plannings

Updated the goal for the discordPingEveryone reward.

.gitignore

@@ -16,4 +16,18 @@ package-lock.json
 server/data/discord-guilds.json
 server/data/global-objective.json
 server/data/admin-reason.json
-server/data
+server/data/buttonbox-state.json
+server/data/barcode-tts-cache/
+server/data/rover-odometers.json
+webui/package-lock.json
+!server/data/
+!server/data/barcode-registry.json
+webui/src/config/analytics.jsx
+webui/src/config/driverAnalytics.json
+webui/src/config/analytics.html
+plans/barcodegames.txt
+.gitignore
+server/data/identity.sqlite
+server/data/barcode-games.json
+server/data/identity.sqlite-shm
+server/data/identity.sqlite-wal

README.md

@@ -1,7 +1,72 @@
 # Multi Roomba Rover
 A system for controlling create 2 compatible roombas through a webpage.
 
-Docs coming "soon"
+You can explore my basement through this project here:
+https://rover.otter.land
 
-## Basic installation
+## This guide is a work in progress, it will cover:
-- 
+- Building rovers
+- Installing roverd on a rover's raspberry pi
+- Setting up the server
+- Configuration
+
+## Building a rover
+You WILL need some common hobby electronics knowledge to build one of these, I will not be making a super detailed wiring or assembly guide, some of building your rover will be up to you, things such as a protective cage, camera and electronics mounting will not be covered in any great detail.
+
+### Parts per rover
+
+| Part | Notes |
+| --- | --- |
+| Create 2 compatible Roomba with the mini DIN port | Tested only with 600 series Roombas, your mileage may vary with newer models |
+| 4S li-ion -> 5v Voltage regulator | I use cheapo 12-24v USB car chargers, tear them apart, and solder wires onto them |
+| 7 pin mini DIN cable | Adafruit sells these labeled as a cable specifically for the iRobot Create 2 |
+| Logic level shifter | I use ones from adafruit, the Roomba is 5v logic and the pi is 3.3v logic |
+| Google voice AIY hat v1 | This serves three purposes: speaker, microphone, and a high current LED driver. None of these things are required to make a rover with a camera that can drive around, but it makes it much more fun. The design of this hat also makes it very easy to connect all of the various wires to all the IO on the pi that they need to go to. |
+| Raspberry pi zero 2 W | This will run roverd to control the rover and manage some Roomba safety things locally. You can probably use any pi you want, but these are usually the cheapest. |
+| A good wifi adapter | Has to work with Linux 6.12 (I use ones with the MT7921AU chipset and they work  great), ideally wifi 6 with MU-MIMO if you are running multiple rovers on one AP. The built in wifi on the pi zero 2 W is NOT good enough for this. |
+| A USB hub hat (if using a pi zero) | If you are using a raspberry pi zero, you will want a USB hub hat for your wifi adapter, I would not recommend using an OTG adapter as it may not provide enough power. |
+| ----CAMERA STUFF---- | ----Below here is all camera related things that youll need---- |
+| A pi camera v2 (ov5647) | The video publisher in this project is only designed for the ov5647, though it would be totally possible to make your own publisher for other sensors. |
+| Cheap 5v servo | Unless you have a VERY wide camera lens, you will want to have a servo plugged into the pi to be able to tilt the camera up and down. |
+| LED for toggling the headlight | I use white LEDs attached to one of the "driver" pins on the AIY hat to trick one of those generic pi camera LED floodlights into turning on / off on demand.|
+| Optional laser pointer | A laser pointer can be wired to another high-current-capable GPIO driver, with GPIO 27 used by default in the rover config. |
+| Pi zero camera cable | The pi zero has a smaller version of the camera ribbon connector, you will need the right cable for your camera |
+
+I do not have any exact numbers, but with cheap used Roombas it seems like on average one of my rovers takes about $100 USD to build from scratch.
+
+### Physical assembly of the rover  
+This is going to be the very loose section of this guide, the way yout build your rover is up to you. I have mine built out with durable protective metal cages as they are open to the internet and people like breaking things. The electronics on top of the roomba can be as simple as a pi, level shifter, and a camera if you just want to run it around yourself, things like a speaker, microphone, servo, headlight, laser pointer, are all totally optional and can be disabled in the configuration on the raspberry pi.
+
+These are the basics of how evertything is connected on my rovers, this is hard to organize and illustrate through text but hopefully it will give you a good idea:
+1. 7 pin mini DIN cable
+   1. Voltage regulator on the two pairs of VBAT wires
+      1. 5v output of voltage regulator connected to the power input on the AIY hat
+   2. level shifter's high voltage side attached to 5v from regulator, ground, TX, RX, and BRC from the DIN cable
+2. Level shifter low voltage side connected to 3.3v from the pi, with serial TX and RX, and the BRC pin on their respective low side level shifter lines. BRC pin goes to GPIO 4 on the pi.
+3. Google voice AIY hat:
+   1. speaker
+   2. microphone
+   3. servo motor on GPIO pin 26
+4. Camera stuff:
+   1. ov5647 camera
+   2. full size to pi zero style camera ribbon cable, plug camera into pi
+   3. an LED connected to a high current driver output on the AIY hat, GPIO 22 by default. This is meant to be poked into the LDR sensor on a pi camera IR floodlight to make it toggleable by the driver.
+   4. optionally, a laser pointer connected to another high current driver output, GPIO 27 by default.
+
+### Software on your rover
+Raspberry pi OS installation:
+
+Everything that runs on the pi is designed for debian Bookworm, because I could not get the AIY voice hat working in Trixie.
+
+To install roverd on your pi:
+1. Install `Raspberry Pi OS (Legacy) Lite` (exactly what its called in the imager) on your SD card
+2. Boot the pi up, plug in your good wifi adapter, use `nmtui` to set it up
+3. Install `git`, clone this repo into your home folder
+4. Move into the repo folder, run the roverd installer using `sudo pi/install_roverd.sh`
+5. Reboot your raspberry pi
+6. Roverd, along with the audio and video publishers should now be running. Roverd should have created it's default config file at `/etc/roverd.yaml`
+
+Edit the `/etc/roverd.yaml` config file to change settings like your rover's name, color, and set the server IP.
+
+
+## Setting up the server

dist/dummy1.yml

@@ -18,5 +18,7 @@ media:
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s
-nightVision:
+headlight:
+  enabled: false
+laser:
   enabled: false

dist/dummy2.yml

@@ -18,5 +18,7 @@ media:
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s
-nightVision:
+headlight:
+  enabled: false
+laser:
   enabled: false

dist/dummy3.yml

@@ -18,5 +18,7 @@ media:
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s
-nightVision:
+headlight:
+  enabled: false
+laser:
   enabled: false

perf/ROOT_PERFORMANCE_SUMMARY.md

@@ -0,0 +1,186 @@
+# `/` Performance Investigation Summary
+
+This is the high-level handoff for the default route at:
+
+```sh
+https://rover.otter.land/
+```
+
+The detailed issue writeups live in `perf/issues/`.
+
+## Main Finding
+
+The `/` page is doing too much main-thread work for low-end devices. On the current powerful
+machine it can appear smooth, but CPU throttling shows real risk for mobile and weaker
+computers.
+
+The biggest measured problem is repeated global input listener churn. The broader underlying
+theme is that high-frequency live data and broad React context invalidation cause many parts
+of the page to rerender or recommit DOM attributes.
+
+## Key Measurements
+
+### Clean `/` Profile, 8x Mobile CPU Throttle
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-15-51-398Z/report.json
+```
+
+Results:
+
+```txt
+average frame interval: ~140ms
+p95 frame interval:     ~166.8ms
+p99 frame interval:     ~383.4ms
+long tasks:             67
+event listener delta:   +13,481
+JS heap delta:          +22.76MB
+ScriptDuration delta:   ~35.85s
+TaskDuration delta:     ~52.88s
+```
+
+Top notable CPU self-time included:
+
+```txt
+removeEventListener ~1.30s
+addEventListener    ~0.94s
+```
+
+### Listener Audit
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-03-31-625Z-listeners/listener-report.json
+```
+
+Worst churn:
+
+```txt
+keydown               adds=8040 removes=8039
+keyup                 adds=8040 removes=8039
+blur                  adds=8040 removes=8039
+gamepadconnected      adds=8040 removes=8039
+gamepaddisconnected   adds=8040 removes=8039
+```
+
+### `/` Runtime Audit, 6x Mobile CPU Throttle, 30s
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-21-51-263Z-root-runtime/root-runtime-report.json
+```
+
+Results:
+
+```txt
+average frame interval: ~88ms
+p95 frame interval:     150ms
+p99 frame interval:     183ms
+long tasks:             18
+WebSocket messages:     at least 1000 sampled
+WebSocket bytes:        ~798KB sampled
+DOM mutation records:   41,062
+DOM attribute records:  40,761
+```
+
+Top sampled WebSocket events:
+
+```txt
+log:entry       526
+sensorFrame     306
+commandAck      145
+session:sync      5
+```
+
+### `/` Runtime Audit With Mutation Targets, 6x Mobile CPU Throttle, 18s
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+Results:
+
+```txt
+average frame interval: ~116.6ms
+p95 frame interval:     ~166.7ms
+p99 frame interval:     ~316.6ms
+long tasks:             16
+DOM mutation records:   18,758
+DOM attribute records:  18,490
+```
+
+Top WebSocket events:
+
+```txt
+log:entry       850
+sensorFrame     277
+commandAck      200
+session:sync     23
+```
+
+Top mutation targets:
+
+```txt
+input.accent-emerald-400 name       5300
+input.accent-emerald-400 type       2650
+field-input name                    ~1300 each
+div.h-full style                    1238
+path d                              621
+path fill                           619
+```
+
+## Ordered Work Plan
+
+1. Fix `KeyboardInputManager` and `GamepadInputManager` listener churn.
+2. Split/stabilize `ControlContext` so action consumers do not rerender on every state change.
+3. Batch or gate `log:entry` socket updates.
+4. Throttle visual telemetry rendering.
+5. Memoize or lazy-mount `ReplaySourcesPanel`.
+6. Split and memoize chat composer/nickname form.
+7. Clean up or share timers.
+
+## Reproduction Commands
+
+Install Playwright dependency if missing:
+
+```sh
+npm install --prefix perf playwright@1.60.0
+npx playwright install chromium
+```
+
+Clean CPU profile:
+
+```sh
+CPU_THROTTLE=8 VIEWPORT=390x844 MOBILE=1 node perf/live-cpu-profile.mjs https://rover.otter.land/ perf/results
+```
+
+Listener audit:
+
+```sh
+node perf/live-listener-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Runtime audit:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Runtime audit with shorter mutation target sample:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=18000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+## Notes
+
+The `perf/results/2026-06-11T03-11-39-596Z-route-sweep/` route sweep includes `/spectate`,
+`/mini`, `/display`, and `/scanner`. Those are not the current priority. Use them only for
+context.
+

perf/SPECTATE_PERFORMANCE_SUMMARY.md

@@ -0,0 +1,147 @@
+# `/spectate` CPU Performance Summary
+
+This is the `/spectate` companion to the `/` performance writeups. The testing target
+was the deployed page:
+
+```sh
+https://rover.otter.land/spectate
+```
+
+The most useful artifact for this pass is:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+That run used:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+## High-Level Result
+
+`/spectate` is CPU-heavy for a different reason than `/`.
+
+The `/` page's biggest confirmed issue is global input listener churn. `/spectate` does
+not show that same dominant pattern. The fresh `/spectate` audit had 379 event listeners,
+mostly normal media/image listeners, and no giant add/remove loop.
+
+The `/spectate` hot path is instead a live-display fan-out problem:
+
+- several rover media players are mounted at once
+- each rover card renders live HUD telemetry and a top-down SVG map
+- camera/snapshot frames create new blobs and `img.src` values
+- the route subscribes to broad session/log/chat state while also rendering the whole
+  spectator layout
+- the page maintains several WebRTC players at the same time
+
+## Key Measurements
+
+Fresh `/spectate` runtime audit, 30s, mobile viewport, 6x CPU throttle:
+
+```txt
+TaskDuration:        28.48s over a 30.9s sample
+ScriptDuration:      12.11s
+Long tasks:          81
+Worst long task:     375ms
+Average frame gap:   113.9ms
+p95 frame gap:       233.3ms
+p99 frame gap:       300.0ms
+Nodes:               7,059
+Layout objects:      6,150
+RTCPeerConnections:  6
+LayoutCount:         243
+RecalcStyleCount:    248
+```
+
+The 8x CPU-throttled profile from the earlier route comparison was worse:
+
+```txt
+Task delta:          49.13s over a 52.85s sample
+Script delta:        19.58s
+Layout delta:        516
+Recalc delta:        522
+Node delta:          +3,815
+```
+
+That profile also put `Blob`, `decodeString`, and `setAttribute` in the CPU stack, which
+matches the runtime evidence for camera blobs, socket payload parsing, and SVG/image
+attribute churn.
+
+## Socket And DOM Pressure
+
+The fresh audit captured these live events during the 30s window:
+
+```txt
+sensorFrame:          1,354 events, 2,531,090 bytes
+log:entry:              634 events,   150,179 bytes
+unlabeled binary:       126 events, 11,048,477 bytes
+roomCamera:frame:       117 events
+session:sync:            54 events,   914,000 bytes
+commandAck:              68 events
+roverHostStats:          17 events
+roverSnapshot:frame:      7 events
+```
+
+The most important DOM mutations were:
+
+```txt
+path d:                 2,688 mutations
+path fill:              2,682 mutations
+img.h-full.w-full src:    117 mutations
+span.h-2.w-2 class:       117 mutations
+```
+
+The `path` mutations point strongly at the per-rover `TopDownMap` SVG overlays. The
+`img.src` and blink class mutations point at room camera snapshot rendering.
+
+## Ordered Issue List
+
+1. [Telemetry fan-out and always-on HUD maps](./spectate-issues/001-telemetry-fanout-hud-maps.md)
+2. [Multi-rover WebRTC media fan-out](./spectate-issues/002-multi-rover-webrtc-media-fanout.md)
+3. [Room camera and snapshot object URL churn](./spectate-issues/003-room-camera-snapshot-object-url-churn.md)
+4. [Broad spectator session rerenders](./spectate-issues/004-broad-spectator-session-rerenders.md)
+5. [Shared log/session stream pressure](./spectate-issues/005-shared-log-session-stream-pressure.md)
+6. [Spectator role handshake retries](./spectate-issues/006-spectator-role-handshake-retries.md)
+
+## Upstream Dependency Map
+
+Fixing the `/` backlog first is a good plan.
+
+Likely improved by `/` fixes:
+
+- telemetry visual throttling
+- log batching/gating
+- chat/nickname churn
+- session selector/store improvements
+- generic timer cleanup
+
+Not likely to be fixed by `/` alone:
+
+- several simultaneous WHEP video/audio players
+- per-rover spectator HUD maps
+- room camera snapshot blob/object URL churn
+- spectator role/subscribe handshake behavior
+- mobile policy for how many live feeds should be active at once
+
+## Suggested Re-Test
+
+After each `/spectate` fix, run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+The most useful numbers to compare:
+
+- `TaskDuration`
+- `ScriptDuration`
+- long task count and worst duration
+- frame average/p95/p99
+- `RTCPeerConnections`
+- `mutationTargets` for `path d`, `path fill`, and `img src`
+- `webSocketEvents` for `sensorFrame`, `log:entry`, `session:sync`, and binary frame volume
+

perf/issues/001-global-input-listener-churn.md

@@ -0,0 +1,278 @@
+# FIXED!
+# Issue 001: Global Input Listener Churn
+
+## Summary
+
+The `/` page repeatedly removes and re-adds global keyboard and gamepad event listeners.
+This is the clearest and most actionable CPU problem found on the control page.
+
+On weaker CPUs, this turns into measurable main-thread cost. It also makes the input layer
+fragile because every broad render/effect invalidation touches global browser listeners.
+
+## Severity
+
+High.
+
+This should be fixed first. It is directly measured and likely amplifies other `/` issues.
+
+## Affected Files
+
+- `webui/src/controls/inputs/KeyboardInputManager.jsx`
+- `webui/src/controls/inputs/GamepadInputManager.jsx`
+- `webui/src/controls/inputs/gamepadHub.js`
+- Related multiplier: `webui/src/controls/ControlContext.jsx`
+
+## Evidence
+
+### Listener Audit
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-03-31-625Z-listeners/listener-report.json
+```
+
+At the second snapshot, the audit saw:
+
+```txt
+keydown               adds=8040 removes=8039
+keyup                 adds=8040 removes=8039
+blur                  adds=8040 removes=8039
+gamepadconnected      adds=8040 removes=8039
+gamepaddisconnected   adds=8040 removes=8039
+```
+
+The stack mapped those to the live bundle locations corresponding to:
+
+- `KeyboardInputManager.jsx` global `keydown`, `keyup`, `blur` effect
+- `gamepadHub.js` global `gamepadconnected`, `gamepaddisconnected` listener registration
+
+### Root Runtime Audit
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-21-51-263Z-root-runtime/root-runtime-report.json
+```
+
+In a 30s `/` run at mobile viewport with 6x CPU throttle:
+
+```txt
+add:window:keydown             770
+remove:window:keydown          769
+add:window:keyup               770
+remove:window:keyup            769
+add:window:blur                770
+remove:window:blur             769
+add:window:gamepadconnected    770
+remove:window:gamepadconnected 769
+add:window:gamepaddisconnected 770
+remove:window:gamepaddisconnected 769
+```
+
+### Clean CPU Profile
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-15-51-398Z/report.json
+```
+
+Clean `/` profile, mobile viewport, 8x CPU throttle:
+
+```txt
+average frame interval: ~140ms
+p95 frame interval:     ~166.8ms
+p99 frame interval:     ~383.4ms
+long tasks:             67
+event listener delta:   +13,481
+removeEventListener:    ~1.30s self time
+addEventListener:       ~0.94s self time
+```
+
+## Likely Cause
+
+`KeyboardInputManager` installs global listeners inside a `useEffect` with a very large
+dependency list:
+
+```jsx
+useEffect(() => {
+  function handleKeyDown(event) { ... }
+  function handleKeyUp(event) { ... }
+  function handleBlur() { ... }
+
+  window.addEventListener('keydown', handleKeyDown, { capture: true });
+  window.addEventListener('keyup', handleKeyUp, { capture: true });
+  window.addEventListener('blur', handleBlur);
+  return () => {
+    window.removeEventListener('keydown', handleKeyDown, { capture: true });
+    window.removeEventListener('keyup', handleKeyUp, { capture: true });
+    window.removeEventListener('blur', handleBlur);
+  };
+}, [
+  actionTokens,
+  blurChat,
+  driveFromKeys,
+  ensureServoLoop,
+  ensureSongLoop,
+  focusChat,
+  isChatFocused,
+  keymap.chatFocus,
+  ...
+  dockAssist,
+]);
+```
+
+Many dependencies change when `ControlContext` or settings/session state changes. That
+causes the effect to tear down and reinstall global listeners over and over.
+
+`GamepadInputManager` has the same pattern in a subscription effect:
+
+```jsx
+useEffect(() => {
+  return subscribeGamepadHub((hubState) => { ... });
+}, [
+  activeSignature,
+  ensureProfile,
+  gamepadSettings?.defaults?.profile,
+  gamepadSettings?.profiles,
+  handleButtonEdge,
+  handleCameraAxis,
+  registerInputState,
+  runMacro,
+  setAuxMotors,
+  setDriveVector,
+  setMode,
+  toggleHeadlight,
+  dockAssist,
+]);
+```
+
+When this effect resubscribes, `subscribeGamepadHub` may add/remove global device listeners
+in `gamepadHub.js`.
+
+## Fix Strategy
+
+### KeyboardInputManager
+
+Install global listeners once:
+
+```jsx
+const latestRef = useRef(null);
+
+latestRef.current = {
+  keymap,
+  actionTokens,
+  isChatFocused,
+  focusChat,
+  resetAll,
+  driveFromKeys,
+  ensureServoLoop,
+  ensureSongLoop,
+  ...
+};
+
+useEffect(() => {
+  function handleKeyDown(event) {
+    const latest = latestRef.current;
+    if (!latest) return;
+    // Existing logic, reading from latest instead of closure variables.
+  }
+
+  function handleKeyUp(event) {
+    const latest = latestRef.current;
+    if (!latest) return;
+    // Existing logic.
+  }
+
+  function handleBlur() {
+    latestRef.current?.resetAll();
+  }
+
+  window.addEventListener('keydown', handleKeyDown, { capture: true });
+  window.addEventListener('keyup', handleKeyUp, { capture: true });
+  window.addEventListener('blur', handleBlur);
+  return () => {
+    window.removeEventListener('keydown', handleKeyDown, { capture: true });
+    window.removeEventListener('keyup', handleKeyUp, { capture: true });
+    window.removeEventListener('blur', handleBlur);
+  };
+}, []);
+```
+
+Keep mutable input state in refs as it already mostly does:
+
+- `activeTokensRef`
+- `lastVectorRef`
+- `lastAuxRef`
+- `servoIntervalRef`
+- `songIntervalRef`
+- `hornActiveRef`
+
+### GamepadInputManager
+
+Use the same pattern:
+
+- Keep latest settings/actions/state in a ref.
+- Subscribe to `subscribeGamepadHub` once.
+- The subscription callback reads latest values from the ref.
+
+Do not resubscribe just because profile/settings/action references changed.
+
+### gamepadHub.js
+
+After `GamepadInputManager` is stable, confirm whether `gamepadHub.js` still needs changes.
+It already tries to add global device listeners only when there are subscribers. The churn
+is likely caused by subscriber churn, not necessarily a bug in the hub itself.
+
+## Validation
+
+Before fix:
+
+```sh
+node perf/live-listener-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Expected current bad result:
+
+```txt
+hundreds or thousands of add/remove pairs for:
+keydown
+keyup
+blur
+gamepadconnected
+gamepaddisconnected
+```
+
+After fix:
+
+```txt
+keydown add ~= 1
+keyup add ~= 1
+blur add ~= 1
+gamepadconnected add ~= 1
+gamepaddisconnected add ~= 1
+removes only on page teardown
+```
+
+Also run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+CPU_THROTTLE=8 VIEWPORT=390x844 MOBILE=1 node perf/live-cpu-profile.mjs https://rover.otter.land/ perf/results
+```
+
+Expected improvements:
+
+- `JSEventListeners` delta should stop climbing dramatically.
+- `addEventListener` / `removeEventListener` should disappear from top CPU self-time.
+- Average frame interval and long-task count should improve, though other issues will remain.
+
+## Risks
+
+- Keyboard control safety matters. Be careful to preserve `resetAll()` on blur and text-input
+  ignoring behavior.
+- If using refs, avoid stale data bugs by updating the ref every render before browser events
+  can fire.
+- Verify horn hold, mic push-to-talk, chat focus, drive macro, dock assist, camera tilt, song
+  controls, and Home Assistant shortcuts.

