7 @@ import { isKeyboardCaptureLocked } from './keyboardCaptureLock.js';
 import { isTextInputElement } from './inputFocusUtils.js';
 import { useSettingsNamespace } from '../../settings/index.js';
 import { INPUT_SETTINGS_DEFAULTS } from '../../settings/namespaces.js';
+import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
 import {
   SONG_DEFAULT_DURATION,
   SONG_DEFAULT_NOTE,
@@ -137,6 +138,7 @@ export default function KeyboardInputManager() {
     },
   } = useControlSystem();
   const homeAssistant = useSessionSelector((state) => state.session?.homeAssistant || null);
+  const dockAssist = useManualDockAssist();
   const { homeAssistantSetState } = useSessionActions();
   const { focusChat, blurChat, isChatFocused } = useChat();
   const { value: inputSettings } = useSettingsNamespace('inputs', INPUT_SETTINGS_DEFAULTS);
@@ -372,11 +374,11 @@ export default function KeyboardInputManager() {
 
       if (newlyPressed.length > 0) {
         if (newlyPressed.some((token) => keymap.driveMacro?.has(token))) {
+          dockAssist.exitAssist();
           setMode('drive');
           runMacro('drive-sequence');
         } else if (newlyPressed.some((token) => keymap.dockMacro?.has(token))) {
-          setMode('dock');
-          runMacro('seek-dock');
+          dockAssist.toggleAssist();
         } else if (newlyPressed.some((token) => keymap.nightVisionToggle?.has(token))) {
           toggleNightVision();
         } else if (newlyPressed.some((token) => keymap.hornHonk?.has(token))) {
@@ -448,6 +450,7 @@ export default function KeyboardInputManager() {
     startHorn,
     stopHorn,
     triggerHomeAssistantCycle,
+    dockAssist,
   ]);
 
   const latestResetAllRef = useRef(resetAll);

webui/src/features/manualDockAssist/useManualDockAssist.js

@@ -0,0 +1,67 @@
+import { useCallback, useEffect, useMemo, useRef } from 'react';
+import { useControlSystem } from '../../controls/index.js';
+import { useTelemetryFrame } from '../../context/TelemetryContext.jsx';
+
+export function useManualDockAssist(options = {}) {
+  const { manageLifecycle = false } = options;
+  const {
+    state: { roverId, manualDockAssist },
+    actions,
+  } = useControlSystem();
+  const frame = useTelemetryFrame(roverId);
+  const sensors = frame?.sensors || {};
+  const chargingLabel = sensors?.chargingState?.label || '';
+  const docked = Boolean(sensors?.chargingSources?.homeBase);
+  const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== '';
+  const active = Boolean(manualDockAssist?.active);
+  const wasDockedRef = useRef(false);
+
+  const enterAssist = useCallback(() => {
+    actions.setManualDockAssistActive(true);
+  }, [actions]);
+
+  const exitAssist = useCallback(() => {
+    actions.setManualDockAssistActive(false);
+  }, [actions]);
+
+  const toggleAssist = useCallback(() => {
+    actions.toggleManualDockAssist();
+  }, [actions]);
+
+  useEffect(() => {
+    if (!manageLifecycle) return;
+    const justDocked = docked && !wasDockedRef.current;
+    const justUndocked = !docked && wasDockedRef.current;
+    if (active && justDocked) {
+      actions.sendSong([{ note: 84, duration: 6 }], { slot: 1 });
+    } else if (active && justUndocked) {
+      actions.sendSong([{ note: 72, duration: 6 }], { slot: 1 });
+    }
+    wasDockedRef.current = docked;
+  }, [actions, active, docked, manageLifecycle]);
+
+  useEffect(() => {
+    if (!manageLifecycle || !active || !charging) return;
+    exitAssist();
+  }, [active, charging, exitAssist, manageLifecycle]);
+
+  const statusLabel = charging ? 'Docked and charging' : docked ? 'Docked' : 'Docking assist active';
+  const statusTone = charging ? 'good' : docked ? 'warn' : 'active';
+  const visible = active || docked;
+
+  return useMemo(
+    () => ({
+      active,
+      docked,
+      charging,
+      cameraLocked: active,
+      visible,
+      statusLabel,
+      statusTone,
+      enterAssist,
+      exitAssist,
+      toggleAssist,
+    }),
+    [active, charging, docked, enterAssist, exitAssist, statusLabel, statusTone, toggleAssist, visible],
+  );
+}

webui/src/help/content.js

@@ -27,9 +27,10 @@ export const HELP_CONTENT = {
         type: 'list',
         title: 'Docking the rover',
         items: [
-          'Line up the rover to the dock, about a foot away, then:',
-          { segments: ['Press the "Dock and Charge" button onscreen, or press ', { action: 'dockMacro' }, ' on your keyboard to start docking.'] },
-          'Wait for the rover to confirm it is docked and charging before leaving it unattended.',
+          'If the rover shows "Docking in Progress", it is already auto-seeking the dock.',
+          'To dock manually, enter Docking Assist from the drive panel.',
+          { segments: ['Press "Enter Docking Assist", or press ', { action: 'dockMacro' }, '.'] },
+          'In assist mode, camera tilts down and driving speed is limited for precise alignment.',
         ],
       },
     ],
@@ -56,7 +57,7 @@ export const HELP_CONTENT = {
             title: 'Rover modes & chat',
             items: [
               { action: 'driveMacro', label: 'Drive macro' },
-              { action: 'dockMacro', label: 'Dock macro' },
+              { action: 'dockMacro', label: 'Docking assist toggle' },
               { action: 'chatFocus', label: 'Chat focus' },
             ],
           },
@@ -133,9 +134,9 @@ export const HELP_CONTENT = {
         type: 'list',
         title: 'Docking the rover',
         items: [
-          'Line up the rover to the dock, about a foot away, then:',
-          { segments: ['Press the "Dock and Charge" button onscreen to start docking.'] },
-          'Wait for the rover to confirm it is docked and charging before leaving it unattended.',
+          'If you see "Docking in Progress", the rover is currently auto-seeking the dock.',
+          { segments: ['For manual docking, press "Enter Docking Assist".'] },
+          'Assist mode tilts camera down and limits speed for precise alignment.',
         ],
       }
     ],
@@ -163,9 +164,9 @@ export const HELP_CONTENT = {
         type: 'list',
         title: 'Docking the rover',
         items: [
-          'Line up the rover to the dock, about a foot away, then:',
-          { segments: ['Press the "Dock and Charge" or the "Dock" button onscreen to start docking.'] },
-          'Wait for the rover to confirm it is docked and charging before leaving it unattended.',
+          'If you see "Docking in Progress", the rover is currently auto-seeking the dock.',
+          { segments: ['For manual docking, press "Enter Docking Assist" (or "Dock" button).'] },
+          'Assist mode tilts camera down and limits speed for precise alignment.',
         ],
       }
     ],