okayy..

Changed AWB setting from 'greyworld' to 'custom' with specific gains.

.gitignore

@@ -11,3 +11,4 @@ config.h
 robots.json
 roverd-dummy
 server/config.yaml
+package-lock.json

README.md

@@ -79,7 +79,9 @@ The script must be executed via `sudo` from the user that owns the repo. It will
 
 Publishing rovers lives on a trusted network, so the shipped config (tracked at `server/mediamtx/mediamtx.yml`) skips HTTP auth for SRT ingest and whitelists any path that matches `rover-*`. The installer overwrites `/etc/mediamtx/mediamtx.yml` every time you run it—if you need to tweak ports or add TURN servers, edit the template in the repo and rerun `install_server.sh` so every box stays in sync automatically.
 
-Once finished, update `server/config.yaml` with your admin passwords and `media.whepBaseUrl` (`http://192.168.0.86:8889`). The client automatically requests `http://<base>/<rover-id>/whep`, so you never have to embed IDs or path templates. Restart `multirover.service` whenever you edit the config. To pull updates later, just `git pull`, re-run `npm install --production` inside `server/`, and restart the service—no need to rerun the installer.
+Once finished, update `server/config.yaml` with your admin passwords and `media.whepBaseUrl` (set it to the URL you expose publicly, e.g. `https://rover.otter.land/video`). If your proxy can’t rewrite paths, create the `/video` location there and add a custom nginx snippet to rewrite `/video/<rover>/whep` to `/<>/whep` before forwarding to mediaMTX. Restart `multirover.service` whenever you edit the config. To pull updates later, just `git pull`, re-run `npm install --production` inside `server/`, and restart the service—no need to rerun the installer.
+
+Room cameras now use JPEG snapshots (4 fps) instead of WHEP. Each entry in `roomCameras` must include a `url` pointing at the snapshot endpoint; the server polls and relays frames over socket.io with the same access rules as before.
 
 ### Video handshake + diagnostics
 

docs/pi-deployment.md

@@ -60,7 +60,7 @@ Flags:
 | `-b PATH` | use a different roverd binary (defaults to `dist/roverd`) |
 | `-c PATH` | seed `/etc/roverd.yaml` from another template |
 
-If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.publishUrl`. When left blank, roverd automatically publishes to `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish…` (the host comes from `serverUrl`).
+If the script installs the sample config, it will remind you to edit `/etc/roverd.yaml` before manually restarting the service: set `name`, `serverUrl`, serial device, BRC pin, battery thresholds, and optionally override `media.publishUrl`. When left blank, roverd automatically publishes to `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish…` (the host comes from `serverUrl`). If your reverse proxy adds prefixes (like `/video/<name>`), use its rewrite options so the rover keeps publishing to plain `<name>`.
 
 Re-run `pi/install_roverd.sh` any time you pull updates—the script overwrites the roverd + video-publisher binaries and drops the latest systemd units so the only configuration you ever touch manually is `/etc/roverd.yaml`. `roverd` rewrites `/var/lib/roverd/video.env` on startup, so no other files need editing.
 ## Manual installation
@@ -71,7 +71,7 @@ Re-run `pi/install_roverd.sh` any time you pull updates—the script overwrites
    sudo install -o roverd -g roverd -m 0755 dist/roverd /usr/local/bin/roverd
    sudo install -o roverd -g roverd -m 0640 pi/roverd/roverd.sample.yaml /etc/roverd.yaml
    ```
-   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and (if needed) the media `publishUrl` override. Otherwise, roverd derives `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316` based on the `serverUrl`.
+   Adjust `/etc/roverd.yaml` for each rover: `name`, `serverUrl` (e.g. `ws://control-server:8080/rover`), serial port path, battery thresholds, GPIO pin for BRC, and (if needed) the media `publishUrl` override. Otherwise, roverd derives `srt://<server-host>:9000?streamid=#!::r=<name>,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316` based on the `serverUrl`; keep proxy-only path prefixes out of this URL so every rover keeps the same simple stream name.
 