perf/issues/002-control-context-broad-invalidation.md

@@ -0,0 +1,192 @@
+# FIXED!
+# Issue 002: ControlContext Broad Invalidation
+
+## Summary
+
+`ControlContext` exposes one large changing context value containing all control state,
+pipeline objects, limiter state, and action callbacks. This likely causes many consumers
+to re-render and effects to re-run when unrelated control state changes.
+
+This is probably the multiplier behind the global input listener churn and some repeated
+DOM commits on `/`.
+
+## Severity
+
+High, but fix after issue 001 unless doing both together.
+
+Issue 001 is the symptom with the clearest measurement. Issue 002 is the architectural
+cause that may also affect other parts of the page.
+
+## Affected Files
+
+- `webui/src/controls/ControlContext.jsx`
+- `webui/src/controls/inputs/KeyboardInputManager.jsx`
+- `webui/src/controls/inputs/GamepadInputManager.jsx`
+- Many consumers of `useControlSystem()`
+
+## Evidence
+
+The `contextValue` in `ControlContext.jsx` is:
+
+```jsx
+const contextValue = useMemo(
+  () => ({
+    state,
+    dispatch,
+    pipeline,
+    overcurrentLimiter,
+    actions: {
+      setMode,
+      setDriveVector,
+      setAuxMotors,
+      ...
+    },
+  }),
+  [
+    state,
+    pipeline,
+    overcurrentLimiter,
+    setMode,
+    setDriveVector,
+    ...
+  ],
+);
+```
+
+Any state change changes the whole context value. Any consumer using:
+
+```jsx
+const { state, actions } = useControlSystem();
+```
+
+is subscribed to the broad value, even if it only needs one action or one small state field.
+
+This connects to measured symptoms:
+
+- Input listener effects rerun because their action/callback dependencies change.
+- `/` runtime audit saw repeated attribute commits in UI that should not need to change every
+  telemetry/log tick.
+- CPU profiles show large minified React frames (`C9`, `ad`, `Fl`, etc.) alongside listener
+  churn.
+
+## Why This Matters
+
+React context invalidation is coarse. When provider value identity changes, every consumer
+below it can be scheduled to render. Even memoized children are not enough if they consume
+the changing context directly.
+
+This project has several high-frequency update sources:
+
+- telemetry frames
+- logs
+- session syncs
+- control state changes
+- settings state
+- timers
+
+If `ControlContext` changes broadly, it makes it harder to isolate these updates.
+
+## Likely Cause Pattern
+
+Several action callbacks depend on `state` or `pipeline`, which changes their identity:
+
+```jsx
+const setDriveVector = useCallback(..., [pipeline, recordControlIntent, state.manualDockAssist?.active]);
+const setServoAngle = useCallback(..., [pipeline, recordControlIntent, state.manualDockAssist?.active]);
+const runMacro = useCallback(..., [driveMacroBackoffEnabled, pipeline, ..., state.macros, ...]);
+const startHorn = useCallback(..., [dispatch, normalizedHornSettings, pipeline, ..., state.horn?.active, ...]);
+```
+
+Those callbacks are then included in `contextValue`.
+
+Consumers that include those callbacks in effects rerun when the callback identity changes.
+
+## Fix Strategy
+
+### Option A: Split State and Actions Contexts
+
+Create separate contexts:
+
+```jsx
+const ControlStateContext = createContext(null);
+const ControlActionsContext = createContext(null);
+```
+
+Then:
+
+```jsx
+<ControlStateContext.Provider value={stateValue}>
+  <ControlActionsContext.Provider value={actionsValue}>
+    {children}
+  </ControlActionsContext.Provider>
+</ControlStateContext.Provider>
+```
+
+Action-only consumers should not rerender when state changes.
+
+### Option B: Add Selectors
+
+Create a small external-store style control store, similar to `SessionContext` or
+`TelemetryContext`, so consumers can select only the state slice they need:
+
+```jsx
+useControlSelector((state) => state.camera.angle)
+useControlActions()
+```
+
+This is more work but scales better.
+
+### Option C: Stabilize Actions With Refs
+
+Keep action function identities stable and read latest state/pipeline from refs:
+
+```jsx
+const latestRef = useRef(null);
+latestRef.current = { state, pipeline, overcurrentLimiter, ... };
+
+const setDriveVector = useCallback((vector, meta = {}) => {
+  const { state, pipeline } = latestRef.current;
+  ...
+}, []);
+```
+
+This pairs well with issue 001 because stable actions make stable input effects easier.
+
+## Recommended Path
+
+For incremental work:
+
+1. Fix issue 001 directly using refs in input managers.
+2. Split `ControlActionsContext` from `ControlStateContext`.
+3. Convert heavy/control-critical consumers first:
+   - `KeyboardInputManager`
+   - `GamepadInputManager`
+   - mobile controls
+   - right pane controls
+4. Later add selector hooks for state-heavy consumers.
+
+## Validation
+
+After issue 001 + partial issue 002:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Look for:
+
+- listener add/remove counts near 1
+- fewer repeated input attribute mutations
+- fewer long tasks
+- lower `ScriptDuration` and `TaskDuration`
+
+For development builds, React DevTools Profiler would be ideal to verify fewer renders. The
+deployed production page does not currently publish source maps, so local profiling may be
+more useful after implementing.
+
+## Risks
+
+- Ref-based stable actions can hide stale state bugs if refs are not updated reliably.
+- Splitting context touches many files. Prefer a small staged migration.
+- Control commands are safety-sensitive; verify stop/horn/mic/docking behavior carefully.
+

perf/issues/003-high-volume-log-stream.md

@@ -0,0 +1,165 @@
+# FIXED!
+# Issue 003: High-Volume Socket Log Stream
+
+## Summary
+
+The `/` page receives a very high volume of `log:entry` socket messages. These update the
+global session store even when logs are not the primary visible task.
+
+This is not the single biggest CPU stack item, but it is a major source of live update
+pressure on low-end devices.
+
+## Severity
+
+Medium-high.
+
+Fix after listener/context work, unless logs are known to be unusually noisy in production.
+
+## Affected Files
+
+- `webui/src/context/SessionContext.jsx`
+- `webui/src/components/LogPanel/index.jsx`
+- Server log emission paths, depending on where `log:entry` is emitted
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+In an 18s `/` audit at mobile viewport with 6x CPU throttle:
+
+```txt
+log:entry count: 850
+log:entry bytes: 185,008
+```
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-21-51-263Z-root-runtime/root-runtime-report.json
+```
+
+In a 30s audit, among the most recent sampled 1000 WebSocket messages:
+
+```txt
+log:entry count: 526
+log:entry bytes: 111,535
+```
+
+In `SessionContext.jsx`, each log entry does:
+
+```jsx
+function handleLogEntry(entry) {
+  setState((prev) => ({ ...prev, logs: [...prev.logs.slice(-199), entry] }));
+}
+```
+
+This creates a new session state object and a new logs array for every log message.
+
+## Why This Matters
+
+Even if `LogPanel` is not visible or not currently selected, `SessionContext` still processes
+the update. Every session subscriber selector is evaluated on each `setState`.
+
+At 850 log messages in 18s, this is roughly 47 log entries per second.
+
+On a powerful desktop this is fine. On a weaker phone or low-end laptop, it becomes steady
+background pressure.
+
+## Likely Cause
+
+The server appears to broadcast operational logs very frequently. The client stores the last
+200 logs globally.
+
+The `/` page includes `LogPanel` under settings and may also have other components depending
+on session state.
+
+## Fix Strategies
+
+### Option A: Do Not Subscribe to Logs Unless Log UI Is Visible
+
+Best conceptual fix:
+
+- Add an explicit client event like `log:subscribe` / `log:unsubscribe`.
+- Only subscribe when `LogPanel` is open or user is admin.
+- For ordinary mobile control users, skip logs entirely.
+
+### Option B: Batch Log Entries Client-Side
+
+Keep receiving logs, but batch state updates:
+
+```jsx
+const pendingLogsRef = useRef([]);
+const flushTimerRef = useRef(null);
+
+function handleLogEntry(entry) {
+  pendingLogsRef.current.push(entry);
+  if (flushTimerRef.current) return;
+  flushTimerRef.current = setTimeout(() => {
+    const batch = pendingLogsRef.current.splice(0);
+    flushTimerRef.current = null;
+    setState((prev) => ({
+      ...prev,
+      logs: [...prev.logs, ...batch].slice(-200),
+    }));
+  }, 250);
+}
+```
+
+This changes 47 state updates/sec into about 4 updates/sec.
+
+### Option C: Store Logs in a Separate External Store
+
+Move logs out of main `SessionContext` so unrelated session consumers are not touched by
+log spam.
+
+For example:
+
+```jsx
+LogStoreProvider
+useLogEntries()
+```
+
+This isolates log updates from user/roster/session state.
+
+### Option D: Server-Side Sampling or Severity Filtering
+
+Only send:
+
+- warnings/errors by default
+- full logs to admin/log panel subscribers
+- sampled info/debug entries
+
+## Recommended Path
+
+Start with client batching. It is low-risk and easy to validate.
+
+Then consider subscription gating if logs are not essential for normal users.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+The socket `log:entry` count may remain high if only batching client-side, but UI state
+updates should reduce. To measure batching directly, add temporary counters in
+`SessionContext` or extend the audit to count React commits after local changes.
+
+Expected user-visible perf improvements:
+
+- lower `ScriptDuration`
+- lower `TaskDuration`
+- fewer repeated DOM commits if log updates were causing broad subscribers to render
+
+## Risks
+
+- Logs may be used for operator visibility during incidents.
+- Batching can delay log display by 100-500ms. That should be acceptable for UI logs.
+- Subscription gating requires server/client protocol changes.
+

perf/issues/004-sensor-telemetry-render-frequency.md

@@ -0,0 +1,205 @@
+# FIXED!
+# Issue 004: Sensor Telemetry Render Frequency
+
+## Summary
+
+The `/` page receives frequent `sensorFrame` messages and renders multiple telemetry/HUD
+consumers from those frames. On throttled mobile CPU, this shows up as repeated SVG path
+attribute mutations and significant live DOM churn.
+
+## Severity
+
+Medium-high.
+
+This is likely the biggest non-input-manager source of steady rendering work.
+
+## Affected Files
+
+- `webui/src/context/TelemetryContext.jsx`
+- `webui/src/components/TopDownMap/TopDownMapContent.jsx`
+- `webui/src/components/TopDownMap/visuals.jsx`
+- `webui/src/components/DriverVideo/index.jsx`
+- `webui/src/components/HudOverlays/*`
+- `webui/src/components/TelemetryPanel/index.jsx`
+- `webui/src/components/PiHostStatsCard/index.jsx`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+In an 18s `/` audit at mobile viewport with 6x CPU throttle:
+
+```txt
+sensorFrame count: 277
+sensorFrame bytes: 520,169
+```
+
+That is about 15.4 sensor frames/sec.
+
+The same audit saw SVG attribute mutations:
+
+```txt
+path d mutations:    621
+path fill mutations: 619
+```
+
+These map strongly to `TopDownMapContent.jsx` and `visuals.jsx`, where sensor values are
+converted into SVG arcs, cones, wheels, brush visuals, and colors.
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-21-51-263Z-root-runtime/root-runtime-report.json
+```
+
+In a 30s audit:
+
+```txt
+sensorFrame count among latest sampled 1000 messages: 306
+sensorFrame bytes: 574,616
+```
+
+## Current Code Path
+
+`TelemetryContext.jsx` updates every incoming frame:
+
+```jsx
+function handleSensorFrame({ roverId, sensors = {}, frame = {} }) {
+  if (!roverId) return;
+  const previous = framesRef.current[roverId] ?? {};
+  framesRef.current = {
+    ...framesRef.current,
+    [roverId]: {
+      ...previous,
+      roverId,
+      sensors,
+      raw: frame?.data || null,
+      receivedAt: Date.now(),
+    },
+  };
+  notifyRover(roverId);
+}
+```
+
+Consumers subscribe by rover:
+
+```jsx
+useTelemetryFrame(roverId)
+```
+
+Every `notifyRover(roverId)` wakes all consumers for that rover.
+
+## Why This Matters
+
+Telemetry itself may need to remain high-frequency for control safety or debugging, but the
+visual UI usually does not need to render at full sensor frequency.
+
+The expensive part is not receiving the socket message. It is causing React/SVG/HUD updates
+and DOM attribute changes at the same cadence.
+
+## Fix Strategies
+
+### Option A: Throttle Render Notifications
+
+Keep the latest frame in `framesRef` immediately, but notify subscribers at a lower rate.
+
+Example:
+
+```jsx
+const pendingRoversRef = useRef(new Set());
+const notifyScheduledRef = useRef(false);
+
+function scheduleNotify(roverId) {
+  pendingRoversRef.current.add(roverId);
+  if (notifyScheduledRef.current) return;
+  notifyScheduledRef.current = true;
+  setTimeout(() => {
+    notifyScheduledRef.current = false;
+    const rovers = [...pendingRoversRef.current];
+    pendingRoversRef.current.clear();
+    rovers.forEach((id) => notifyRover(id));
+  }, 100); // 10Hz visual updates
+}
+```
+
+Then `handleSensorFrame` writes latest data immediately but calls `scheduleNotify(roverId)`.
+
+### Option B: Separate Raw Telemetry From Visual Telemetry
+
+Expose:
+
+```jsx
+useTelemetryFrameRaw(roverId)      // high-frequency, only for critical logic
+useTelemetryFrameVisual(roverId)   // throttled for UI rendering
+```
+
+Use throttled visual telemetry in:
+
+- TopDownMap
+- HUD overlays
+- telemetry panels
+- battery bars
+- host stats display
+
+Keep raw telemetry for safety mechanisms if needed.
+
+### Option C: Memoize/Split Sensor Consumers by Field
+
+Do not re-render the entire map or all overlays when only one sensor field changed.
+
+Examples:
+
+- Battery components subscribe only to battery fields.
+- Light bump bars subscribe only to light bump fields.
+- Overcurrent overlay subscribes only to overcurrent fields.
+
+This is more architectural but can reduce unnecessary work.
+
+### Option D: Render TopDownMap Less Often
+
+At the component level:
+
+```jsx
+const visualSensors = useThrottledValue(sensors, 100);
+```
+
+This is easier than changing `TelemetryContext`, but less central.
+
+## Recommended Path
+
+Start with a throttled visual notification path in `TelemetryContext`. It gives the largest
+blast-radius reduction without changing every consumer immediately.
+
+A reasonable target:
+
+- Desktop: 10-15Hz visual updates
+- Mobile: 5-10Hz visual updates
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=18000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Expected improvements:
+
+- `path d` and `path fill` mutation counts should drop.
+- `LayoutCount` and `RecalcStyleCount` may drop.
+- `ScriptDuration` should drop.
+- Frame p95 should improve.
+
+Socket `sensorFrame` count may remain the same if only rendering is throttled.
+
+## Risks
+
+- Do not throttle logic that protects the rover or sends control commands unless you are sure
+  it is only display logic.
+- Operators may expect smooth sensor visuals, but 10Hz is usually enough for dashboards.
+- Make sure low battery/overcurrent warnings still feel responsive.
+

perf/issues/005-replay-sources-panel-churn.md

@@ -0,0 +1,191 @@
+# Issue 005: ReplaySourcesPanel Repeated DOM Commits
+
+## Summary
+
+`ReplaySourcesPanel` appears to re-commit many input/checkbox attributes repeatedly on `/`,
+especially in mobile portrait where the panel is always mounted near the top of the page.
+
+This may be a component-local issue, or it may be caused by broader context/session updates.
+Tackle it after issues 001 and 002 unless profiling still shows it as large.
+
+## Severity
+
+Medium.
+
+It is visible in mutation probes, but likely partly downstream of broader invalidation.
+
+## Affected Files
+
+- `webui/src/components/ReplaySourcesPanel/index.jsx`
+- `webui/src/App.jsx`
+- `webui/src/context/SessionContext.jsx`
+- `webui/src/settings/SettingsProvider.jsx`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+In an 18s `/` audit at mobile viewport with 6x CPU throttle, top mutation targets included:
+
+```txt
+input.accent-emerald-400 name: 5300
+input.accent-emerald-400 type: 2650
+input#replay-sources-mobile-portrait-title name: 666
+input#replay-sources-mobile-portrait-title type: 333
+```
+
+The `accent-emerald-400` class maps to `ReplaySourcesPanel` checkboxes:
+
+```jsx
+<input
+  type="checkbox"
+  checked={includeSidebar}
+  ...
+  className="accent-emerald-400"
+/>
+```
+
+and source item checkboxes:
+
+```jsx
+<input
+  type="checkbox"
+  checked={selected.includes(item.key)}
+  onChange={() => onToggle(item.key)}
+  className="accent-emerald-400"
+/>
+```
+
+The mobile portrait route mounts it here:
+
+```jsx
+<ReplaySourcesPanel panelId="replay-sources-mobile-portrait" />
+```
+
+in `App.jsx`.
+
+## Why This Matters
+
+Repeated DOM attribute commits are a symptom of repeated React commits. Even if the attribute
+values do not change semantically, React still touches DOM attributes when the subtree
+rerenders/commits.
+
+The panel is not central to driving, so it should not be doing meaningful work during normal
+control-page idle.
+
+## Likely Causes
+
+The component subscribes to several session slices:
+
+```jsx
+const replaySources = useSessionSelector((state) => state.session?.replaySources ?? []);
+const mode = useSessionSelector((state) => state.session?.mode || null);
+const assignmentRoverId = useSessionSelector((state) => state.session?.assignment?.roverId ?? null);
+const roster = useSessionSelector((state) => state.session?.roster ?? []);
+const replayState = useSessionSelector((state) => state.session?.replay || null);
+const latestReplay = useSessionSelector((state) => state.latestReplay);
+```
+
+Potential problems:
+
+- `session:sync` may provide new array/object identities even when contents are unchanged.
+- `normalizeSources(replaySources || [])` runs every render and produces new objects.
+- `GroupList` is not memoized.
+- `selected.includes(item.key)` is recomputed for each item on each render.
+- `remainingMs` interval updates every 250ms when cooldown is active.
+- Parent/mobile layout re-renders can also re-render this panel.
+
+## Fix Strategies
+
+### Option A: Memoize Normalized Sources
+
+```jsx
+const sources = useMemo(
+  () => normalizeSources(replaySources || []),
+  [replaySources],
+);
+```
+
+This is already not memoized in the current code.
+
+### Option B: Use Shallow Equality Selectors
+
+For arrays like `replaySources` and `roster`, use a selector/equality function that avoids
+rerendering when content did not change.
+
+Example:
+
+```jsx
+const replaySources = useSessionSelector(
+  (state) => state.session?.replaySources ?? [],
+  shallowReplaySourcesEqual,
+);
+```
+
+### Option C: Memoize GroupList
+
+```jsx
+const GroupList = React.memo(function GroupList(...) { ... });
+```
+
+Also memoize:
+
+```jsx
+const selectedSet = useMemo(() => new Set(selected), [selected]);
+```
+
+Then use `selectedSet.has(item.key)`.
+
+### Option D: Do Not Mount Replay Panel By Default on Mobile
+
+If replay is not a core mobile driving workflow, consider putting it behind a tab/accordion
+or lazy mounting it only when expanded.
+
+This is a product decision.
+
+### Option E: Stop Passing Unstable Callbacks
+
+Memoize callbacks:
+
+```jsx
+const toggleKey = useCallback((key) => { ... }, []);
+const handleReplay = useCallback(async () => { ... }, [...]);
+```
+
+This helps if child components are memoized.
+
+## Recommended Path
+
+1. Fix issues 001 and 002 first.
+2. Rerun root runtime audit.
+3. If `ReplaySourcesPanel` still dominates mutation targets:
+   - memoize `sources`
+   - memoize `GroupList`
+   - add shallow equality selectors
+   - consider lazy mounting on mobile
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=18000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Expected improvement:
+
+```txt
+input.accent-emerald-400 name/type mutations should drop sharply
+replay title input name/type mutations should drop
+```
+
+## Risks
+
+- Replay source selections and saved panel settings must still update correctly.
+- If lazy mounting, preserve persisted title/sidebar settings.
+- Do not break replay cooldown display.
+

perf/issues/006-chat-and-nickname-churn.md

@@ -0,0 +1,172 @@
+# Issue 006: Chat and Nickname Composer Churn
+
+## Summary
+
+The mobile `/` page defaults to the chat tab, and the chat/nickname composer shows repeated
+DOM attribute commits in runtime audits. This is not the top CPU issue, but it is part of
+steady idle churn.
+
+## Severity
+
+Medium-low to medium.
+
+Fix after the listener/context/log/telemetry work unless chat remains high in mutation
+reports.
+
+## Affected Files
+
+- `webui/src/components/ChatPanel/index.jsx`
+- `webui/src/components/NicknameForm/index.jsx`
+- `webui/src/context/ChatContext.jsx`
+- `webui/src/App.jsx`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+In an 18s `/` audit at mobile viewport with 6x CPU throttle:
+
+```txt
+input.field-input.chat-composer-input name: 666
+input.field-input.flex-1 name: 1328
+input.field-input.w-full name: 1332
+input.accent-cyan-500 name: 1324
+input.accent-cyan-500 type: 662
+```
+
+These map to:
+
+- chat composer input
+- nickname form input
+- TTS/speak checkbox
+- related chat form controls
+
+The chat panel is mounted by default in mobile feature tabs:
+
+```jsx
+const [activeTab, setActiveTab] = useState('chat');
+...
+<TabPanel id="chat">
+  <ChatPanel nicknameLayout="stacked" />
+  ...
+</TabPanel>
+```
+
+## Why This Matters
+
+The chat UI is useful, but it should not re-commit its composer inputs hundreds of times
+while the user is simply watching/driving.
+
+Also, text inputs and focus-related logic interact with keyboard driving. Excess churn here
+can have indirect effects on input handling.
+
+## Likely Causes
+
+`ChatPanel` consumes:
+
+```jsx
+const role = useSessionSelector((state) => state.session?.role || null);
+const currentRoverId = useSessionSelector((state) => state.session?.assignment?.roverId || null);
+const roster = useSessionSelector((state) => state.session?.roster ?? []);
+const { messages, typing, sendMessage, ... } = useChat();
+const { value: ttsSettings, save: saveTtsSettings } = useSettingsNamespace('tts', ...);
+```
+
+It also has effects that sync local state from settings:
+
+```jsx
+useEffect(() => {
+  const nextEngine = ...
+  if (engine !== nextEngine) setEngine(nextEngine);
+  ...
+}, [engine, googlePitch, googleSpeed, pitch, ttsSettings..., voice]);
+```
+
+Potential problems:
+
+- broad session/chat context updates rerender the whole panel
+- message list and composer are in the same component
+- typing events cause panel updates
+- nickname form may be rerendering with the whole chat panel
+- TTS settings sync effect has many dependencies
+
+## Fix Strategies
+
+### Option A: Split ChatPanel Into Memoized Subcomponents
+
+Separate:
+
+- `ChatMessageList`
+- `ChatComposer`
+- `TtsControls`
+- `NicknameForm`
+
+Only `ChatMessageList` should rerender when messages change.
+Only `ChatComposer` should rerender when draft/sending/focus changes.
+
+### Option B: Memoize Composer
+
+```jsx
+const ChatComposer = React.memo(function ChatComposer(props) { ... });
+```
+
+Pass stable callbacks where possible.
+
+### Option C: Debounce Typing Updates
+
+`setTypingActive(Boolean(next.trim()))` fires on every keystroke. That is fine while typing,
+but should not be involved during idle. If it causes socket chatter, debounce it.
+
+### Option D: Stabilize NicknameForm
+
+If `NicknameForm` consumes settings/session state broadly, make it use precise selectors and
+memoize it.
+
+### Option E: Avoid Re-Syncing Local TTS State Too Often
+
+The settings sync effect can be simplified or guarded so it only runs when the settings
+object actually changes, not on every local state update.
+
+## Recommended Path
+
+1. Fix issues 001-004 first.
+2. Rerun mutation audit.
+3. If chat/nickname inputs remain high:
+   - split `ChatPanel`
+   - memoize composer
+   - stabilize `NicknameForm`
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=18000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Expected improvements:
+
+```txt
+chat-composer-input mutations should drop
+NicknameForm input mutations should drop
+accent-cyan-500 checkbox mutations should drop
+```
+
+Also manually verify:
+
+- typing
+- sending chat
+- TTS options
+- nickname edit/save
+- Enter-to-focus/send chat shortcut
+
+## Risks
+
+- Chat focus behavior is tied to keyboard controls.
+- Splitting components can accidentally break `registerInputRef`.
+- TTS settings must still persist correctly.
+

perf/issues/007-timers-and-polling.md

@@ -0,0 +1,162 @@
+# FIXED!
+# Issue 007: Timers and Polling Cleanup
+
+## Summary
+
+The `/` page creates multiple intervals and timeouts. They are not the dominant problem,
+but they contribute to steady background work and can wake components even when hidden.
+
+## Severity
+
+Low to medium.
+
+Address after the larger structural issues unless a specific timer is found to be hot.
+
+## Affected Files
+
+Known or likely timer users:
+
+- `webui/src/components/AlertFeed/index.jsx`
+- `webui/src/components/ReplaySourcesPanel/index.jsx`
+- `webui/src/components/HudOverlays/TurnsOverlay/index.jsx`
+- `webui/src/components/RoverQueuesPanel/index.jsx`
+- `webui/src/components/ModeGateOverlay/index.jsx`
+- `webui/src/components/SocketConnectionPill/index.jsx`
+- `webui/src/controls/ControlContext.jsx` horn heat interval
+- `webui/src/controls/overcurrentLimiter.js`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json
+```
+
+In an 18s `/` audit at mobile viewport with 6x CPU throttle:
+
+```txt
+intervals created:     22
+timeouts created:      11
+interval fires:        148
+timeout fires:         6
+```
+
+Most common timer registrations:
+
+```txt
+interval:200      7
+timeout:12000     4
+interval:60000    4
+interval:250      4
+interval:3000     4
+interval:1000     2
+```
+
+In a 30s audit:
+
+```txt
+interval fires: 593
+```
+
+## Why This Matters
+
+Timers wake the main thread. On a fast desktop they disappear into the noise; on a throttled
+mobile CPU, timers can combine with socket traffic and React work to create visible stalls.
+
+The timer issue is not that any one interval is terrible. It is that many UI elements keep
+time independently.
+
+## Likely Sources
+
+### ReplaySourcesPanel
+
+Cooldown display:
+
+```jsx
+const interval = setInterval(update, 250);
+```
+
+Only needed while cooldown is active and panel is visible.
+
+### AlertFeed
+
+Likely uses a frequent interval for alert lifetimes. This should only run while alerts exist.
+
+### TurnsOverlay / RoverQueuesPanel
+
+Countdown displays often use `setInterval(() => setNow(Date.now()), 250 or 1000)`.
+
+### ControlContext Horn Heat
+
+Horn heat interval at 100ms only runs when horn is active/cooling:
+
+```jsx
+const tickMs = 100;
+const interval = setInterval(...)
+```
+
+This is probably okay, but verify it only runs when needed.
+
+## Fix Strategies
+
+### Option A: Visibility-Gate Timers
+
+Only run panel-specific timers when the panel is visible/open.
+
+Example:
+
+```jsx
+if (!isVisible || !needsCountdown) return;
+```
+
+### Option B: Coarse Intervals
+
+Use 1000ms for human-readable countdowns unless sub-second precision matters.
+
+Replay cooldowns and queue countdowns probably do not need 250ms.
+
+### Option C: Shared Clock Store
+
+Instead of each component creating its own interval, create one shared clock:
+
+```jsx
+useClock(1000)
+useClock(250)
+```
+
+Then multiple components can share a single interval.
+
+### Option D: CSS Animations for Pure Visual Expiry
+
+For alert progress bars, use CSS animation if the UI does not need React state each tick.
+
+## Recommended Path
+
+After major fixes, rerun the runtime audit. If intervals still show high:
+
+1. Increase replay cooldown interval from 250ms to 1000ms.
+2. Gate timers by tab visibility.
+3. Create a shared clock hook for countdown UI.
+4. Convert alert lifetime visuals to CSS where possible.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+Expected:
+
+- lower `intervals`
+- lower `intervalFires`
+- no visible regression in countdowns/alerts
+
+## Risks
+
+- Timers used for control safety should not be slowed without careful review.
+- Alert expiration should still happen reliably.
+- Queue/turn countdowns can update less often, but should not become misleading.
+

perf/issues/README.md

@@ -0,0 +1,65 @@
+# `/` CPU Performance Issue Index
+
+This folder breaks the live-site `/` CPU investigation into separate, work-ready issues.
+Each issue can be handled in its own chat or branch without needing to re-run the whole
+investigation first.
+
+The testing target was the deployed page:
+
+```sh
+https://rover.otter.land/
+```
+
+The important local perf tools are:
+
+```sh
+node perf/live-cpu-profile.mjs https://rover.otter.land/ perf/results
+node perf/live-listener-audit.mjs https://rover.otter.land/ perf/results
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 node perf/live-root-runtime-audit.mjs https://rover.otter.land/ perf/results
+```
+
+The strongest `/` artifacts from this investigation are:
+
+- `perf/results/2026-06-11T03-15-51-398Z/report.json`
+  Clean `/` profile, mobile viewport, 8x CPU throttle.
+- `perf/results/2026-06-11T03-03-31-625Z-listeners/listener-report.json`
+  Listener add/remove stack audit.
+- `perf/results/2026-06-11T03-21-51-263Z-root-runtime/root-runtime-report.json`
+  `/` runtime audit, mobile viewport, 6x CPU throttle, 30s sample.
+- `perf/results/2026-06-11T03-22-44-714Z-root-runtime/root-runtime-report.json`
+  `/` runtime audit, mobile viewport, 6x CPU throttle, 18s sample with mutation targets.
+
+## Ranked Issues
+
+1. [Global input listener churn](./001-global-input-listener-churn.md)
+2. [ControlContext broad invalidation](./002-control-context-broad-invalidation.md)
+3. [High-volume socket log stream](./003-high-volume-log-stream.md)
+4. [Sensor telemetry render frequency](./004-sensor-telemetry-render-frequency.md)
+5. [ReplaySourcesPanel repeated DOM commits](./005-replay-sources-panel-churn.md)
+6. [Chat and nickname composer churn](./006-chat-and-nickname-churn.md)
+7. [Timers and polling cleanup](./007-timers-and-polling.md)
+
+## Quick Read
+
+The highest-confidence first fix is issue 001. It is directly measured, large, and
+structurally fixable: install keyboard/gamepad global listeners once and have them read
+latest state/actions from refs.
+
+Issue 002 is the likely multiplier behind issue 001 and several UI churn symptoms. The
+current `ControlContext` value changes broadly, and many callbacks depend on `state` or
+`pipeline`; that causes consumers/effects to refresh even when the visible behavior did
+not materially change.
+
+Issues 003 and 004 are independent live-data pressure: the `/` page receives a lot of
+socket traffic, especially `log:entry` and `sensorFrame`, and those streams feed UI work.
+
+Issue 005 and issue 006 are component-level symptoms visible in DOM mutation probes. They
+should probably be tackled after the context/listener work, because broad invalidation may
+be causing some of their repeated commits.
+
+## Important Scope Note
+
+There are also `/spectate` results in `perf/results` because the investigation briefly
+compared routes. The user later clarified that `/spectate` is not the current priority.
+These issue writeups intentionally focus on `/` only.
+

perf/live-cpu-profile.mjs

@@ -0,0 +1,251 @@
+import fs from 'node:fs/promises';
+import path from 'node:path';
+import { chromium } from 'playwright';
+
+const url = process.argv[2] || 'https://rover.otter.land';
+const outDir = process.argv[3] || path.resolve('perf/results');
+const cpuThrottle = Number(process.env.CPU_THROTTLE || 1);
+const viewport = (process.env.VIEWPORT || '1440x950').split('x').map((part) => Number(part));
+const isMobile = process.env.MOBILE === '1';
+const runId = new Date().toISOString().replace(/[:.]/g, '-');
+const runDir = path.join(outDir, runId);
+
+const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
+
+function summarizeCpuProfile(profile) {
+  const nodes = new Map(profile.nodes.map((node) => [node.id, node]));
+  const totals = new Map();
+  const samples = profile.samples || [];
+  const deltas = profile.timeDeltas || [];
+  let totalUs = 0;
+
+  for (let i = 0; i < samples.length; i += 1) {
+    const delta = deltas[i] || 0;
+    totalUs += delta;
+    const node = nodes.get(samples[i]);
+    if (!node) continue;
+    const frame = node.callFrame || {};
+    const key = `${frame.url || '(anonymous)'}::${frame.functionName || '(anonymous)'}`;
+    const prev = totals.get(key) || {
+      url: frame.url || '',
+      functionName: frame.functionName || '(anonymous)',
+      lineNumber: frame.lineNumber,
+      columnNumber: frame.columnNumber,
+      selfMs: 0,
+      samples: 0,
+    };
+    prev.selfMs += delta / 1000;
+    prev.samples += 1;
+    totals.set(key, prev);
+  }
+
+  return {
+    totalProfileMs: totalUs / 1000,
+    sampleCount: samples.length,
+    topSelfTime: [...totals.values()]
+      .sort((a, b) => b.selfMs - a.selfMs)
+      .slice(0, 30),
+  };
+}
+
+function interestingMetrics(metrics) {
+  const wanted = [
+    'Timestamp',
+    'Documents',
+    'Frames',
+    'JSEventListeners',
+    'Nodes',
+    'LayoutCount',
+    'RecalcStyleCount',
+    'LayoutDuration',
+    'RecalcStyleDuration',
+    'ScriptDuration',
+    'TaskDuration',
+    'JSHeapUsedSize',
+    'JSHeapTotalSize',
+  ];
+  return Object.fromEntries(
+    metrics.metrics
+      .filter((metric) => wanted.includes(metric.name))
+      .map((metric) => [metric.name, metric.value]),
+  );
+}
+
+async function performInteractions(page) {
+  await page.mouse.wheel(0, 1400);
+  await sleep(800);
+  await page.mouse.wheel(0, -900);
+  await sleep(800);
+  await page.keyboard.press('Tab');
+  await sleep(300);
+  await page.keyboard.press('Tab');
+  await sleep(300);
+
+  const buttons = await page.locator('button:visible').elementHandles();
+  for (const button of buttons.slice(0, 3)) {
+    const box = await button.boundingBox();
+    if (!box || box.width < 8 || box.height < 8) continue;
+    await page.mouse.move(box.x + box.width / 2, box.y + box.height / 2);
+    await sleep(150);
+  }
+}
+
+async function run() {
+  await fs.mkdir(runDir, { recursive: true });
+  const browser = await chromium.launch({
+    headless: true,
+    args: [
+      '--autoplay-policy=no-user-gesture-required',
+      '--disable-background-timer-throttling',
+      '--disable-renderer-backgrounding',
+    ],
+  });
+  const context = await browser.newContext({
+    viewport: { width: viewport[0] || 1440, height: viewport[1] || 950 },
+    deviceScaleFactor: 1,
+    isMobile,
+    hasTouch: isMobile,
+    ignoreHTTPSErrors: true,
+  });
+
+  await context.addInitScript(() => {
+    window.__perfProbe = {
+      longTasks: [],
+      frames: [],
+      intervalDrifts: [],
+    };
+
+    try {
+      new PerformanceObserver((list) => {
+        for (const entry of list.getEntries()) {
+          window.__perfProbe.longTasks.push({
+            name: entry.name,
+            startTime: entry.startTime,
+            duration: entry.duration,
+          });
+        }
+      }).observe({ type: 'longtask', buffered: true });
+    } catch {}
+
+    let lastFrame = performance.now();
+    const frameLoop = (now) => {
+      window.__perfProbe.frames.push(now - lastFrame);
+      lastFrame = now;
+      requestAnimationFrame(frameLoop);
+    };
+    requestAnimationFrame(frameLoop);
+
+    let lastTick = performance.now();
+    setInterval(() => {
+      const now = performance.now();
+      window.__perfProbe.intervalDrifts.push(now - lastTick - 250);
+      lastTick = now;
+    }, 250);
+  });
+
+  const page = await context.newPage();
+  const consoleMessages = [];
+  const failedRequests = [];
+  const responses = [];
+
+  page.on('console', (message) => {
+    consoleMessages.push({
+      type: message.type(),
+      text: message.text().slice(0, 1000),
+      location: message.location(),
+    });
+  });
+  page.on('requestfailed', (request) => {
+    failedRequests.push({
+      url: request.url(),
+      method: request.method(),
+      failure: request.failure()?.errorText,
+    });
+  });
+  page.on('response', (response) => {
+    const status = response.status();
+    if (status >= 400) responses.push({ url: response.url(), status });
+  });
+
+  const cdp = await context.newCDPSession(page);
+  await cdp.send('Performance.enable');
+  await cdp.send('Profiler.enable');
+  if (cpuThrottle > 1) {
+    await cdp.send('Emulation.setCPUThrottlingRate', { rate: cpuThrottle });
+  }
+
+  const start = Date.now();
+  await page.goto(url, { waitUntil: 'domcontentloaded', timeout: 60000 });
+  await page.waitForLoadState('load', { timeout: 60000 }).catch(() => {});
+  await sleep(5000);
+  const afterLoadMetrics = interestingMetrics(await cdp.send('Performance.getMetrics'));
+  await page.screenshot({ path: path.join(runDir, 'loaded.png'), fullPage: true });
+
+  await cdp.send('Profiler.start');
+  await sleep(15000);
+  await performInteractions(page);
+  await sleep(15000);
+  const { profile } = await cdp.send('Profiler.stop');
+  const endMetrics = interestingMetrics(await cdp.send('Performance.getMetrics'));
+
+  const perfProbe = await page.evaluate(() => window.__perfProbe);
+  await page.screenshot({ path: path.join(runDir, 'after-profile.png'), fullPage: true });
+
+  const cpuSummary = summarizeCpuProfile(profile);
+  const frameDeltas = perfProbe.frames.slice(5);
+  const longTasks = perfProbe.longTasks.sort((a, b) => b.duration - a.duration);
+  const intervalDrifts = perfProbe.intervalDrifts;
+  const percentile = (values, p) => {
+    if (!values.length) return 0;
+    const sorted = [...values].sort((a, b) => a - b);
+    return sorted[Math.min(sorted.length - 1, Math.floor(sorted.length * p))];
+  };
+
+  const report = {
+    url,
+    runDir,
+    elapsedMs: Date.now() - start,
+    userAgent: await page.evaluate(() => navigator.userAgent),
+    title: await page.title(),
+    finalUrl: page.url(),
+    environment: {
+      cpuThrottle,
+      viewport: { width: viewport[0] || 1440, height: viewport[1] || 950 },
+      isMobile,
+    },
+    metrics: {
+      afterLoad: afterLoadMetrics,
+      end: endMetrics,
+      delta: Object.fromEntries(
+        Object.keys(endMetrics).map((key) => [key, endMetrics[key] - (afterLoadMetrics[key] || 0)]),
+      ),
+    },
+    cpuSummary,
+    responsiveness: {
+      longTaskCount: longTasks.length,
+      topLongTasks: longTasks.slice(0, 20),
+      frameCount: frameDeltas.length,
+      averageFrameMs: frameDeltas.reduce((sum, value) => sum + value, 0) / frameDeltas.length,
+      p95FrameMs: percentile(frameDeltas, 0.95),
+      p99FrameMs: percentile(frameDeltas, 0.99),
+      intervalDriftCount: intervalDrifts.length,
+      averageIntervalDriftMs:
+        intervalDrifts.reduce((sum, value) => sum + value, 0) / intervalDrifts.length,
+      p95IntervalDriftMs: percentile(intervalDrifts, 0.95),
+      p99IntervalDriftMs: percentile(intervalDrifts, 0.99),
+    },
+    consoleMessages,
+    failedRequests,
+    errorResponses: responses,
+  };
+
+  await fs.writeFile(path.join(runDir, 'cpu-profile.cpuprofile'), JSON.stringify(profile));
+  await fs.writeFile(path.join(runDir, 'report.json'), JSON.stringify(report, null, 2));
+  console.log(JSON.stringify(report, null, 2));
+  await browser.close();
+}
+
+run().catch((error) => {
+  console.error(error);
+  process.exitCode = 1;
+});