 2. Install the systemd unit:
    ```bash

pi/asound.conf

@@ -0,0 +1,26 @@
+# Use the Google Voice HAT soundcard as the primary device by name (card id is "sndrpigooglevoi")
+options snd_rpi_googlevoicehat_soundcard index=0
+
+# Software playback volume (adjust with: amixer -c0 sset 'SoftMaster' 70%)
+pcm.softvol {
+    type softvol
+    slave.pcm "plughw:0,0"
+    control {
+        name "SoftMaster"
+        card 0
+    }
+    min_dB -51.0
+    max_dB 0.0
+}
+
+# Defaults: playback through softvol, capture raw on the HAT
+pcm.!default {
+    type asym
+    playback.pcm "softvol"
+    capture.pcm "hw:0,0"
+}
+
+ctl.!default {
+    type hw
+    card 0
+}

pi/bin/audio-only-publisher.sh

@@ -0,0 +1,63 @@
+#!/usr/bin/env bash
+set -euo pipefail
+set +H
+
+ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
+
+if [[ ! -f "$ENV_FILE" ]]; then
+	echo "Environment file ${ENV_FILE} missing; cannot publish audio" >&2
+	exit 1
+fi
+
+# shellcheck disable=SC1090
+source "$ENV_FILE"
+AUDIO_ENABLE="${AUDIO_ENABLE:-0}"
+if [[ "${AUDIO_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 ${ENV_FILE}}"
+
+AUDIO_DEVICE="${AUDIO_DEVICE:-hw:0,0}"
+AUDIO_RATE="${AUDIO_RATE:-48000}"
+AUDIO_CHANNELS="${AUDIO_CHANNELS:-2}"
+
+if [[ -n "${FFMPEG_BIN:-}" ]]; then
+	FFMPEG_BIN_PATH="$FFMPEG_BIN"
+elif command -v ffmpeg >/dev/null 2>&1; then
+	FFMPEG_BIN_PATH="$(command -v ffmpeg)"
+else
+	echo "ffmpeg not found; install it via apt install ffmpeg." >&2
+	exit 1
+fi
+
+run_pipeline() {
+	"${FFMPEG_BIN_PATH}" \
+		-hide_banner \
+		-loglevel warning \
+		-fflags nobuffer \
+		-rtbufsize 0 \
+		-thread_queue_size 4096 \
+		-f s32le \
+		-ar "${AUDIO_RATE}" \
+		-ac "${AUDIO_CHANNELS}" \
+		-i <(arecord -D "${AUDIO_DEVICE}" -f S32_LE -c "${AUDIO_CHANNELS}" -r "${AUDIO_RATE}" -B 65536 -F 2048 -q -t raw) \
+		-af "aresample=16000,pan=mono|c0=0.5*FL+0.5*FR,volume=30dB" \
+		-c:a libopus \
+		-b:a 24000 \
+		-ar:a 16000 \
+		-ac:a 1 \
+		-application lowdelay \
+		-frame_duration 20 \
+		-compression_level 0 \
+		-f mpegts \
+		"${AUDIO_PUBLISH_URL}"
+}
+
+while true; do
+	if run_pipeline; then
+		exit 0
+	fi
+	echo "Audio-only publisher exited, restarting in 2s..." >&2
+	sleep 2
+done

pi/bin/video-publisher.sh

@@ -1,5 +1,7 @@
 #!/usr/bin/env bash
 set -euo pipefail
+# Disable history expansion so PUBLISH_URL values with "!" are safe when sourcing env files.
+set +H
 
 ENV_FILE="${VIDEO_ENV_FILE:-/var/lib/roverd/video.env}"
 