perf/live-listener-audit.mjs

@@ -0,0 +1,120 @@
+import fs from 'node:fs/promises';
+import path from 'node:path';
+import { chromium } from 'playwright';
+
+const url = process.argv[2] || 'https://rover.otter.land';
+const outDir = process.argv[3] || path.resolve('perf/results');
+const runId = `${new Date().toISOString().replace(/[:.]/g, '-')}-listeners`;
+const runDir = path.join(outDir, runId);
+const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
+
+async function run() {
+  await fs.mkdir(runDir, { recursive: true });
+  const browser = await chromium.launch({ headless: true });
+  const context = await browser.newContext({
+    viewport: { width: 1440, height: 950 },
+    ignoreHTTPSErrors: true,
+  });
+
+  await context.addInitScript(() => {
+    const originalAdd = EventTarget.prototype.addEventListener;
+    const originalRemove = EventTarget.prototype.removeEventListener;
+    const listenerIds = new WeakMap();
+    let nextListenerId = 1;
+    const rows = new Map();
+
+    function listenerId(listener) {
+      if ((typeof listener !== 'function' && typeof listener !== 'object') || listener === null) {
+        return String(listener);
+      }
+      let id = listenerIds.get(listener);
+      if (!id) {
+        id = nextListenerId++;
+        listenerIds.set(listener, id);
+      }
+      return id;
+    }
+
+    function targetName(target) {
+      if (target === window) return 'window';
+      if (target === document) return 'document';
+      if (target?.nodeType === Node.DOCUMENT_NODE) return 'document';
+      if (target?.nodeType === Node.ELEMENT_NODE) {
+        const tag = target.tagName?.toLowerCase() || 'element';
+        const id = target.id ? `#${target.id}` : '';
+        const className = String(target.className || '').trim().split(/\s+/).slice(0, 3).join('.');
+        return `${tag}${id}${className ? `.${className}` : ''}`;
+      }
+      if (target?.constructor?.name) return target.constructor.name;
+      return String(target);
+    }
+
+    function shortStack() {
+      return String(new Error().stack || '')
+        .split('\n')
+        .slice(3, 9)
+        .map((line) => line.trim().replace(location.origin, ''))
+        .join('\n');
+    }
+
+    function note(kind, target, type, listener) {
+      const stack = shortStack();
+      const key = `${targetName(target)}::${type}::${stack}`;
+      const row = rows.get(key) || {
+        target: targetName(target),
+        type: String(type),
+        stack,
+        adds: 0,
+        removes: 0,
+        activeApprox: 0,
+        firstSeen: performance.now(),
+        lastSeen: 0,
+      };
+      row[kind] += 1;
+      row.activeApprox += kind === 'adds' ? 1 : -1;
+      row.lastSeen = performance.now();
+      row.exampleListener = String(listener).slice(0, 180);
+      rows.set(key, row);
+    }
+
+    EventTarget.prototype.addEventListener = function patchedAdd(type, listener, options) {
+      note('adds', this, type, listener);
+      return originalAdd.call(this, type, listener, options);
+    };
+
+    EventTarget.prototype.removeEventListener = function patchedRemove(type, listener, options) {
+      note('removes', this, type, listener);
+      return originalRemove.call(this, type, listener, options);
+    };
+
+    window.__listenerAudit = {
+      snapshot() {
+        return [...rows.values()]
+          .sort((a, b) => Math.abs(b.activeApprox) - Math.abs(a.activeApprox) || b.adds - a.adds)
+          .slice(0, 100);
+      },
+    };
+  });
+
+  const page = await context.newPage();
+  await page.goto(url, { waitUntil: 'domcontentloaded', timeout: 60000 });
+  await page.waitForLoadState('load', { timeout: 60000 }).catch(() => {});
+  await sleep(10000);
+  const first = await page.evaluate(() => window.__listenerAudit.snapshot());
+  await page.mouse.wheel(0, 1500);
+  await sleep(1000);
+  await page.mouse.wheel(0, -900);
+  await sleep(20000);
+  const second = await page.evaluate(() => window.__listenerAudit.snapshot());
+
+  const report = { url, finalUrl: page.url(), first, second };
+  await fs.writeFile(path.join(runDir, 'listener-report.json'), JSON.stringify(report, null, 2));
+  await page.screenshot({ path: path.join(runDir, 'listener-audit.png'), fullPage: true });
+  console.log(JSON.stringify(report, null, 2));
+  await browser.close();
+}
+
+run().catch((error) => {
+  console.error(error);
+  process.exitCode = 1;
+});

perf/live-root-runtime-audit.mjs

@@ -0,0 +1,253 @@
+import fs from 'node:fs/promises';
+import path from 'node:path';
+import { chromium } from 'playwright';
+
+const url = process.argv[2] || 'https://rover.otter.land/';
+const outDir = process.argv[3] || path.resolve('perf/results');
+const cpuThrottle = Number(process.env.CPU_THROTTLE || 6);
+const viewport = (process.env.VIEWPORT || '390x844').split('x').map((part) => Number(part));
+const isMobile = process.env.MOBILE !== '0';
+const sampleMs = Number(process.env.SAMPLE_MS || 45000);
+const runId = `${new Date().toISOString().replace(/[:.]/g, '-')}-root-runtime`;
+const runDir = path.join(outDir, runId);
+const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
+
+function percentile(values, p) {
+  if (!values.length) return 0;
+  const sorted = [...values].sort((a, b) => a - b);
+  return sorted[Math.min(sorted.length - 1, Math.floor(sorted.length * p))];
+}
+
+async function main() {
+  await fs.mkdir(runDir, { recursive: true });
+  const browser = await chromium.launch({ headless: true });
+  const context = await browser.newContext({
+    viewport: { width: viewport[0] || 390, height: viewport[1] || 844 },
+    deviceScaleFactor: isMobile ? 3 : 1,
+    isMobile,
+    hasTouch: isMobile,
+    ignoreHTTPSErrors: true,
+  });
+
+  await context.addInitScript(() => {
+    const data = {
+      startedAt: performance.now(),
+      listeners: new Map(),
+      timers: new Map(),
+      timeouts: 0,
+      intervals: 0,
+      intervalFires: 0,
+      timeoutFires: 0,
+      webSocketMessages: [],
+      webSocketCounts: new Map(),
+      webSocketBytesByEvent: new Map(),
+      mutations: [],
+      mutationTargets: new Map(),
+      frames: [],
+      longTasks: [],
+      consoleErrors: [],
+    };
+
+    function localPercentile(values, p) {
+      if (!values.length) return 0;
+      const sorted = [...values].sort((a, b) => a - b);
+      return sorted[Math.min(sorted.length - 1, Math.floor(sorted.length * p))];
+    }
+
+    function targetName(target) {
+      if (target === window) return 'window';
+      if (target === document) return 'document';
+      if (target?.nodeType === Node.ELEMENT_NODE) {
+        const tag = target.tagName?.toLowerCase() || 'element';
+        const id = target.id ? `#${target.id}` : '';
+        const classes = String(target.className || '').split(/\s+/).filter(Boolean).slice(0, 2).join('.');
+        return `${tag}${id}${classes ? `.${classes}` : ''}`;
+      }
+      return target?.constructor?.name || String(target);
+    }
+
+    function listenerKey(target, type, kind) {
+      return `${kind}:${targetName(target)}:${String(type)}`;
+    }
+
+    const originalAdd = EventTarget.prototype.addEventListener;
+    const originalRemove = EventTarget.prototype.removeEventListener;
+    EventTarget.prototype.addEventListener = function add(type, listener, options) {
+      const key = listenerKey(this, type, 'add');
+      data.listeners.set(key, (data.listeners.get(key) || 0) + 1);
+      return originalAdd.call(this, type, listener, options);
+    };
+    EventTarget.prototype.removeEventListener = function remove(type, listener, options) {
+      const key = listenerKey(this, type, 'remove');
+      data.listeners.set(key, (data.listeners.get(key) || 0) + 1);
+      return originalRemove.call(this, type, listener, options);
+    };
+
+    const originalSetInterval = window.setInterval;
+    const originalSetTimeout = window.setTimeout;
+    window.setInterval = function patchedSetInterval(fn, delay, ...args) {
+      data.intervals += 1;
+      const key = `interval:${delay}`;
+      data.timers.set(key, (data.timers.get(key) || 0) + 1);
+      return originalSetInterval.call(this, (...innerArgs) => {
+        data.intervalFires += 1;
+        return typeof fn === 'function' ? fn(...innerArgs) : eval(fn);
+      }, delay, ...args);
+    };
+    window.setTimeout = function patchedSetTimeout(fn, delay, ...args) {
+      data.timeouts += 1;
+      const key = `timeout:${delay}`;
+      data.timers.set(key, (data.timers.get(key) || 0) + 1);
+      return originalSetTimeout.call(this, (...innerArgs) => {
+        data.timeoutFires += 1;
+        return typeof fn === 'function' ? fn(...innerArgs) : eval(fn);
+      }, delay, ...args);
+    };
+
+    const OriginalWebSocket = window.WebSocket;
+    if (OriginalWebSocket) {
+      window.WebSocket = function PatchedWebSocket(...args) {
+        const ws = new OriginalWebSocket(...args);
+        ws.addEventListener('message', (event) => {
+          const raw = event.data;
+          const text = typeof raw === 'string' ? raw : '';
+          const match = text.slice(0, 120).match(/\["([^"\]]+)/);
+          const eventName = match?.[1] || text.slice(0, 12);
+          data.webSocketCounts.set(eventName, (data.webSocketCounts.get(eventName) || 0) + 1);
+          data.webSocketBytesByEvent.set(
+            eventName,
+            (data.webSocketBytesByEvent.get(eventName) || 0) + (typeof raw === 'string' ? raw.length : raw?.byteLength || raw?.size || 0),
+          );
+          data.webSocketMessages.push({
+            at: Math.round(performance.now()),
+            size: typeof raw === 'string' ? raw.length : raw?.byteLength || raw?.size || 0,
+            prefix: text.slice(0, 80),
+          });
+          if (data.webSocketMessages.length > 1000) data.webSocketMessages.shift();
+        });
+        return ws;
+      };
+      window.WebSocket.prototype = OriginalWebSocket.prototype;
+      Object.assign(window.WebSocket, OriginalWebSocket);
+    }
+
+    try {
+      new PerformanceObserver((list) => {
+        for (const entry of list.getEntries()) {
+          data.longTasks.push({ startTime: entry.startTime, duration: entry.duration, name: entry.name });
+        }
+      }).observe({ type: 'longtask', buffered: true });
+    } catch {}
+
+    let lastFrame = performance.now();
+    requestAnimationFrame(function frame(now) {
+      data.frames.push(now - lastFrame);
+      lastFrame = now;
+      requestAnimationFrame(frame);
+    });
+
+    new MutationObserver((records) => {
+      let added = 0;
+      let removed = 0;
+      let attrs = 0;
+      let text = 0;
+      for (const record of records) {
+        added += record.addedNodes?.length || 0;
+        removed += record.removedNodes?.length || 0;
+        if (record.type === 'attributes') attrs += 1;
+        if (record.type === 'characterData') text += 1;
+        if (record.type === 'attributes' || record.type === 'characterData') {
+          const key = `${targetName(record.target)}:${record.type}:${record.attributeName || ''}`;
+          data.mutationTargets.set(key, (data.mutationTargets.get(key) || 0) + 1);
+        }
+      }
+      data.mutations.push({ at: Math.round(performance.now()), records: records.length, added, removed, attrs, text });
+      if (data.mutations.length > 1000) data.mutations.shift();
+    }).observe(document, {
+      subtree: true,
+      childList: true,
+      attributes: true,
+      characterData: true,
+    });
+
+    const originalConsoleError = console.error;
+    console.error = (...args) => {
+      data.consoleErrors.push(args.map((arg) => String(arg)).join(' ').slice(0, 500));
+      return originalConsoleError.apply(console, args);
+    };
+
+    window.__rootAudit = {
+      snapshot() {
+        const frames = data.frames.slice(5);
+        const messages = data.webSocketMessages;
+        const socketBuckets = new Map(
+          [...data.webSocketCounts.entries()].map(([event, count]) => [
+            event,
+            { event, count, bytes: data.webSocketBytesByEvent.get(event) || 0 },
+          ]),
+        );
+        return {
+          elapsedMs: performance.now() - data.startedAt,
+          listeners: [...data.listeners.entries()].map(([key, count]) => ({ key, count })).sort((a, b) => b.count - a.count).slice(0, 40),
+          timers: [...data.timers.entries()].map(([key, count]) => ({ key, count })).sort((a, b) => b.count - a.count).slice(0, 40),
+          timeouts: data.timeouts,
+          intervals: data.intervals,
+          timeoutFires: data.timeoutFires,
+          intervalFires: data.intervalFires,
+          webSocketMessageCount: messages.length,
+          webSocketBytes: messages.reduce((sum, message) => sum + message.size, 0),
+          webSocketEvents: [...socketBuckets.values()].sort((a, b) => b.count - a.count),
+          mutationsTotal: data.mutations.reduce((acc, row) => ({
+            records: acc.records + row.records,
+            added: acc.added + row.added,
+            removed: acc.removed + row.removed,
+            attrs: acc.attrs + row.attrs,
+            text: acc.text + row.text,
+          }), { records: 0, added: 0, removed: 0, attrs: 0, text: 0 }),
+          mutationTargets: [...data.mutationTargets.entries()]
+            .map(([key, count]) => ({ key, count }))
+            .sort((a, b) => b.count - a.count)
+            .slice(0, 50),
+          mutationBursts: [...data.mutations].sort((a, b) => b.records - a.records).slice(0, 20),
+          frames: {
+            count: frames.length,
+            average: frames.reduce((sum, value) => sum + value, 0) / frames.length,
+            p95: localPercentile(frames, 0.95),
+            p99: localPercentile(frames, 0.99),
+          },
+          longTasks: {
+            count: data.longTasks.length,
+            top: [...data.longTasks].sort((a, b) => b.duration - a.duration).slice(0, 20),
+          },
+          consoleErrors: data.consoleErrors,
+        };
+      },
+    };
+  });
+
+  const page = await context.newPage();
+  const cdp = await context.newCDPSession(page);
+  await cdp.send('Performance.enable');
+  if (cpuThrottle > 1) await cdp.send('Emulation.setCPUThrottlingRate', { rate: cpuThrottle });
+  await page.goto(url, { waitUntil: 'domcontentloaded', timeout: 90000 });
+  await page.waitForLoadState('load', { timeout: 90000 }).catch(() => {});
+  await sleep(sampleMs);
+  const metrics = await cdp.send('Performance.getMetrics');
+  const snapshot = await page.evaluate(() => window.__rootAudit.snapshot());
+  const report = {
+    url,
+    runDir,
+    environment: { cpuThrottle, viewport: { width: viewport[0] || 390, height: viewport[1] || 844 }, isMobile, sampleMs },
+    metrics: Object.fromEntries(metrics.metrics.map((metric) => [metric.name, metric.value])),
+    snapshot,
+  };
+  await page.screenshot({ path: path.join(runDir, 'root-runtime.png'), fullPage: true });
+  await fs.writeFile(path.join(runDir, 'root-runtime-report.json'), JSON.stringify(report, null, 2));
+  console.log(JSON.stringify(report, null, 2));
+  await browser.close();
+}
+
+main().catch((error) => {
+  console.error(error);
+  process.exitCode = 1;
+});

perf/live-route-sweep.mjs

@@ -0,0 +1,284 @@
+import fs from 'node:fs/promises';
+import path from 'node:path';
+import { chromium } from 'playwright';
+
+const baseUrl = process.argv[2] || 'https://rover.otter.land';
+const outDir = process.argv[3] || path.resolve('perf/results');
+const cpuThrottle = Number(process.env.CPU_THROTTLE || 6);
+const viewport = (process.env.VIEWPORT || '390x844').split('x').map((part) => Number(part));
+const isMobile = process.env.MOBILE !== '0';
+const sampleMs = Number(process.env.SAMPLE_MS || 22000);
+const routes = (process.env.ROUTES || '/,/spectate,/mini,/display,/scanner')
+  .split(',')
+  .map((route) => route.trim())
+  .filter(Boolean);
+const runId = `${new Date().toISOString().replace(/[:.]/g, '-')}-route-sweep`;
+const runDir = path.join(outDir, runId);
+
+const sleep = (ms) => new Promise((resolve) => setTimeout(resolve, ms));
+
+function percentile(values, p) {
+  if (!values.length) return 0;
+  const sorted = [...values].sort((a, b) => a - b);
+  return sorted[Math.min(sorted.length - 1, Math.floor(sorted.length * p))];
+}
+
+function interestingMetrics(metrics) {
+  const wanted = [
+    'Documents',
+    'JSEventListeners',
+    'Nodes',
+    'LayoutCount',
+    'RecalcStyleCount',
+    'LayoutDuration',
+    'RecalcStyleDuration',
+    'ScriptDuration',
+    'TaskDuration',
+    'JSHeapUsedSize',
+    'JSHeapTotalSize',
+  ];
+  return Object.fromEntries(
+    metrics.metrics
+      .filter((metric) => wanted.includes(metric.name))
+      .map((metric) => [metric.name, metric.value]),
+  );
+}
+
+function summarizeCpuProfile(profile) {
+  const nodes = new Map(profile.nodes.map((node) => [node.id, node]));
+  const totals = new Map();
+  let totalUs = 0;
+  for (let i = 0; i < (profile.samples || []).length; i += 1) {
+    const delta = profile.timeDeltas?.[i] || 0;
+    totalUs += delta;
+    const frame = nodes.get(profile.samples[i])?.callFrame || {};
+    const key = `${frame.url || '(browser)'}::${frame.functionName || '(anonymous)'}:${frame.lineNumber}:${frame.columnNumber}`;
+    const row = totals.get(key) || {
+      url: frame.url || '',
+      functionName: frame.functionName || '(anonymous)',
+      lineNumber: frame.lineNumber,
+      columnNumber: frame.columnNumber,
+      selfMs: 0,
+      samples: 0,
+    };
+    row.selfMs += delta / 1000;
+    row.samples += 1;
+    totals.set(key, row);
+  }
+  return {
+    totalProfileMs: totalUs / 1000,
+    topSelfTime: [...totals.values()].sort((a, b) => b.selfMs - a.selfMs).slice(0, 15),
+  };
+}
+
+async function installProbe(context) {
+  await context.addInitScript(() => {
+    const originalAdd = EventTarget.prototype.addEventListener;
+    const originalRemove = EventTarget.prototype.removeEventListener;
+    const listenerRows = new Map();
+
+    function targetName(target) {
+      if (target === window) return 'window';
+      if (target === document) return 'document';
+      if (target?.nodeType === Node.ELEMENT_NODE) {
+        const tag = target.tagName?.toLowerCase() || 'element';
+        return target.id ? `${tag}#${target.id}` : tag;
+      }
+      return target?.constructor?.name || String(target);
+    }
+
+    function stack() {
+      return String(new Error().stack || '')
+        .split('\n')
+        .slice(3, 7)
+        .map((line) => line.trim().replace(location.origin, ''))
+        .join('\n');
+    }
+
+    function note(kind, target, type) {
+      const key = `${targetName(target)}::${type}::${stack()}`;
+      const row = listenerRows.get(key) || {
+        target: targetName(target),
+        type: String(type),
+        stack: stack(),
+        adds: 0,
+        removes: 0,
+      };
+      row[kind] += 1;
+      listenerRows.set(key, row);
+    }
+
+    EventTarget.prototype.addEventListener = function patchedAdd(type, listener, options) {
+      note('adds', this, type);
+      return originalAdd.call(this, type, listener, options);
+    };
+    EventTarget.prototype.removeEventListener = function patchedRemove(type, listener, options) {
+      note('removes', this, type);
+      return originalRemove.call(this, type, listener, options);
+    };
+
+    window.__sweepProbe = {
+      longTasks: [],
+      frames: [],
+      intervalDrifts: [],
+      listenerSnapshot() {
+        return [...listenerRows.values()]
+          .map((row) => ({ ...row, churn: row.adds + row.removes }))
+          .sort((a, b) => b.churn - a.churn)
+          .slice(0, 20);
+      },
+    };
+
+    try {
+      new PerformanceObserver((list) => {
+        for (const entry of list.getEntries()) {
+          window.__sweepProbe.longTasks.push({
+            name: entry.name,
+            startTime: entry.startTime,
+            duration: entry.duration,
+          });
+        }
+      }).observe({ type: 'longtask', buffered: true });
+    } catch {}
+
+    let lastFrame = performance.now();
+    const frameLoop = (now) => {
+      window.__sweepProbe.frames.push(now - lastFrame);
+      lastFrame = now;
+      requestAnimationFrame(frameLoop);
+    };
+    requestAnimationFrame(frameLoop);
+
+    let lastTick = performance.now();
+    setInterval(() => {
+      const now = performance.now();
+      window.__sweepProbe.intervalDrifts.push(now - lastTick - 250);
+      lastTick = now;
+    }, 250);
+  });
+}
+
+async function runRoute(browser, route) {
+  const context = await browser.newContext({
+    viewport: { width: viewport[0] || 390, height: viewport[1] || 844 },
+    deviceScaleFactor: isMobile ? 3 : 1,
+    isMobile,
+    hasTouch: isMobile,
+    ignoreHTTPSErrors: true,
+  });
+  await installProbe(context);
+  const page = await context.newPage();
+  const cdp = await context.newCDPSession(page);
+  await cdp.send('Performance.enable');
+  await cdp.send('Profiler.enable');
+  if (cpuThrottle > 1) {
+    await cdp.send('Emulation.setCPUThrottlingRate', { rate: cpuThrottle });
+  }
+
+  const consoleErrors = [];
+  const errorResponses = [];
+  page.on('console', (message) => {
+    if (['error', 'warning'].includes(message.type())) {
+      consoleErrors.push({ type: message.type(), text: message.text().slice(0, 500) });
+    }
+  });
+  page.on('response', (response) => {
+    if (response.status() >= 400) {
+      errorResponses.push({ url: response.url(), status: response.status() });
+    }
+  });
+
+  const url = new URL(route, baseUrl).toString();
+  const startWall = Date.now();
+  await page.goto(url, { waitUntil: 'domcontentloaded', timeout: 90000 });
+  await page.waitForLoadState('load', { timeout: 90000 }).catch(() => {});
+  await sleep(4000);
+  const startMetrics = interestingMetrics(await cdp.send('Performance.getMetrics'));
+  await cdp.send('Profiler.start');
+  await sleep(sampleMs / 2);
+  await page.mouse.wheel(0, 900).catch(() => {});
+  await sleep(sampleMs / 2);
+  const { profile } = await cdp.send('Profiler.stop');
+  const endMetrics = interestingMetrics(await cdp.send('Performance.getMetrics'));
+  const probe = await page.evaluate(() => ({
+    longTasks: window.__sweepProbe.longTasks,
+    frames: window.__sweepProbe.frames.slice(5),
+    intervalDrifts: window.__sweepProbe.intervalDrifts,
+    listeners: window.__sweepProbe.listenerSnapshot(),
+  }));
+  const screenshotName = route === '/' ? 'root' : route.replace(/^\//, '').replace(/\W+/g, '-');
+  await page.screenshot({ path: path.join(runDir, `${screenshotName || 'root'}.png`), fullPage: true });
+  await context.close();
+
+  const delta = Object.fromEntries(
+    Object.keys(endMetrics).map((key) => [key, endMetrics[key] - (startMetrics[key] || 0)]),
+  );
+  const frames = probe.frames;
+  const longTasks = probe.longTasks.sort((a, b) => b.duration - a.duration);
+  return {
+    route,
+    finalUrl: page.url(),
+    elapsedMs: Date.now() - startWall,
+    metrics: { start: startMetrics, end: endMetrics, delta },
+    cpu: summarizeCpuProfile(profile),
+    responsiveness: {
+      longTaskCount: longTasks.length,
+      worstLongTaskMs: longTasks[0]?.duration || 0,
+      topLongTasks: longTasks.slice(0, 8),
+      frameCount: frames.length,
+      averageFrameMs: frames.reduce((sum, value) => sum + value, 0) / frames.length,
+      p95FrameMs: percentile(frames, 0.95),
+      p99FrameMs: percentile(frames, 0.99),
+      intervalDriftP95Ms: percentile(probe.intervalDrifts, 0.95),
+      intervalDriftP99Ms: percentile(probe.intervalDrifts, 0.99),
+    },
+    listenerChurn: probe.listeners,
+    consoleErrors,
+    errorResponses,
+  };
+}
+
+async function main() {
+  await fs.mkdir(runDir, { recursive: true });
+  const browser = await chromium.launch({
+    headless: true,
+    args: ['--autoplay-policy=no-user-gesture-required'],
+  });
+  const results = [];
+  for (const route of routes) {
+    console.error(`profiling ${route} at ${cpuThrottle}x`);
+    results.push(await runRoute(browser, route));
+  }
+  await browser.close();
+
+  const report = {
+    baseUrl,
+    runDir,
+    environment: {
+      cpuThrottle,
+      viewport: { width: viewport[0] || 390, height: viewport[1] || 844 },
+      isMobile,
+      sampleMs,
+      routes,
+    },
+    results,
+    rankedByAverageFrame: [...results].sort(
+      (a, b) => b.responsiveness.averageFrameMs - a.responsiveness.averageFrameMs,
+    ),
+    rankedByTaskDuration: [...results].sort(
+      (a, b) => b.metrics.delta.TaskDuration - a.metrics.delta.TaskDuration,
+    ),
+    rankedByListenerChurn: [...results].sort((a, b) => {
+      const churnA = a.listenerChurn.reduce((sum, row) => sum + row.churn, 0);
+      const churnB = b.listenerChurn.reduce((sum, row) => sum + row.churn, 0);
+      return churnB - churnA;
+    }),
+  };
+  await fs.writeFile(path.join(runDir, 'route-sweep-report.json'), JSON.stringify(report, null, 2));
+  console.log(JSON.stringify(report, null, 2));
+}
+
+main().catch((error) => {
+  console.error(error);
+  process.exitCode = 1;
+});

perf/package.json

@@ -0,0 +1,5 @@
+{
+  "dependencies": {
+    "playwright": "^1.60.0"
+  }
+}

perf/results/2026-06-11T03-02-07-015Z/report.json

@@ -0,0 +1,334 @@
+{
+  "url": "https://rover.otter.land",
+  "runDir": "perf/results/2026-06-11T03-02-07-015Z",
+  "elapsedMs": 38584,
+  "userAgent": "Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) HeadlessChrome/148.0.7778.96 Safari/537.36",
+  "title": "Roomba Rover",
+  "finalUrl": "https://rover.otter.land/",
+  "metrics": {
+    "afterLoad": {
+      "Timestamp": 38634.714754,
+      "Documents": 1,
+      "Frames": 1,
+      "JSEventListeners": 66899,
+      "Nodes": 2977,
+      "LayoutCount": 89,
+      "RecalcStyleCount": 274,
+      "LayoutDuration": 0.106766,
+      "RecalcStyleDuration": 0.065778,
+      "ScriptDuration": 4.06233,
+      "TaskDuration": 4.933287,
+      "JSHeapUsedSize": 35455032,
+      "JSHeapTotalSize": 80216064
+    },
+    "end": {
+      "Timestamp": 38667.823166,
+      "Documents": 1,
+      "Frames": 1,
+      "JSEventListeners": 75714,
+      "Nodes": 2955,
+      "LayoutCount": 654,
+      "RecalcStyleCount": 2517,
+      "LayoutDuration": 0.32419,
+      "RecalcStyleDuration": 0.312982,
+      "ScriptDuration": 32.06036,
+      "TaskDuration": 37.597822,
+      "JSHeapUsedSize": 39685520,
+      "JSHeapTotalSize": 86081536
+    },
+    "delta": {
+      "Timestamp": 33.10841200000141,
+      "Documents": 0,
+      "Frames": 0,
+      "JSEventListeners": 8815,
+      "Nodes": -22,
+      "LayoutCount": 565,
+      "RecalcStyleCount": 2243,
+      "LayoutDuration": 0.21742399999999998,
+      "RecalcStyleDuration": 0.24720399999999998,
+      "ScriptDuration": 27.998030000000004,
+      "TaskDuration": 32.664535,
+      "JSHeapUsedSize": 4230488,
+      "JSHeapTotalSize": 5865472
+    }
+  },
+  "cpuSummary": {
+    "totalProfileMs": 32896.945,
+    "sampleCount": 30557,
+    "topSelfTime": [
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+}

perf/results/2026-06-12T06-07-57-124Z-root-runtime/root-runtime-report.json

@@ -0,0 +1,849 @@
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+      {
+        "key": "video.h-full.w-full:attributes:disableremoteplayback",
+        "count": 2
+      },
+      {
+        "key": "audio:attributes:autoplay",
+        "count": 2
+      },
+      {
+        "key": "audio:attributes:disableremoteplayback",
+        "count": 2
+      },
+      {
+        "key": "input.field-input.flex-1:attributes:value",
+        "count": 2
+      },
+      {
+        "key": "span.inline-block.rounded:attributes:style",
+        "count": 2
+      },
+      {
+        "key": "div.flex.flex-col:attributes:class",
+        "count": 1
+      },
+      {
+        "key": "button.button-dark.min-w-0:attributes:disabled",
+        "count": 1
+      },
+      {
+        "key": "input.field-input.w-full:attributes:value",
+        "count": 1
+      },
+      {
+        "key": "button.button-dark.text-sm:attributes:disabled",
+        "count": 1
+      }
+    ],
+    "mutationBursts": [
+      {
+        "at": 10155,
+        "records": 164,
+        "added": 105,
+        "removed": 1,
+        "attrs": 58,
+        "text": 0
+      },
+      {
+        "at": 28081,
+        "records": 103,
+        "added": 7,
+        "removed": 12,
+        "attrs": 79,
+        "text": 5
+      },
+      {
+        "at": 31972,
+        "records": 83,
+        "added": 13,
+        "removed": 3,
+        "attrs": 65,
+        "text": 2
+      },
+      {
+        "at": 18426,
+        "records": 82,
+        "added": 11,
+        "removed": 2,
+        "attrs": 66,
+        "text": 3
+      },
+      {
+        "at": 8027,
+        "records": 69,
+        "added": 19,
+        "removed": 5,
+        "attrs": 42,
+        "text": 3
+      },
+      {
+        "at": 16714,
+        "records": 66,
+        "added": 2,
+        "removed": 2,
+        "attrs": 53,
+        "text": 9
+      },
+      {
+        "at": 40645,
+        "records": 64,
+        "added": 0,
+        "removed": 0,
+        "attrs": 64,
+        "text": 0
+      },
+      {
+        "at": 40951,
+        "records": 64,
+        "added": 0,
+        "removed": 0,
+        "attrs": 64,
+        "text": 0
+      },
+      {
+        "at": 42708,
+        "records": 64,
+        "added": 0,
+        "removed": 0,
+        "attrs": 64,
+        "text": 0
+      },
+      {
+        "at": 36974,
+        "records": 61,
+        "added": 0,
+        "removed": 0,
+        "attrs": 61,
+        "text": 0
+      },
+      {
+        "at": 24109,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 28572,
+        "records": 60,
+        "added": 2,
+        "removed": 4,
+        "attrs": 53,
+        "text": 1
+      },
+      {
+        "at": 36595,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 42135,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 43257,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 48207,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 48500,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 50368,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 51568,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      },
+      {
+        "at": 52146,
+        "records": 60,
+        "added": 0,
+        "removed": 0,
+        "attrs": 60,
+        "text": 0
+      }
+    ],
+    "frames": {
+      "count": 241,
+      "average": 202.06639004149378,
+      "p95": 399.8999999999978,
+      "p99": 1633.199999999999
+    },
+    "longTasks": {
+      "count": 133,
+      "top": [
+        {
+          "startTime": 1510.7999999970198,
+          "duration": 2281,
+          "name": "self"
+        },
+        {
+          "startTime": 10156.89999999851,
+          "duration": 1493,
+          "name": "self"
+        },
+        {
+          "startTime": 3806,
+          "duration": 1311,
+          "name": "self"
+        },
+        {
+          "startTime": 30277.099999997765,
+          "duration": 932,
+          "name": "self"
+        },
+        {
+          "startTime": 14996,
+          "duration": 931,
+          "name": "self"
+        },
+        {
+          "startTime": 9269.89999999851,
+          "duration": 886,
+          "name": "self"
+        },
+        {
+          "startTime": 7147,
+          "duration": 880,
+          "name": "self"
+        },
+        {
+          "startTime": 14298,
+          "duration": 698,
+          "name": "self"
+        },
+        {
+          "startTime": 29581.099999997765,
+          "duration": 696,
+          "name": "self"
+        },
+        {
+          "startTime": 8029.599999997765,
+          "duration": 689,
+          "name": "self"
+        },
+        {
+          "startTime": 5117.39999999851,
+          "duration": 534,
+          "name": "self"
+        },
+        {
+          "startTime": 31587,
+          "duration": 385,
+          "name": "self"
+        },
+        {
+          "startTime": 18074,
+          "duration": 356,
+          "name": "self"
+        },
+        {
+          "startTime": 25434.39999999851,
+          "duration": 344,
+          "name": "self"
+        },
+        {
+          "startTime": 16382.29999999702,
+          "duration": 333,
+          "name": "self"
+        },
+        {
+          "startTime": 12463.199999999255,
+          "duration": 300,
+          "name": "self"
+        },
+        {
+          "startTime": 6124.79999999702,
+          "duration": 285,
+          "name": "self"
+        },
+        {
+          "startTime": 5657.199999999255,
+          "duration": 283,
+          "name": "self"
+        },
+        {
+          "startTime": 18655.79999999702,
+          "duration": 242,
+          "name": "self"
+        },
+        {
+          "startTime": 19023.5,
+          "duration": 236,
+          "name": "self"
+        }
+      ]
+    },
+    "consoleErrors": []
+  }
+}

perf/spectate-issues/001-telemetry-fanout-hud-maps.md

@@ -0,0 +1,219 @@
+# Issue 001: Telemetry Fan-Out And Always-On HUD Maps
+
+## Summary
+
+`/spectate` renders multiple rover cards at once, and every rover card includes a live HUD
+with an always-on top-down SVG map. During the 30s throttled audit, the page received
+1,354 `sensorFrame` events and produced more than 5,300 SVG `path` attribute mutations.
+
+This is the strongest measured `/spectate` CPU problem.
+
+## Severity
+
+High.
+
+This is high-frequency, always-on work. It scales with the number of visible rovers and
+hits exactly the devices we care about: mobile browsers and weaker computers.
+
+## Upstream Likelihood
+
+Medium.
+
+The `/` telemetry issue will likely help if it introduces a central throttled visual
+telemetry path. However, `/spectate` has a unique multiplier: it renders several rover
+HUDs and several `TopDownMap` instances at the same time. Even after upstream telemetry
+throttling, `/spectate` probably still needs a policy for how many maps update and how
+often.
+
+Related upstream issue:
+
+```txt
+perf/issues/004-sensor-telemetry-render-frequency.md
+```
+
+## Affected Files
+
+- `webui/src/components/SpectateVideo/index.jsx`
+- `webui/src/components/HudOverlays/HudOverlay/index.jsx`
+- `webui/src/components/HudOverlays/HudOverlay/HudMapOverlay.jsx`
+- `webui/src/components/TopDownMap/TopDownMapContent.jsx`
+- `webui/src/components/TopDownMap/visuals.jsx`
+- `webui/src/context/TelemetryContext.jsx`
+- `webui/src/components/RoverMediaPlayer/index.jsx`
+- `webui/src/components/HudOverlays/OvercurrentOverlay/index.jsx`
+- `webui/src/components/HudOverlays/LowBatteryOverlay/index.jsx`
+- `webui/src/components/HudOverlays/VerticalBatteryOverlay/index.jsx`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+30s sample, mobile viewport, 6x CPU throttle:
+
+```txt
+sensorFrame events:        1,354
+sensorFrame bytes:         2,531,090
+path d mutations:          2,688
+path fill mutations:       2,682
+Long tasks:                   81
+Worst long task:             375ms
+Average frame gap:         113.9ms
+p95 frame gap:             233.3ms
+```
+
+The path mutation pattern is the important clue. Normal text/status updates do not mutate
+thousands of SVG path `d` and `fill` attributes. `TopDownMap` does.
+
+## Current Code Path
+
+`SpectateVideo` mounts a full media and overlay stack for each rover:
+
+```txt
+webui/src/components/SpectateVideo/index.jsx:17
+RoverMediaPlayer
+
+webui/src/components/SpectateVideo/index.jsx:26
+HudOverlay variant="spectator"
+
+webui/src/components/SpectateVideo/index.jsx:33
+OvercurrentOverlay
+
+webui/src/components/SpectateVideo/index.jsx:35
+VerticalBatteryOverlay
+```
+
+`HudOverlay` subscribes to telemetry:
+
+```txt
+webui/src/components/HudOverlays/HudOverlay/index.jsx:27
+const frame = useTelemetryFrame(effectiveRoverId);
+```
+
+For spectator mode, it forces the top-down map on:
+
+```txt
+webui/src/components/HudOverlays/HudOverlay/index.jsx:50
+variant === 'spectator' ? true : ...
+```
+
+Then `HudMapOverlay` renders:
+
+```txt
+webui/src/components/HudOverlays/HudOverlay/HudMapOverlay.jsx:35
+<TopDownMap sensors={sensors} size={240} overlay />
+```
+
+There is also duplicated telemetry subscription pressure. `RoverMediaPlayer` subscribes to
+telemetry for audio ducking and media state, while `HudOverlay`, battery overlays, and
+warning overlays can subscribe for the same rover.
+
+## Why This Matters
+
+The raw socket message rate is not automatically a problem. The expensive part is waking
+multiple React subscribers, recomputing visual sensor geometry, and mutating SVG
+attributes for every visual update.
+
+On `/`, there is generally one primary driver view. On `/spectate`, the same sensor stream
+can be multiplied across several rover cards.
+
+## Fix Strategies
+
+### Option A: Add A Throttled Visual Telemetry Channel
+
+This is the most reusable upstream-friendly fix.
+
+Keep `TelemetryContext` storing the latest frame immediately, but notify visual consumers
+at a lower cadence:
+
+```txt
+useTelemetryFrameRaw(roverId)     high-frequency, only where truly needed
+useTelemetryFrameVisual(roverId)  throttled display data
+```
+
+Use visual telemetry for:
+
+- `TopDownMap`
+- `HudOverlay`
+- `SpectatorTelemetryOverlay`
+- battery overlays
+- warning overlays where 100-200ms delay is acceptable
+
+Suggested rates:
+
+```txt
+desktop visual telemetry: 10-15Hz
+mobile visual telemetry:   5-10Hz
+```
+
+### Option B: Pass One Telemetry Frame Through `SpectateVideo`
+
+Right now, each overlay can subscribe independently. Instead, let `SpectateVideo` subscribe
+once per rover and pass `sensors` down:
+
+```jsx
+const frame = useTelemetryFrameVisual(roverId);
+const sensors = frame?.sensors ?? null;
+
+<RoverMediaPlayer roverId={roverId} sensors={sensors} />
+<HudOverlay roverId={roverId} sensors={sensors} />
+<OvercurrentOverlay roverId={roverId} sensors={sensors} />
+<LowBatteryOverlay roverId={roverId} sensors={sensors} />
+<VerticalBatteryOverlay roverId={roverId} sensors={sensors} />
+```
+
+This may require small prop additions to the warning/battery overlays.
+
+### Option C: Make Spectator HUD Maps Adaptive
+
+Spectator maps are currently always on. For low-end/mobile:
+
+- hide maps by default on portrait mobile
+- update maps at a lower cadence than text warnings
+- only animate the focused/first rover's map
+- show static/minimal maps for secondary rovers
+- make map visibility a spectator setting
+
+### Option D: Memoize TopDownMap Geometry
+
+This is useful after throttling. Avoid recalculating path data when the sensor fields that
+drive a particular path did not change.
+
+## Recommended Path
+
+Do this after the `/` telemetry issue if that work touches `TelemetryContext`.
+
+Best first implementation:
+
+1. Add `useTelemetryFrameVisual(roverId)` with a 100-150ms visual notification cadence.
+2. Switch `HudOverlay` and `TopDownMap` consumers to visual telemetry.
+3. In `SpectateVideo`, subscribe once and pass sensors down where practical.
+4. Add a spectator/mobile map policy so only the most important maps update live.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- `path d` and `path fill` mutations should drop sharply.
+- `ScriptDuration` should drop.
+- Long task count should drop.
+- Frame p95/p99 should improve.
+- `sensorFrame` socket count may stay the same if only rendering is throttled.
+
+## Risks
+
+- Do not throttle control/safety logic that needs immediate data.
+- Keep battery/overcurrent warnings responsive enough to be trusted.
+- If map updates become too slow, operators may perceive the HUD as stale. A 5-10Hz map is
+  usually enough for spectators, but verify by watching the live page.
+