@@ -10,13 +12,14 @@ fi
 
 # shellcheck disable=SC1090
 source "$ENV_FILE"
-
 : "${PUBLISH_URL:?PUBLISH_URL not set in ${ENV_FILE}}"
 
 VIDEO_WIDTH="${VIDEO_WIDTH:-1920}"
 VIDEO_HEIGHT="${VIDEO_HEIGHT:-1080}"
 VIDEO_FPS="${VIDEO_FPS:-30}"
 VIDEO_BITRATE="${VIDEO_BITRATE:-3000000}"
+# Flip the camera 180deg (supported by rpicam-vid/libcamera-vid)
+FLIP_ARGS=(--rotation 180)
 
 if [[ -n "${LIBCAMERA_BIN:-}" ]]; then
 	LIBCAMERA_BIN_PATH="$LIBCAMERA_BIN"
@@ -44,12 +47,15 @@ run_pipeline() {
 		--timeout 0 \
 		--width "${VIDEO_WIDTH}" \
 		--height "${VIDEO_HEIGHT}" \
+		"${FLIP_ARGS[@]}" \
 		--framerate "${VIDEO_FPS}" \
 		--bitrate "${VIDEO_BITRATE}" \
 		--codec h264 \
 		--profile baseline \
 		--denoise cdn_off \
 		--nopreview \
+		--awb custom \
+		--awbgains 1.5,1.8 \
 		--output - \
 		| "${FFMPEG_BIN_PATH}" \
 			-hide_banner \

pi/install_roverd.sh

@@ -94,7 +94,39 @@ install_video_deps() {
 	apt-get install -y --no-install-recommends libcamera-apps ffmpeg
 }
 
-ensure_user roverd "dialout,gpio,video,render"
+find_boot_config() {
+	if [[ -f /boot/firmware/config.txt ]]; then
+		printf "/boot/firmware/config.txt"
+		return 0
+	fi
+	if [[ -f /boot/config.txt ]]; then
+		printf "/boot/config.txt"
+		return 0
+	fi
+	return 1
+}
+
+ensure_pwm_overlay() {
+	local boot_config
+	if ! boot_config="$(find_boot_config)"; then
+		log "WARNING: unable to locate /boot config.txt; please ensure dtoverlay=pwm-2chan is added manually for servo support"
+		return
+	fi
+	if grep -Eq '^\s*dtoverlay=pwm(-2chan)?' "$boot_config"; then
+		log "PWM overlay already present in $boot_config"
+		return
+	fi
+	local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
+	cp "$boot_config" "$backup"
+	{
+		echo ""
+		echo "# Added by roverd installer to expose PWM hardware for camera servo control on GPIO12/13 (leaves GPIO18/19 free for I2S)"
+		echo "dtoverlay=pwm-2chan,pin=12,func=4,pin2=13,func2=4"
+	} >> "$boot_config"
+	log "Enabled dtoverlay=pwm-2chan on GPIO12/13 in $boot_config (backup at $backup). Reboot required for changes to apply."
+}
+
+ensure_user roverd "dialout,gpio,video,render,audio"
 install -o roverd -g roverd -m 0755 "$BINARY_SRC" /usr/local/bin/roverd
 log "Installed roverd binary"
 
@@ -112,33 +144,116 @@ install -m 0644 pi/systemd/roverd.service /etc/systemd/system/roverd.service
 log "Installed roverd systemd unit"
 