perf/spectate-issues/002-multi-rover-webrtc-media-fanout.md

@@ -0,0 +1,190 @@
+# Issue 002: Multi-Rover WebRTC Media Fan-Out
+
+## Summary
+
+`/spectate` mounts several `RoverMediaPlayer` instances at once. In the fresh runtime
+audit, Chromium reported 6 active `RTCPeerConnections`. That is a large baseline for
+low-end clients, especially while the page is also handling telemetry, snapshots, logs,
+chat, and SVG HUD maps.
+
+## Severity
+
+High.
+
+This may not show up as React mutations, but it consumes CPU in browser media pipelines,
+WebRTC negotiation, decoding, audio handling, and event dispatch. It also scales with the
+number of rovers.
+
+## Upstream Likelihood
+
+Low to medium.
+
+General `RoverMediaPlayer` improvements can help both `/` and `/spectate`, but the core
+problem is spectate-specific: `/spectate` intentionally displays multiple rover media
+players at once. The fix needs a spectator policy for active feeds.
+
+## Affected Files
+
+- `webui/src/components/SpectateVideo/index.jsx`
+- `webui/src/components/RoverMediaPlayer/index.jsx`
+- `webui/src/hooks/useVideoRequests.js`
+- `webui/src/lib/whepPlayer.js`
+- `webui/src/spectate/SpectatorApp/components/RoverRow.jsx`
+- server-side WHEP/video request handling, if feed quality/rate selection is added
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+30s sample:
+
+```txt
+RTCPeerConnections: 6
+JSEventListeners:   379
+```
+
+The listener list is dominated by normal media listeners:
+
+```txt
+audio canplay/ended/error/pause/play/stalled/waiting: 9 each
+video media events: 3 each
+```
+
+That pattern fits several rover media players, likely with video and dedicated audio
+connections.
+
+The same audit also saw:
+
+```txt
+TaskDuration:     28.48s
+ScriptDuration:   12.11s
+Long tasks:       81
+```
+
+The earlier 8x throttled `/spectate` profile saw:
+
+```txt
+Task delta:       49.13s
+Script delta:     19.58s
+```
+
+## Current Code Path
+
+Each rover card mounts:
+
+```txt
+webui/src/components/SpectateVideo/index.jsx:17
+<RoverMediaPlayer roverId={roverId} />
+```
+
+`RoverMediaPlayer` automatically creates video and audio request entries:
+
+```txt
+webui/src/components/RoverMediaPlayer/index.jsx
+autoEntries = [
+  video rover entry,
+  optional dedicated audio entry,
+]
+```
+
+It then requests sources through `useVideoRequests`, starts WHEP players, maintains
+restart timers, maintains unmute/audio retry timers, and optionally falls back to
+snapshots when no WHEP URL exists.
+
+## Why This Matters
+
+Six peer connections on a powerful desktop may feel fine. On weak laptops and mobile
+devices, simultaneous WebRTC decode plus React UI churn can easily saturate the main
+thread or media threads. The visible symptom is not necessarily one obvious function in
+the CPU profile; it is degraded frame cadence, long tasks, and high browser-level media
+work.
+
+## Fix Strategies
+
+### Option A: Cap Active Live Feeds On Mobile
+
+For mobile/low-end layouts:
+
+- one primary live WHEP feed
+- secondary rover cards use snapshots or lower-rate previews
+- promote a secondary rover to live only when selected/visible/focused
+
+This is the highest-impact spectator-specific design change.
+
+### Option B: Pause Offscreen Feeds
+
+Use `IntersectionObserver` around each `SpectateVideo` or `RoverSpectatorCard`:
+
+- start WHEP when the card is visible
+- stop WHEP when the card is far offscreen
+- keep a small grace period to avoid flapping while scrolling
+
+This matters especially because portrait `/spectate` can scroll.
+
+### Option C: Disable Dedicated Audio For Non-Focused Rovers
+
+Dedicated audio is useful, but not necessarily for every rover at the same time.
+
+Possible policy:
+
+- audio enabled only for the selected/primary rover
+- audio disabled for muted secondary rovers
+- audio WHEP starts only after user interaction
+
+This should reduce peer connections and audio retry timers.
+
+### Option D: Request Lower Quality For Spectator Secondary Feeds
+
+If the server/media stack supports it, add spectator quality tiers:
+
+```txt
+primary:   normal FPS/resolution
+secondary: low FPS/resolution or snapshot-only
+mobile:    lower default bitrate/resolution
+```
+
+### Option E: Stop Retry Loops When Hidden
+
+When document visibility is hidden or a card is offscreen:
+
+- stop restart timers
+- stop audio retry intervals
+- avoid requesting fresh WHEP URLs
+
+## Recommended Path
+
+After the HUD/telemetry issue, add a spectator feed activity policy:
+
+1. Define "primary" versus "secondary" rover cards.
+2. Keep only primary feeds fully live on mobile.
+3. Use `IntersectionObserver` to avoid live playback for offscreen cards.
+4. Disable secondary audio by default.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- `RTCPeerConnections` should drop below 6 on mobile.
+- Media listener counts should drop.
+- `TaskDuration` should drop.
+- Frame p95/p99 should improve.
+- User-visible video should still start reliably for the primary rover.
+
+## Risks
+
+- Spectators may expect all feeds live all the time on desktop.
+- Switching feeds can introduce startup delay if WHEP is torn down too aggressively.
+- Audio policy needs to avoid surprising users. Make the focused rover's audio behavior
+  clear and consistent.
+

perf/spectate-issues/003-room-camera-snapshot-object-url-churn.md

@@ -0,0 +1,202 @@
+# Issue 003: Room Camera And Snapshot Object URL Churn
+
+## Summary
+
+Room camera and rover snapshot frames are delivered as binary payloads. The client creates
+a new `Blob`, creates a new object URL, revokes the previous URL, and updates React state
+for every frame. In the 30s `/spectate` audit, this caused 117 `img.src` mutations and
+11MB of binary socket payloads.
+
+## Severity
+
+Medium-high.
+
+This is not the biggest measured CPU source, but it is steady work and very visible on
+low-end devices because JPEG decoding, Blob allocation, object URL churn, image source
+updates, and React state updates all happen together.
+
+## Upstream Likelihood
+
+Low.
+
+This is mostly `/spectate` and camera-panel specific. It will not be fixed by the `/`
+input, control context, or log work. It may benefit indirectly if broad rerenders are
+reduced, but the frame handling itself needs targeted changes.
+
+## Affected Files
+
+- `webui/src/hooks/useRoomCameraSnapshots.js`
+- `webui/src/hooks/useRoverSnapshots.js`
+- `webui/src/components/RoomCameraPanel/index.jsx`
+- `webui/src/components/RoomCameraFeed/index.jsx`
+- `server/src/services/roomCameraService/socketGateway.js`
+- `server/src/services/roverSnapshotService/socketGateway.js`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+30s sample:
+
+```txt
+unlabeled binary socket events: 126
+unlabeled binary bytes:         11,048,477
+roomCamera:frame events:           117
+roverSnapshot:frame events:          7
+img src mutations:                 117
+blink class mutations:             117
+```
+
+The 8x throttled profile also had these CPU entries:
+
+```txt
+Blob
+decodeString
+setAttribute
+```
+
+Those line up with binary socket parsing, Blob/object URL creation, and `img.src` updates.
+
+## Current Code Path
+
+`useRoomCameraSnapshots` handles each frame:
+
+```txt
+webui/src/hooks/useRoomCameraSnapshots.js:78
+const blob = new Blob([buffer], { type: 'image/jpeg' });
+
+webui/src/hooks/useRoomCameraSnapshots.js:79
+const url = URL.createObjectURL(blob);
+
+webui/src/hooks/useRoomCameraSnapshots.js:82
+URL.revokeObjectURL(prevUrl);
+
+webui/src/hooks/useRoomCameraSnapshots.js:85
+setFeeds(...)
+```
+
+`useRoverSnapshots` has the same pattern.
+
+`RoomCameraFeed` writes that object URL into an image:
+
+```txt
+webui/src/components/RoomCameraFeed/index.jsx:24
+<img src={feed.objectUrl} ... />
+```
+
+It also toggles blink state for each frame:
+
+```txt
+webui/src/components/RoomCameraFeed/index.jsx:12
+setBlink((prev) => !prev);
+```
+
+Server-side frame rates:
+
+```txt
+server/src/services/roomCameraService/socketGateway.js:11
+STREAM_INTERVAL_MS = 1000
+
+server/src/services/roverSnapshotService/socketGateway.js:11
+STREAM_INTERVAL_MS = 333
+```
+
+## Why This Matters
+
+The page is doing memory allocation and DOM/image decode work on every camera frame. At
+one room camera per second this can be acceptable, but `/spectate` is already busy. When
+combined with live WebRTC and telemetry maps, this becomes another steady CPU drain.
+
+The blink dot is also doing one React state update and class mutation per frame. It is
+small, but it is pure extra work.
+
+## Fix Strategies
+
+### Option A: Drop Frames When The Client Is Behind
+
+Keep only the latest pending frame per camera. If the previous object URL has not been
+painted or decoded yet, replace the pending buffer instead of forcing every frame through
+React.
+
+### Option B: Throttle Display Updates On Mobile
+
+Render room camera frames at a lower client-side display rate:
+
+```txt
+desktop: 1fps as today, or configured
+mobile:  0.2-0.5fps for secondary room cameras
+```
+
+The server can still emit at its existing rate for other clients, but this client can
+choose not to render every frame.
+
+### Option C: Lazy Mount Or Collapse Room Cameras On Mobile
+
+On portrait mobile, `SecondaryRow` can defer `RoomCameraPanel` until:
+
+- the user scrolls near it
+- the user opens the panel
+- the page is idle after initial rover feeds have settled
+
+### Option D: Remove Per-Frame React Blink State
+
+Replace the blink toggle with CSS animation or a timestamp updated less often.
+
+For example:
+
+- keep status text
+- use a CSS pulse class while status is `playing`
+- avoid toggling React state on every frame
+
+### Option E: Stabilize Room Camera Source Lists
+
+`RoomCameraPanel` currently passes a newly created array of objects into the snapshot hook:
+
+```txt
+webui/src/components/RoomCameraPanel/index.jsx:37
+useRoomCameraSnapshots(cameras.map((camera) => ({ id: camera.id })))
+```
+
+The hook ultimately keys by IDs, so this is not the main issue, but it still creates extra
+memo/effect churn on rerender. Prefer a memoized array of IDs:
+
+```jsx
+const cameraIds = useMemo(() => cameras.map((camera) => camera.id), [cameras]);
+const feedMap = useRoomCameraSnapshots(cameraIds);
+```
+
+## Recommended Path
+
+Start with the cheap fixes:
+
+1. Remove the per-frame blink state.
+2. Memoize camera IDs in `RoomCameraPanel`.
+3. Add client-side render throttling/drop-latest behavior in `useRoomCameraSnapshots`.
+4. Consider lazy mounting/collapsing room cameras in mobile spectator layout.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- `img.h-full.w-full:attributes:src` mutations should drop if display is throttled.
+- `span.h-2.w-2:attributes:class` mutations should disappear if blink state is removed.
+- `ScriptDuration` and long tasks should improve modestly.
+- Binary socket bytes may stay the same unless server subscription/rate is changed.
+
+## Risks
+
+- Reducing room camera update rate can make the room view feel stale.
+- Object URL lifecycle must stay correct. Do not leak old URLs.
+- If lazy mounting unsubscribes too aggressively, first frame display may feel delayed.
+

perf/spectate-issues/004-broad-spectator-session-rerenders.md

@@ -0,0 +1,202 @@
+# Issue 004: Broad Spectator Session Rerenders
+
+## Summary
+
+`SpectatorContent` reads the whole session object with `useSession()`. That means broad
+session changes can rerender the top-level spectator layout, including the sidebar, rover
+row, secondary row, chat, logs, room cameras, and overlays.
+
+The audit saw 54 `session:sync` events in 30s, carrying about 914KB, while the DOM also
+showed repeated added/removed-node bursts.
+
+## Severity
+
+Medium-high.
+
+This is likely a multiplier. It may not be the single hottest path, but it can cause
+otherwise independent components to rerender together.
+
+## Upstream Likelihood
+
+Medium to high.
+
+If the `/` backlog changes `SessionContext` to provide better selectors, better structural
+sharing, batched log/session updates, or more stable action references, this issue may be
+partly fixed upstream. However, `SpectatorContent` itself still needs to stop reading the
+whole session object.
+
+Related upstream issues:
+
+```txt
+perf/issues/003-high-volume-log-stream.md
+perf/issues/006-chat-and-nickname-churn.md
+perf/issues/007-timers-and-polling.md
+```
+
+## Affected Files
+
+- `webui/src/spectate/SpectatorApp/SpectatorContent.jsx`
+- `webui/src/hooks/useSpectatorMode.js`
+- `webui/src/context/SessionContext.jsx`
+- `webui/src/spectate/SpectatorApp/components/RoverRow.jsx`
+- `webui/src/spectate/SpectatorApp/components/SecondaryRow.jsx`
+- sidebar components mounted by `SpectatorContent`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+30s sample:
+
+```txt
+session:sync events:     54
+session:sync bytes:      914,000
+DOM mutation records:    5,868
+DOM nodes added:         440
+DOM nodes removed:       440
+```
+
+Largest mutation bursts:
+
+```txt
+119 records, 57 added, 58 removed
+117 records, 52 added, 53 removed
+113 records, 52 added, 52 removed
+102 records, 49 added, 49 removed
+100 records, 48 added, 48 removed
+```
+
+Those bursts suggest periodic component/list updates, not just single text changes.
+
+## Current Code Path
+
+`SpectatorContent` subscribes to the whole session:
+
+```txt
+webui/src/spectate/SpectatorApp/SpectatorContent.jsx:22
+const { session } = useSession();
+```
+
+It then derives:
+
+```txt
+inLockdown = session?.mode === 'lockdown'
+roster = session?.roster ?? []
+```
+
+But because it reads the whole session object, changes to logs, users, active drivers,
+room cameras, replay state, chat-related session fields, or any other session branch can
+potentially re-render the whole spectator layout.
+
+`useSpectatorMode` also reads the whole session:
+
+```txt
+webui/src/hooks/useSpectatorMode.js:7
+const { session, setRole, subscribeAll, connected } = useSession();
+```
+
+It only needs `mode`, `role`, `connected`, and actions.
+
+## Why This Matters
+
+`/spectate` is already rendering expensive children. A broad rerender at the top makes
+other optimizations less effective because unrelated live data can still wake the route.
+
+For example:
+
+- a log entry should not rerender the rover media grid
+- a chat composer state change should not rerender room camera feeds
+- a session sync should not recreate layout props unless the selected fields changed
+
+## Fix Strategies
+
+### Option A: Replace Whole Session Reads With Selectors
+
+In `SpectatorContent`, use precise selectors:
+
+```jsx
+const mode = useSessionSelector((state) => state.session?.mode ?? null);
+const roster = useSessionSelector((state) => state.session?.roster ?? EMPTY_ROSTER);
+```
+
+Then:
+
+```jsx
+const inLockdown = mode === 'lockdown';
+```
+
+Make sure selector outputs are stable. If `roster` is rebuilt on every `session:sync`,
+this still rerenders. The store may need structural sharing upstream.
+
+### Option B: Split Spectator Layout Into Memoized Regions
+
+Split the page into:
+
+- spectator sidebar
+- rover grid
+- secondary/camera row
+- global overlays
+
+Then each region subscribes only to what it needs.
+
+### Option C: Narrow `useSpectatorMode`
+
+Replace:
+
+```jsx
+const { session, setRole, subscribeAll, connected } = useSession();
+```
+
+with selectors/actions:
+
+```jsx
+const mode = useSessionSelector((state) => state.session?.mode ?? null);
+const role = useSessionSelector((state) => state.session?.role ?? null);
+const connected = useSessionSelector((state) => state.connected);
+const { setRole, subscribeAll } = useSessionActions();
+```
+
+### Option D: Batch Or Diff `session:sync`
+
+This may belong to the `/` backlog. If incoming sync payloads replace large object
+branches each time, selector users will still rerender. Preserve references for unchanged
+branches.
+
+## Recommended Path
+
+Do this after the `/` session/log work if that work changes `SessionContext`.
+
+Local `/spectate` changes:
+
+1. Remove whole-session `useSession()` from `SpectatorContent`.
+2. Remove whole-session `useSession()` from `useSpectatorMode`.
+3. Split the layout so rover media rows do not depend on sidebar data.
+4. Re-test mutation bursts and React commit behavior.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- Fewer added/removed DOM mutation bursts.
+- Lower `ScriptDuration`.
+- Possibly lower `RecalcStyleCount` and `LayoutCount`.
+- `session:sync` socket counts may stay the same unless server/store work changes them.
+
+## Risks
+
+- Selector equality matters. Returning new arrays/objects from selectors can erase the win.
+- Be careful with lockdown mode; the full-page lockdown branch must still update promptly.
+- If `roster` reference stability is poor upstream, this issue may need `SessionContext`
+  structural sharing before it fully improves.
+

perf/spectate-issues/005-shared-log-session-stream-pressure.md

@@ -0,0 +1,177 @@
+# Issue 005: Shared Log And Session Stream Pressure
+
+## Summary
+
+`/spectate` receives a large volume of shared live socket traffic, especially `log:entry`,
+`session:sync`, `sensorFrame`, and `commandAck`. Some of this will likely be fixed by the
+`/` backlog, but it remains important for `/spectate` because the route keeps logs/chat
+visible in the sidebar while also rendering multiple live media feeds.
+
+## Severity
+
+Medium.
+
+This is not as spectate-specific as the HUD map or WebRTC fan-out issues, but it adds
+steady parsing, state, and render pressure.
+
+## Upstream Likelihood
+
+High for logs and shared session pressure.
+
+If the `/` work implements log batching, log virtualization, selector-based session
+updates, and chat/nickname churn reduction, a lot of this issue should improve without
+special `/spectate` changes.
+
+Related upstream issues:
+
+```txt
+perf/issues/003-high-volume-log-stream.md
+perf/issues/006-chat-and-nickname-churn.md
+perf/issues/007-timers-and-polling.md
+perf/issues/004-sensor-telemetry-render-frequency.md
+```
+
+## Affected Files
+
+- `webui/src/context/SessionContext.jsx`
+- `webui/src/spectate/SpectatorApp/SpectatorContent.jsx`
+- `webui/src/spectate/SpectatorApp/components/LogsRow.jsx`
+- `webui/src/components/ChatPanel/index.jsx`
+- `webui/src/components/RawUserPilePanel/index.jsx`
+- `webui/src/components/RoverQueuesPanel/index.jsx`
+- server log/session emitters
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+30s sample:
+
+```txt
+log:entry events:      634
+log:entry bytes:       150,179
+session:sync events:    54
+session:sync bytes:     914,000
+commandAck events:      68
+chat:init bytes:        77,415
+log:init bytes:         44,530
+```
+
+Text and input mutations also appeared:
+
+```txt
+Text characterData mutations:                164
+input.field-input.flex-1 name mutations:     102
+input.chat-composer-input name mutations:    102
+```
+
+The input-name churn matches the same type of sidebar/chat behavior observed on `/`.
+
+## Current Code Path
+
+`SpectatorContent` keeps these mounted:
+
+```txt
+webui/src/spectate/SpectatorApp/SpectatorContent.jsx:88
+<ChatPanel allowSpectatorInput ... />
+
+webui/src/spectate/SpectatorApp/SpectatorContent.jsx:91
+<LogsRow ... />
+
+webui/src/spectate/SpectatorApp/SpectatorContent.jsx:79
+<RoverQueuesPanel title="Rovers" />
+
+webui/src/spectate/SpectatorApp/SpectatorContent.jsx:68
+<RawUserPilePanel ... />
+```
+
+That is useful spectator UI, but it means `/spectate` pays for general page state while
+also paying for media and telemetry.
+
+## Why This Matters
+
+Logs and session syncs are deceptively expensive:
+
+- socket payloads must be parsed
+- state must be updated
+- arrays/lists may be copied
+- list components may rerender
+- text/input attributes may mutate
+
+This becomes worse on `/spectate` because the route is not just a dashboard. It is also a
+multi-feed media surface.
+
+## Fix Strategies
+
+### Option A: Reuse The `/` Log Fix
+
+The `/` log issue should probably introduce:
+
+- batching log updates
+- capping retained logs
+- virtualizing or windowing visible rows
+- pausing log rendering when collapsed/offscreen
+- separating log ingestion from log rendering
+
+Apply the same path to `LogsRow`.
+
+### Option B: Make Spectator Sidebar Panels Independently Subscribed
+
+The rover media grid should not rerender because logs/chat/users changed. This overlaps
+with issue 004.
+
+### Option C: Lower Or Gate Command/Log Visibility For Mobile
+
+On mobile spectator layout, logs are less important than video health. Options:
+
+- collapse logs by default
+- batch logs while collapsed
+- show only warning/error logs by default
+- update visible logs at 1-2Hz
+
+### Option D: Reduce `session:sync` Payload Churn
+
+If the server sends full session snapshots frequently, consider:
+
+- event-specific deltas for high-frequency branches
+- preserving client-side branch references for unchanged data
+- moving logs/chat out of the broad session path if they are currently coupled
+
+## Recommended Path
+
+Do not start here if you are working the `/` list first. Fix the `/` log/session/chat
+items, then rerun `/spectate` and reassess.
+
+If still hot on `/spectate`:
+
+1. Make `LogsRow` batch/virtualize/collapse.
+2. Keep the media grid isolated from sidebar state.
+3. Add a mobile spectator mode that reduces log rendering frequency.
+
+## Validation
+
+Run:
+
+```sh
+CPU_THROTTLE=6 VIEWPORT=390x844 MOBILE=1 SAMPLE_MS=30000 \
+  node perf/live-root-runtime-audit.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- Lower `Text:characterData` mutations.
+- Fewer added/removed DOM mutation bursts.
+- Lower `ScriptDuration`.
+- `log:entry` socket count may remain high if only rendering is batched.
+
+## Risks
+
+- Logs are operationally useful; do not hide critical warnings.
+- If batching is too aggressive, the UI can feel stale.
+- Be careful not to mix log ingestion throttling with log display throttling. Usually,
+  display throttling is safer.
+

perf/spectate-issues/006-spectator-role-handshake-retries.md

@@ -0,0 +1,188 @@
+# Issue 006: Spectator Role Handshake Retries
+
+## Summary
+
+The spectator route sometimes attempts `subscribeAll` before the server has accepted the
+socket as a spectator. In the 8x throttled profile, the console repeatedly showed:
+
+```txt
+Failed to enter spectator mode Error: Spectator role required
+```
+
+This did not reproduce in the later 6x runtime audit, so it is intermittent. It is still
+worth fixing because it can create startup retries, extra session/auth events, console
+noise, and delayed media setup on slow devices.
+
+## Severity
+
+Medium-low.
+
+This is not the main steady-state CPU eater. Treat it as a correctness/startup reliability
+issue that can make performance worse under throttling.
+
+## Upstream Likelihood
+
+Low.
+
+This is specific to `/spectate` startup and server role/subscription ordering. The `/`
+performance backlog probably will not fix it.
+
+## Affected Files
+
+- `webui/src/hooks/useSpectatorMode.js`
+- `webui/src/context/SocketContext.jsx`
+- `webui/src/context/SessionContext.jsx`
+- `server/src/services/authService/index.js`
+- `server/src/services/roverManager/socketHandlers.js`
+
+## Evidence
+
+Artifact:
+
+```sh
+perf/results/2026-06-11T03-14-34-168Z/report.json
+```
+
+That 8x CPU-throttled profile captured repeated console errors:
+
+```txt
+Failed to enter spectator mode Error: Spectator role required
+```
+
+Fresh 6x runtime audit:
+
+```txt
+consoleErrors: []
+auth:role events: 4
+```
+
+So the race is not constant, but it exists under some timing conditions.
+
+## Current Code Path
+
+`useSpectatorMode` does this:
+
+```txt
+webui/src/hooks/useSpectatorMode.js:18
+if (session?.role !== 'spectator') {
+  await setRole('spectator');
+}
+
+webui/src/hooks/useSpectatorMode.js:21
+await subscribeAll();
+```
+
+The effect reruns when these change:
+
+```txt
+webui/src/hooks/useSpectatorMode.js:36
+[connected, session?.mode, session?.role, setRole, subscribeAll]
+```
+
+The server rejects `subscribeAll` unless the socket role is already spectator:
+
+```txt
+server/src/services/roverManager/socketHandlers.js:161
+if (socket.data?.role !== 'spectator') {
+  cb({ error: 'Spectator role required' });
+}
+```
+
+The auth service can initialize a socket as spectator only if the socket handshake query
+requests it:
+
+```txt
+server/src/services/authService/index.js:40
+const requestedRole = socket.handshake?.query?.role;
+
+server/src/services/authService/index.js:41
+const initialRole = requestedRole === 'spectator' ? 'spectator' : 'user';
+```
+
+If the spectate page connects as a normal user and then switches role after connect, slow
+timing can expose ordering issues.
+
+## Why This Matters
+
+The retry itself is not a huge CPU cost. The damage is indirect:
+
+- extra auth/session events
+- repeated `subscribeAll` attempts
+- delayed rover room joins
+- delayed video/snapshot setup
+- noisy console errors during profiling
+- worse startup behavior on weak devices
+
+## Fix Strategies
+
+### Option A: Connect `/spectate` With `role=spectator`
+
+Make the spectator route establish its socket with a spectator role query from the start:
+
+```txt
+io(..., { query: { role: 'spectator' } })
+```
+
+This uses the existing server path in `authService`.
+
+### Option B: Wait For Confirmed Role Before `subscribeAll`
+
+After calling `setRole('spectator')`, wait until `auth:role` or session state confirms
+`role === 'spectator'`, then call `subscribeAll`.
+
+Avoid calling `subscribeAll` in the same effect tick if the role update has not propagated.
+
+### Option C: Add A Server-Side Atomic Spectator Enter Event
+
+Create one event:
+
+```txt
+session:enterSpectator
+```
+
+Server behavior:
+
+1. set socket role to spectator
+2. join all visible rover rooms
+3. return one ack
+
+This removes client-side ordering risk.
+
+### Option D: Debounce Or Guard Retries
+
+If `subscribeAll` fails with `Spectator role required`, do not retry in a tight loop. Wait
+for an explicit role event or connection change.
+
+## Recommended Path
+
+The cleanest fix is Option A plus Option B:
+
+1. Make the `/spectate` socket connect as `role=spectator` when possible.
+2. Keep `useSpectatorMode` as a fallback, but call `subscribeAll` only after confirmed
+   spectator role.
+
+If socket creation is shared in a way that makes route-specific query parameters awkward,
+use the atomic server event instead.
+
+## Validation
+
+Run the throttled profile several times:
+
+```sh
+CPU_THROTTLE=8 VIEWPORT=390x844 MOBILE=1 \
+  node perf/live-cpu-profile.mjs https://rover.otter.land/spectate perf/results
+```
+
+Expected improvements:
+
+- No `Failed to enter spectator mode` console errors.
+- Fewer `auth:role` events during startup.
+- More consistent startup timing.
+
+## Risks
+
+- Be careful not to accidentally make ordinary `/` users spectators.
+- If using route-specific socket query parameters, verify reconnects preserve the correct
+  role.
+- In lockdown mode, spectator setup must still fail cleanly.
+

perf/spectate-issues/README.md

@@ -0,0 +1,63 @@
+# `/spectate` CPU Performance Issue Index
+
+This folder breaks the live-site `/spectate` CPU investigation into separate,
+work-ready issues. These are intentionally separate from `perf/issues`, which is the
+current `/` backlog.
+
+The testing target was:
+
+```sh
+https://rover.otter.land/spectate
+```
+
+Primary artifact:
+
+```sh
+perf/results/2026-06-12T04-55-16-888Z-root-runtime/root-runtime-report.json
+```
+
+Secondary artifacts:
+
+```sh
+perf/results/2026-06-11T03-14-34-168Z/report.json
+perf/results/2026-06-11T03-11-39-596Z-route-sweep/route-sweep-report.json
+```
+
+## Ranked Issues
+
+1. [Telemetry fan-out and always-on HUD maps](./001-telemetry-fanout-hud-maps.md)
+2. [Multi-rover WebRTC media fan-out](./002-multi-rover-webrtc-media-fanout.md)
+3. [Room camera and snapshot object URL churn](./003-room-camera-snapshot-object-url-churn.md)
+4. [Broad spectator session rerenders](./004-broad-spectator-session-rerenders.md)
+5. [Shared log/session stream pressure](./005-shared-log-session-stream-pressure.md)
+6. [Spectator role handshake retries](./006-spectator-role-handshake-retries.md)
+
+## Quick Read
+
+The biggest `/spectate` CPU issue is the number of live visual things being updated at
+once. The page receives about 45 `sensorFrame` events/sec in the sampled run, and every
+rover card has an always-on HUD map. That produced thousands of SVG `path` mutations in
+30 seconds.
+
+The second issue is live media fan-out. The audit saw 6 `RTCPeerConnections`, which is a
+lot for low-end laptops and mobile browsers, especially alongside React/HUD updates.
+
+The third issue is snapshot/camera image churn. Room camera frames created 117 `img.src`
+mutations and the socket audit saw 11MB of binary payloads in 30 seconds.
+
+Issues 004 and 005 are where the `/` backlog overlaps most. If the `/` work adds better
+session selectors, log batching, chat batching, and telemetry visual throttling, revisit
+these spectate writeups before implementing them from scratch.
+
+Issue 006 is lower priority because it was intermittent, but it is worth fixing because
+failed spectator setup can create extra retries, console noise, and unpredictable startup
+work.
+
+## Upstream Labels
+
+Each issue includes an "Upstream Likelihood" section:
+
+- `High`: likely mostly fixed by the earlier `/` work.
+- `Medium`: `/` work should help, but `/spectate` still needs targeted changes.
+- `Low`: mostly spectate-specific.
+

pi/asound.debian-laptop.conf

@@ -0,0 +1,88 @@
+# ALSA routing for the Debian laptop rover profile.
+#
+# This file intentionally mirrors the logical device names used by the Pi rover
+# audio setup. roverd can keep sending horn audio to "horn", forwarded browser
+# audio to "forward", and TTS to ALSA's default playback path without caring
+# which physical sound card is underneath the profile.
+
+pcm.roverd_playback {
+	type plug
+
+	# Use the system's first normal ALSA playback device as the physical sink.
+	# This avoids referencing "default" here, because this file replaces
+	# pcm.!default below and using it as a slave would recurse.
+	slave.pcm "sysdefault"
+}
+
+pcm.roverd_capture {
+	type plug
+
+	# The media publisher records from "default"; with pcm.!default below that
+	# capture side resolves here. Keeping capture separate from playback lets the
+	# asym default expose ordinary microphone input while playback goes through
+	# the TTS softvol path.
+	slave.pcm "sysdefault"
+}
+
+pcm.tts_softvol {
+	type softvol
+	slave.pcm "roverd_playback"
+	control {
+		name "TTSMaster"
+		card 0
+	}
+	min_dB -60.0
+	max_dB 12.0
+}
+
+pcm.horn_softvol {
+	type softvol
+	slave.pcm "roverd_playback"
+	control {
+		name "HornMaster"
+		card 0
+	}
+	min_dB -60.0
+	max_dB 12.0
+}
+
+pcm.forward_softvol {
+	type softvol
+	slave.pcm "roverd_playback"
+	control {
+		name "ForwardMaster"
+		card 0
+	}
+	min_dB -60.0
+	max_dB 12.0
+}
+
+pcm.tts {
+	type plug
+	slave.pcm "tts_softvol"
+}
+
+pcm.horn {
+	type plug
+	slave.pcm "horn_softvol"
+}
+
+pcm.forward {
+	type plug
+	slave.pcm "forward_softvol"
+}
+
+pcm.!default {
+	type asym
+
+	# Existing TTS engines play to their default ALSA output, so default playback
+	# is intentionally the TTS path. This preserves the current TTS execution
+	# model while still making the TTS volume control meaningful on laptops.
+	playback.pcm "tts"
+	capture.pcm "roverd_capture"
+}
+
+ctl.!default {
+	type hw
+	card 0
+}

pi/bin/audio-forward-listener.sh

@@ -2,20 +2,70 @@
 set -euo pipefail
 set +H
 
-ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
 
 if [[ ! -f "$ENV_FILE" ]]; then
   echo "Environment file ${ENV_FILE} missing; cannot start audio forward listener" >&2
   exit 1
 fi
 
-# shellcheck disable=SC1090
+# Load KEY=VALUE pairs from media.env without evaluating shell syntax. The
-source "$ENV_FILE"
+# forward URL is data produced by roverd, and treating it as shell code would
+# break on normal SRT query-string characters such as '&'.
+load_env_file() {
+  local content=""
 
-: "${AUDIO_FORWARD_URL:?AUDIO_FORWARD_URL not set in ${ENV_FILE}}"
+  if [[ -r "$ENV_FILE" ]]; then
-PLAYBACK_DEVICE="${AUDIO_PLAYBACK_DEVICE:-forward}"
+    content="$(cat "$ENV_FILE")"
-AUDIO_NORMALIZE_ENABLE="${AUDIO_NORMALIZE_ENABLE:-1}"
+  elif command -v sudo >/dev/null 2>&1; then
-AUDIO_NORMALIZE_FILTER="${AUDIO_NORMALIZE_FILTER:-dynaudnorm=f=75:g=15:m=10:p=0.9,alimiter=limit=0.85:level=disabled}"
+    content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
+  fi
+
+  if [[ -z "$content" ]]; then
+    echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
+    exit 1
+  fi
+
+  local line key val
+  while IFS= read -r line || [[ -n "$line" ]]; do
+    [[ "$line" =~ ^[[:space:]]*$ ]] && continue
+    [[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+    if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+      key="${BASH_REMATCH[1]}"
+      val="${BASH_REMATCH[2]}"
+    else
+      continue
+    fi
+
+    val="${val#${val%%[![:space:]]*}}"
+    val="${val%${val##*[![:space:]]}}"
+    if [[ "$val" =~ ^\".*\"$ ]]; then
+      val="${val:1:${#val}-2}"
+    elif [[ "$val" =~ ^\'.*\'$ ]]; then
+      val="${val:1:${#val}-2}"
+    fi
+
+    printf -v "$key" '%s' "$val"
+    export "$key"
+  done <<< "$content"
+}
+
+load_env_file
+
+: "${ROVERD_AUDIO_PLAYBACK_ENABLE:?ROVERD_AUDIO_PLAYBACK_ENABLE not set in ${ENV_FILE}}"
+if [[ "${ROVERD_AUDIO_PLAYBACK_ENABLE}" -ne 1 ]]; then
+  echo "Audio playback disabled by roverd media config; skipping audio forward listener" >&2
+  exit 0
+fi
+: "${ROVERD_AUDIO_PLAYBACK_FORWARD_URL:?ROVERD_AUDIO_PLAYBACK_FORWARD_URL not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_PLAYBACK_DEVICE:?ROVERD_AUDIO_PLAYBACK_DEVICE not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_PLAYBACK_NORMALIZE:?ROVERD_AUDIO_PLAYBACK_NORMALIZE not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER:?ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER not set in ${ENV_FILE}}"
+PLAYBACK_DEVICE="${ROVERD_AUDIO_PLAYBACK_DEVICE}"
 
 if [[ -n "${FFMPEG_BIN:-}" ]]; then
   FFMPEG_BIN_PATH="$FFMPEG_BIN"
@@ -45,12 +95,12 @@ run_pipeline() {
     -flags low_delay
     -analyzeduration 200k
     -probesize 32k
-    -i "${AUDIO_FORWARD_URL}"
+    -i "${ROVERD_AUDIO_PLAYBACK_FORWARD_URL}"
     -vn
   )
 
-  if [[ "${AUDIO_NORMALIZE_ENABLE}" -ne 0 ]]; then
+  if [[ "${ROVERD_AUDIO_PLAYBACK_NORMALIZE}" -ne 0 ]]; then
-    ffmpeg_args+=(-af "${AUDIO_NORMALIZE_FILTER}")
+    ffmpeg_args+=(-af "${ROVERD_AUDIO_PLAYBACK_NORMALIZE_FILTER}")
   fi
 
   ffmpeg_args+=(

pi/bin/audio-only-publisher.sh

@@ -2,25 +2,81 @@
 set -euo pipefail
 set +H
 
-ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
 
 if [[ ! -f "$ENV_FILE" ]]; then
 	echo "Environment file ${ENV_FILE} missing; cannot publish audio" >&2
 	exit 1
 fi
 
-# shellcheck disable=SC1090
+# Load KEY=VALUE pairs from media.env without evaluating shell syntax. SRT URLs
-source "$ENV_FILE"
+# contain characters such as '&' and '#!', so sourcing this file would treat a
-AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
+# data file as code and can split a valid URL into shell control operators.
-if [[ "${AUDIO_ENABLE}" -ne 1 ]]; then
+load_env_file() {
+	local content=""
+
+	if [[ -r "$ENV_FILE" ]]; then
+		content="$(cat "$ENV_FILE")"
+	elif command -v sudo >/dev/null 2>&1; then
+		content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
+	fi
+
+	if [[ -z "$content" ]]; then
+		echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
+		exit 1
+	fi
+
+	local line key val
+	while IFS= read -r line || [[ -n "$line" ]]; do
+		[[ "$line" =~ ^[[:space:]]*$ ]] && continue
+		[[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+		if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+			key="${BASH_REMATCH[1]}"
+			val="${BASH_REMATCH[2]}"
+		elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+			key="${BASH_REMATCH[1]}"
+			val="${BASH_REMATCH[2]}"
+		else
+			continue
+		fi
+
+		val="${val#${val%%[![:space:]]*}}"
+		val="${val%${val##*[![:space:]]}}"
+		if [[ "$val" =~ ^\".*\"$ ]]; then
+			val="${val:1:${#val}-2}"
+		elif [[ "$val" =~ ^\'.*\'$ ]]; then
+			val="${val:1:${#val}-2}"
+		fi
+
+		printf -v "$key" '%s' "$val"
+		export "$key"
+	done <<< "$content"
+}
+
+load_env_file
+: "${ROVERD_AUDIO_CAPTURE_ENABLE:?ROVERD_AUDIO_CAPTURE_ENABLE not set in ${ENV_FILE}}"
+if [[ "${ROVERD_AUDIO_CAPTURE_ENABLE}" -ne 1 ]]; then
 	echo "Audio capture disabled; skipping audio-only publisher" >&2
 	exit 0
 fi
-: "${AUDIO_PUBLISH_URL:?AUDIO_PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_CAPTURE_PUBLISH_URL:?ROVERD_AUDIO_CAPTURE_PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_CAPTURE_DEVICE:?ROVERD_AUDIO_CAPTURE_DEVICE not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE:?ROVERD_AUDIO_CAPTURE_SAMPLE_RATE not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_CAPTURE_CHANNELS:?ROVERD_AUDIO_CAPTURE_CHANNELS not set in ${ENV_FILE}}"
+: "${ROVERD_AUDIO_CAPTURE_BITRATE:?ROVERD_AUDIO_CAPTURE_BITRATE not set in ${ENV_FILE}}"
 
-AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
+CAPTURE_DEVICE="${ROVERD_AUDIO_CAPTURE_DEVICE}"
-AUDIO_RATE="${AUDIO_RATE:-48000}"
+
-AUDIO_CHANNELS="${AUDIO_CHANNELS:-2}"
+# At the default 48 kHz stereo S32_LE capture format, the old 65,536-byte ALSA
+# buffer represented about 171 ms before ffmpeg could publish microphone audio:
+#   65,536 / (48,000 samples * 2 channels * 4 bytes) = 0.1707 seconds
+# Keep the defaults much smaller because this publisher feeds an interactive
+# rover stream, where late-but-smooth audio is less useful than fresher audio.
+# These remain environment-overridable so a noisy Pi or sound card can be tuned
+# in the field without changing the installed script.
+AUDIO_ALSA_BUFFER_BYTES="${AUDIO_ALSA_BUFFER_BYTES:-16384}"
+AUDIO_ALSA_PERIOD_BYTES="${AUDIO_ALSA_PERIOD_BYTES:-1024}"
 
 if [[ -n "${FFMPEG_BIN:-}" ]]; then
 	FFMPEG_BIN_PATH="$FFMPEG_BIN"
@@ -32,27 +88,64 @@ else
 fi
 
 run_pipeline() {
-	arecord -D "${AUDIO_DEVICE}" -f S32_LE -c "${AUDIO_CHANNELS}" -r "${AUDIO_RATE}" -B 65536 -F 2048 -q -t raw \
+	local ffmpeg_args=(
-		| "${FFMPEG_BIN_PATH}" \
+		-hide_banner
-			-hide_banner \
+		-loglevel warning
-			-loglevel warning \
+		-fflags nobuffer
-			-fflags nobuffer \
+		-rtbufsize 0
-			-rtbufsize 0 \
+		-thread_queue_size 4096
-			-thread_queue_size 4096 \
+
-			-f s32le \
+		# Match the raw ALSA stream exactly so ffmpeg does not guess the pipe
-			-ar "${AUDIO_RATE}" \
+		# format and so the published audio stays full-band stereo before the
-			-ac "${AUDIO_CHANNELS}" \
+		# Opus encoder sees it.
-			-i pipe:0 \
+		-f s32le
-			-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=25dB" \
+		-ar "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}"
-			-c:a libopus \
+		-ac "${ROVERD_AUDIO_CAPTURE_CHANNELS}"
-			-b:a 24000 \
+		-i pipe:0
-			-ar:a 16000 \
+
-			-ac:a 1 \
+		# Keep the known-required microphone boost, but remove the old
-			-application lowdelay \
+		# resample/downmix filter. That old filter threw away stereo and
-			-frame_duration 20 \
+		# limited the stream to narrow 16 kHz mono before encoding.
-			-compression_level 0 \
+		-af "volume=20dB"
-			-f mpegts \
+
-			"${AUDIO_PUBLISH_URL}"
+		# Opus supports up to 510 kbps. Using that ceiling keeps the stream at
+		# the highest practical quality browsers and MediaMTX can carry without
+		# trying to push raw PCM through the live path.
+		-c:a libopus
+		-b:a "${ROVERD_AUDIO_CAPTURE_BITRATE}"
+		-ar:a "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}"
+		-ac:a "${ROVERD_AUDIO_CAPTURE_CHANNELS}"
+
+		# Use the audio profile for quality. Latency is still controlled by the
+		# 20 ms Opus frame size and the low-buffering capture/publish options
+		# around the encoder.
+		-application audio
+		-frame_duration 20
+		-compression_level 0
+
+		# Mirror the video publisher's MPEG-TS low-latency settings. Without
+		# these, ffmpeg is allowed to hold packets for mux timing, which is
+		# exactly the wrong tradeoff for live rover feedback.
+		-flush_packets 1
+		-muxdelay 0
+		-muxpreload 0
+		-f mpegts
+		"${ROVERD_AUDIO_CAPTURE_PUBLISH_URL}"
+	)
+
+	# The capture format comes from roverd's normalized media config. Keeping
+	# arecord and ffmpeg on the same env-backed values prevents the publisher
+	# script from quietly disagreeing with roverd.yaml about sample rate or
+	# channel count.
+	#
+	# The buffer and period are byte counts because arecord interprets -B/-F in
+	# microseconds only when the value has an explicit time suffix. Keeping them
+	# as byte-sized chunks gives direct control over the capture queue. The new
+	# defaults are roughly 43 ms total buffer and 2.7 ms wakeup periods at
+	# 48 kHz stereo S32_LE, which removes about 128 ms of avoidable capture
+	# latency compared with the old 65,536-byte buffer.
+	arecord -D "${CAPTURE_DEVICE}" -f S32_LE -c "${ROVERD_AUDIO_CAPTURE_CHANNELS}" -r "${ROVERD_AUDIO_CAPTURE_SAMPLE_RATE}" -B "${AUDIO_ALSA_BUFFER_BYTES}" -F "${AUDIO_ALSA_PERIOD_BYTES}" -q -t raw \
+		| "${FFMPEG_BIN_PATH}" "${ffmpeg_args[@]}"
 }
 
 trap 'kill 0 2>/dev/null' EXIT INT TERM

pi/bin/chromegtts-daemon.py

@@ -0,0 +1,176 @@
+#!/usr/bin/env python3
+import ctypes
+import json
+import os
+import struct
+import subprocess
+import sys
+
+
+ASSET_ROOT = "/opt/roverd/googletts"
+LIB_PATH = os.path.join(ASSET_ROOT, "libchrometts.so")
+VOICE_DIR = os.path.join(ASSET_ROOT, "en-us-x-multi-r30")
+PIPELINE = "pipeline.pb"
+PLAYBACK_DEVICE = "tts"
+SAMPLE_RATE = "24000"
+MAX_TEXT_CHARS = 512
+
+VOICES = {
+    "sfg": "female",
+    "iob": "female",
+    "iog": "female",
+    "iol": "male",
+    "iom": "male",
+    "tpc": "female",
+    "tpd": "male",
+    "tpf": "female",
+}
+DEFAULT_VOICE = "tpf"
+DEFAULT_PITCH = 1.0
+DEFAULT_SPEED = 1.0
+MIN_PITCH = 0.5
+MAX_PITCH = 2.0
+MIN_SPEED = 0.5
+MAX_SPEED = 2.0
+
+
+def varint(value):
+    out = bytearray()
+    while value >= 0x80:
+        out.append((value & 0x7F) | 0x80)
+        value >>= 7
+    out.append(value)
+    return bytes(out)
+
+
+def field_bytes(number, payload):
+    return varint((number << 3) | 2) + varint(len(payload)) + payload
+
+
+def field_float(number, value):
+    return varint((number << 3) | 5) + struct.pack("<f", float(value))
+
+
+def build_utterance(text, pitch=1.0, speed=1.0):
+    params = field_float(2, pitch) + field_float(3, speed)
+    msg_b = field_bytes(1, text.encode("utf-8")) + field_bytes(20, params)
+    msg_a = field_bytes(1, msg_b)
+    return field_bytes(1, msg_a)
+
+
+def build_speaker(name, gender):
+    return field_bytes(1, name.encode("utf-8")) + field_bytes(2, gender.encode("utf-8"))
+
+
+class ChromeTTS:
+    def __init__(self):
+        self.lib = ctypes.CDLL(LIB_PATH)
+        self.lib.GoogleTtsInit.argtypes = [ctypes.c_char_p, ctypes.c_char_p]
+        self.lib.GoogleTtsInit.restype = ctypes.c_bool
+        self.lib.GoogleTtsInitBuffered.argtypes = [ctypes.c_char_p, ctypes.c_char_p, ctypes.c_int, ctypes.c_int]
+        self.lib.GoogleTtsInitBuffered.restype = ctypes.c_bool
+        self.lib.GoogleTtsGetFramesInAudioBuffer.argtypes = []
+        self.lib.GoogleTtsGetFramesInAudioBuffer.restype = ctypes.c_size_t
+        self.lib.GoogleTtsReadBuffered.argtypes = [
+            ctypes.POINTER(ctypes.c_float),
+            ctypes.POINTER(ctypes.c_size_t),
+        ]
+        self.lib.GoogleTtsReadBuffered.restype = ctypes.c_int
+        self.lib.GoogleTtsShutdown.argtypes = []
+        self.lib.GoogleTtsShutdown.restype = None
+
+        voice_dir = os.path.abspath(VOICE_DIR) + os.sep
+        pipeline = os.path.join(voice_dir, PIPELINE)
+        if not self.lib.GoogleTtsInit(pipeline.encode("utf-8"), voice_dir.encode("utf-8")):
+            raise RuntimeError("GoogleTtsInit failed")
+        self.frames = int(self.lib.GoogleTtsGetFramesInAudioBuffer())
+        if self.frames <= 0:
+            raise RuntimeError("invalid Google TTS audio buffer size")
+        self.buffer = (ctypes.c_float * self.frames)()
+
+    def speak_to_aplay(self, text, voice, pitch=DEFAULT_PITCH, speed=DEFAULT_SPEED):
+        voice = voice if voice in VOICES else DEFAULT_VOICE
+        pitch = clamp_float(pitch, MIN_PITCH, MAX_PITCH, DEFAULT_PITCH)
+        speed = clamp_float(speed, MIN_SPEED, MAX_SPEED, DEFAULT_SPEED)
+        text = text.strip()
+        if not text:
+            raise ValueError("text required")
+        text = text[:MAX_TEXT_CHARS]
+        utterance = build_utterance(text, pitch=pitch, speed=speed)
+        speaker = build_speaker(voice, VOICES[voice])
+        if not self.lib.GoogleTtsInitBuffered(utterance, speaker, len(utterance), len(speaker)):
+            raise RuntimeError("GoogleTtsInitBuffered failed")
+
+        player = subprocess.Popen(
+            ["aplay", "-q", "-D", PLAYBACK_DEVICE, "-r", SAMPLE_RATE, "-f", "FLOAT_LE", "-c", "1"],
+            stdin=subprocess.PIPE,
+        )
+        try:
+            frames_written = ctypes.c_size_t(0)
+            while self.lib.GoogleTtsReadBuffered(self.buffer, ctypes.byref(frames_written)) > 0:
+                frames = int(frames_written.value)
+                if frames > 0:
+                    player.stdin.write(ctypes.string_at(self.buffer, frames * ctypes.sizeof(ctypes.c_float)))
+            player.stdin.close()
+            rc = player.wait()
+            if rc != 0:
+                raise RuntimeError(f"aplay exited with {rc}")
+        finally:
+            if player.poll() is None:
+                player.kill()
+                player.wait()
+
+    def shutdown(self):
+        self.lib.GoogleTtsShutdown()
+
+
+def respond(payload):
+    sys.stdout.write(json.dumps(payload, separators=(",", ":")) + "\n")
+    sys.stdout.flush()
+
+
+def clamp_float(value, minimum, maximum, fallback):
+    try:
+        value = float(value)
+    except (TypeError, ValueError):
+        return fallback
+    if value <= 0:
+        return fallback
+    if value < minimum:
+        return minimum
+    if value > maximum:
+        return maximum
+    return value
+
+
+def main():
+    try:
+        tts = ChromeTTS()
+    except Exception as exc:
+        respond({"ok": False, "error": str(exc)})
+        return 1
+
+    respond({"ok": True, "ready": True})
+    try:
+        for line in sys.stdin:
+            line = line.strip()
+            if not line:
+                continue
+            try:
+                request = json.loads(line)
+                tts.speak_to_aplay(
+                    str(request.get("text") or ""),
+                    str(request.get("voice") or DEFAULT_VOICE),
+                    request.get("pitch", DEFAULT_PITCH),
+                    request.get("speed", DEFAULT_SPEED),
+                )
+                respond({"ok": True})
+            except Exception as exc:
+                respond({"ok": False, "error": str(exc)})
+    finally:
+        tts.shutdown()
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

pi/bin/debian-laptop-video-publisher.sh

@@ -0,0 +1,143 @@
+#!/usr/bin/env bash
+set -euo pipefail
+set +H
+
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
+
+if [[ ! -f "$ENV_FILE" ]]; then
+	echo "Environment file ${ENV_FILE} missing; cannot publish laptop video" >&2
+	exit 1
+fi
+
+# Load roverd's generated media.env as data instead of sourcing it as shell.
+# The SRT publish URL contains normal query-string characters like '&' and '#!',
+# so evaluating the file would be both fragile and unnecessary.
+load_env_file() {
+	local content=""
+
+	if [[ -r "$ENV_FILE" ]]; then
+		content="$(cat "$ENV_FILE")"
+	elif command -v sudo >/dev/null 2>&1; then
+		content="$(sudo -n cat "$ENV_FILE" 2>/dev/null || true)"
+	fi
+
+	if [[ -z "$content" ]]; then
+		echo "Cannot read ${ENV_FILE} (permission denied). Run as a user that can read it, or allow sudo -n for cat." >&2
+		exit 1
+	fi
+
+	local line key val
+	while IFS= read -r line || [[ -n "$line" ]]; do
+		[[ "$line" =~ ^[[:space:]]*$ ]] && continue
+		[[ "$line" =~ ^[[:space:]]*# ]] && continue
+
+		if [[ "$line" =~ ^[[:space:]]*export[[:space:]]+([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+			key="${BASH_REMATCH[1]}"
+			val="${BASH_REMATCH[2]}"
+		elif [[ "$line" =~ ^[[:space:]]*([A-Za-z_][A-Za-z0-9_]*)=(.*)$ ]]; then
+			key="${BASH_REMATCH[1]}"
+			val="${BASH_REMATCH[2]}"
+		else
+			continue
+		fi
+
+		val="${val#${val%%[![:space:]]*}}"
+		val="${val%${val##*[![:space:]]}}"
+		if [[ "$val" =~ ^\".*\"$ ]]; then
+			val="${val:1:${#val}-2}"
+		elif [[ "$val" =~ ^\'.*\'$ ]]; then
+			val="${val:1:${#val}-2}"
+		fi
+
+		printf -v "$key" '%s' "$val"
+		export "$key"
+	done <<< "$content"
+}
+
+load_env_file
+: "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_DEVICE:?ROVERD_VIDEO_DEVICE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_INPUT_FORMAT:?ROVERD_VIDEO_INPUT_FORMAT not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_BITRATE:?ROVERD_VIDEO_BITRATE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_INVERT:?ROVERD_VIDEO_INVERT not set in ${ENV_FILE}}"
+
+if [[ "${ROVERD_VIDEO_ENABLE}" -ne 1 ]]; then
+	echo "Laptop video publisher disabled by roverd media config; skipping" >&2
+	exit 0
+fi
+
+if [[ -z "${ROVERD_VIDEO_DEVICE}" ]]; then
+	echo "ROVERD_VIDEO_DEVICE is required for the debian-laptop V4L2 publisher" >&2
+	exit 1
+fi
+
+INPUT_FORMAT_ARGS=()
+if [[ -n "${ROVERD_VIDEO_INPUT_FORMAT}" ]]; then
+	# Many laptop webcams expose both compressed MJPEG and raw YUYV modes. The
+	# wrong negotiated format can still produce a decodable stream, but the
+	# picture appears as green/noisy mush because ffmpeg is interpreting the
+	# frame bytes with the wrong pixel format. Passing input_format pins V4L2 to
+	# the camera mode selected in roverd.yaml.
+	INPUT_FORMAT_ARGS=(-input_format "${ROVERD_VIDEO_INPUT_FORMAT}")
+fi
+
+if [[ -n "${FFMPEG_BIN:-}" ]]; then
+	FFMPEG_BIN_PATH="$FFMPEG_BIN"
+elif command -v ffmpeg >/dev/null 2>&1; then
+	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
+else
+	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
+	exit 1
+fi
+
+VIDEO_FILTER_ARGS=()
+if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
+	# The Pi publisher uses libcamera rotation. With a generic webcam, ffmpeg's
+	# transpose pair gives the same 180-degree correction without assuming a
+	# camera-specific driver feature.
+	VIDEO_FILTER_ARGS=(-vf "transpose=2,transpose=2")
+fi
+
+run_pipeline() {
+	"${FFMPEG_BIN_PATH}" \
+		-hide_banner \
+		-loglevel warning \
+		-fflags nobuffer \
+		-flags low_delay \
+		-thread_queue_size 4096 \
+		-f v4l2 \
+		"${INPUT_FORMAT_ARGS[@]}" \
+		-framerate "${ROVERD_VIDEO_FPS}" \
+		-video_size "${ROVERD_VIDEO_WIDTH}x${ROVERD_VIDEO_HEIGHT}" \
+		-i "${ROVERD_VIDEO_DEVICE}" \
+		"${VIDEO_FILTER_ARGS[@]}" \
+		-an \
+		-c:v libx264 \
+		-preset veryfast \
+		-tune zerolatency \
+		-profile:v baseline \
+		-pix_fmt yuv420p \
+		-b:v "${ROVERD_VIDEO_BITRATE}" \
+		-maxrate "${ROVERD_VIDEO_BITRATE}" \
+		-bufsize "$((ROVERD_VIDEO_BITRATE / 2))" \
+		-g "${ROVERD_VIDEO_FPS}" \
+		-keyint_min "${ROVERD_VIDEO_FPS}" \
+		-sc_threshold 0 \
+		-flush_packets 1 \
+		-muxdelay 0 \
+		-muxpreload 0 \
+		-f mpegts \
+		"${ROVERD_VIDEO_PUBLISH_URL}"
+}
+
+while true; do
+	if run_pipeline; then
+		exit 0
+	fi
+	echo "Debian laptop video publisher exited, restarting in 2s..." >&2
+	sleep 2
+done

pi/bin/roverd-self-update.sh

@@ -0,0 +1,88 @@
+#!/usr/bin/env bash
+#
+# Fixed-purpose self-update helper for Raspberry Pi rover hosts.
+#
+# roverd itself runs as the unprivileged "roverd" service user, but updating the
+# installed agent requires root because the installer writes to /usr/local/bin,
+# /etc, /opt, /var/lib/roverd, and systemd unit locations. This helper is the
+# narrow privilege boundary: sudoers allows roverd to run this exact file with no
+# arguments, and this file decides the complete update sequence internally.
+
+set -euo pipefail
+
+ENV_FILE="/etc/roverd-update.env"
+LOCK_FILE="/var/lock/roverd-self-update.lock"
+LOG_FILE="/var/log/roverd-self-update.log"
+
+log() {
+	# Log to stdout so systemd/journal captures the message when launched by
+	# roverd, and also append to a stable file so an admin can inspect the last
+	# update attempt after the roverd service restarts.
+	local message
+	message="[$(date -u +%Y-%m-%dT%H:%M:%SZ)] $*"
+	echo "$message"
+	echo "$message" >> "$LOG_FILE"
+}
+
+if [[ "${EUID}" -ne 0 ]]; then
+	echo "roverd-self-update must run as root" >&2
+	exit 1
+fi
+
+if [[ ! -f "$ENV_FILE" ]]; then
+	echo "Missing $ENV_FILE; run pi/install_roverd.sh once to register the repository path" >&2
+	exit 1
+fi
+
+# shellcheck disable=SC1090
+source "$ENV_FILE"
+
+if [[ -z "${ROVERD_REPO_DIR:-}" ]]; then
+	echo "ROVERD_REPO_DIR is not set in $ENV_FILE" >&2
+	exit 1
+fi
+
+if [[ ! -d "$ROVERD_REPO_DIR/.git" ]]; then
+	echo "ROVERD_REPO_DIR does not point at a git checkout: $ROVERD_REPO_DIR" >&2
+	exit 1
+fi
+
+if [[ ! -x "$ROVERD_REPO_DIR/pi/install_roverd.sh" ]]; then
+	echo "Installer is missing or not executable: $ROVERD_REPO_DIR/pi/install_roverd.sh" >&2
+	exit 1
+fi
+
+mkdir -p "$(dirname "$LOCK_FILE")" "$(dirname "$LOG_FILE")"
+touch "$LOG_FILE"
+chmod 0644 "$LOG_FILE"
+
+exec 9>"$LOCK_FILE"
+if ! flock -n 9; then
+	log "Another roverd self-update is already running; refusing to start a second one"
+	exit 1
+fi
+
+cd "$ROVERD_REPO_DIR"
+log "Starting roverd self-update in $ROVERD_REPO_DIR"
+
+repo_uid="$(stat -c '%u' "$ROVERD_REPO_DIR")"
+
+# Fetch through the normal git remote instead of downloading just one artifact.
+# That keeps the binary, installer, scripts, systemd units, and any other rover
+# files from this repository on the same commit.
+if [[ "$repo_uid" -eq 0 ]]; then
+	git pull --ff-only
+else
+	# The helper runs as root only for installation privileges. The git checkout
+	# usually belongs to the human deploy user, so running the pull as that owner
+	# avoids Git's dubious-ownership protection and preserves whatever SSH/HTTPS
+	# credentials that user normally uses for this repository.
+	sudo -H -u "#${repo_uid}" git -C "$ROVERD_REPO_DIR" pull --ff-only
+fi
+log "Repository fast-forward pull complete"
+
+# The installer already owns the full desired rover host state. Reusing it here
+# prevents this update helper from becoming a second, partial installer that can
+# drift away from the normal manual install path.
+"$ROVERD_REPO_DIR/pi/install_roverd.sh"
+log "Installer completed successfully"

pi/bin/video-publisher.sh

@@ -4,7 +4,7 @@ set -euo pipefail
 # Keep history expansion off so values containing "!" are safe.
 set +H
 
-ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
+ENV_FILE="${ROVERD_MEDIA_ENV_FILE:-/var/lib/roverd/media.env}"
 
 if [[ ! -f "$ENV_FILE" ]]; then
   echo "Environment file ${ENV_FILE} missing; cannot publish" >&2
@@ -64,25 +64,29 @@ load_env_file() {
 }
 
 load_env_file
-: "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_BITRATE:?ROVERD_VIDEO_BITRATE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_INVERT:?ROVERD_VIDEO_INVERT not set in ${ENV_FILE}}"
 
-# Defaults tuned for OV5647: use 4:3 output and force the common 2x2 binned full-FOV mode.
+if [[ "${ROVERD_VIDEO_ENABLE}" -ne 1 ]]; then
-VIDEO_WIDTH="640"
+  echo "Video publisher disabled by roverd media config; skipping" >&2
-VIDEO_HEIGHT="480"
+  exit 0
-VIDEO_FPS="30"
+fi
-VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
-VIDEO_INVERT="${VIDEO_INVERT:-1}"
-VIDEO_SENSOR_MODE="${VIDEO_SENSOR_MODE:-1296:972}"
 
-# Flip the camera 180deg by default; allow upright camera mounts via VIDEO_INVERT=0.
+# The inversion decision is made in roverd.yaml and written into media.env, so
+# this script only converts the configured logical value into libcamera flags.
 FLIP_ARGS=()
-if [[ "${VIDEO_INVERT}" -ne 0 ]]; then
+if [[ "${ROVERD_VIDEO_INVERT}" -ne 0 ]]; then
   FLIP_ARGS=(--rotation 180)
 fi
 
 MODE_ARGS=()
-if [[ -n "${VIDEO_SENSOR_MODE}" ]]; then
+if [[ -n "${ROVERD_VIDEO_SENSOR_MODE:-}" ]]; then
-  MODE_ARGS=(--mode "${VIDEO_SENSOR_MODE}")
+  MODE_ARGS=(--mode "${ROVERD_VIDEO_SENSOR_MODE}")
 fi
 
 if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
@@ -110,11 +114,11 @@ run_pipeline() {
     --inline \
     --timeout 0 \
     "${MODE_ARGS[@]}" \
-    --width "${VIDEO_WIDTH}" \
+    --width "${ROVERD_VIDEO_WIDTH}" \
-    --height "${VIDEO_HEIGHT}" \
+    --height "${ROVERD_VIDEO_HEIGHT}" \
     "${FLIP_ARGS[@]}" \
-    --framerate "${VIDEO_FPS}" \
+    --framerate "${ROVERD_VIDEO_FPS}" \
-    --bitrate "${VIDEO_BITRATE}" \
+    --bitrate "${ROVERD_VIDEO_BITRATE}" \
     --codec h264 \
     --profile baseline \
     --denoise auto \
@@ -138,7 +142,7 @@ run_pipeline() {
       -muxdelay 0 \
       -muxpreload 0 \
       -f mpegts \
-      "${PUBLISH_URL}"
+      "${ROVERD_VIDEO_PUBLISH_URL}"
 }
 
 while true; do