 install_video_deps
+ensure_pwm_overlay
+
+# Enable Google AIY v1 sound card, ALSA defaults, and TTS engines
+install_audio_support() {
+	local boot_config
+	if ! boot_config="$(find_boot_config)"; then
+		log "WARNING: unable to locate /boot config.txt; please enable googlevoicehat-soundcard overlay manually"
+	else
+		# Ensure onboard audio is disabled (prevents card index flapping)
+		if grep -Eq '^\s*dtparam=audio=on\b' "$boot_config"; then
+			log "Disabling onboard audio (dtparam=audio=on -> off) in $boot_config"
+			sed -i 's/^\s*dtparam=audio=on\b/# roverd disabled onboard audio\ndtparam=audio=off/' "$boot_config"
+		fi
+		if ! grep -Eq '^\s*dtparam=audio=off\b' "$boot_config"; then
+			log "Adding dtparam=audio=off to $boot_config"
+			echo "dtparam=audio=off" >> "$boot_config"
+		fi
+		if ! grep -Eq '^\s*dtparam=i2s=on\b' "$boot_config"; then
+			log "Adding dtparam=i2s=on to $boot_config"
+			echo "dtparam=i2s=on" >> "$boot_config"
+		fi
+		if ! grep -Eq '^\s*dtoverlay=googlevoicehat-soundcard\b' "$boot_config"; then
+			local backup="${boot_config}.roverd.$(date +%Y%m%d%H%M%S).bak"
+			cp "$boot_config" "$backup"
+			{
+				echo ""
+				echo "# Added by roverd installer to enable Google AIY v1 sound card"
+				echo "dtoverlay=googlevoicehat-soundcard"
+			} >> "$boot_config"
+			log "Enabled googlevoicehat-soundcard overlay in $boot_config (backup at $backup). Reboot required."
+		else
+			log "googlevoicehat-soundcard overlay already present in $boot_config"
+		fi
+	fi
+	if [[ -f pi/asound.conf ]]; then
+		install -m 0644 pi/asound.conf /etc/asound.conf
+		log "Installed ALSA config to /etc/asound.conf"
+		alsa_reload_notice=1
+	else
+		log "WARNING: pi/asound.conf missing; skipping ALSA config install"
+	fi
+
+	if [[ "${alsa_reload_notice:-0}" -eq 1 ]]; then
+		log "ALSA config updated; reboot recommended for overlay + audio changes"
+	fi
+
+	log "Installing TTS/audio packages (flite, espeak)..."
+	# check for flite and espeak before installing, and then install them if either is missing
+	if command -v flite >/dev/null 2>&1 && command -v espeak >/dev/null 2>&1; then
+		log "TTS packages flite and espeak already installed; skipping apt install"
+		return
+	fi
+	
+	apt-get update
+	apt-get install -y --no-install-recommends flite espeak
+}
 
 # Install video publisher assets
 install -D -o root -g root -m 0755 pi/bin/video-publisher.sh /usr/local/bin/video-publisher
+log "Installed video-publisher helper"
 install -m 0644 pi/systemd/video-publisher.service /etc/systemd/system/video-publisher.service
+log "Installed video-publisher systemd unit"
+# Install audio-only publisher assets
+install -D -o root -g root -m 0755 pi/bin/audio-only-publisher.sh /usr/local/bin/audio-only-publisher
+install -m 0644 pi/systemd/audio-only-publisher.service /etc/systemd/system/audio-only-publisher.service
+log "Installed audio-only publisher helper + systemd unit"
 install -d -o roverd -g roverd /var/lib/roverd
-if [[ ! -f /var/lib/roverd/video.env ]]; then
-	cat > /var/lib/roverd/video.env <<'ENV'
+cat > /var/lib/roverd/video.env <<'ENV'
 # Managed by roverd; placeholder values will be overwritten at runtime.
-PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
+PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
+AUDIO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME-audio,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 VIDEO_WIDTH=1280
 VIDEO_HEIGHT=720
 VIDEO_FPS=30
-VIDEO_BITRATE=3000000
+VIDEO_BITRATE=2000000
+AUDIO_ENABLE=0
+AUDIO_DEVICE=hw:0,0
+AUDIO_RATE=48000
+AUDIO_CHANNELS=2
 ENV
-	chown roverd:roverd /var/lib/roverd/video.env
-	chmod 0640 /var/lib/roverd/video.env
+chown roverd:roverd /var/lib/roverd/video.env
+chmod 0640 /var/lib/roverd/video.env
+# Create persistent audio FIFO for capture -> publisher
+FIFO_PATH="/var/lib/roverd/audio.pcm"
+if [[ -p "$FIFO_PATH" ]]; then
+	chown roverd:audio "$FIFO_PATH"
+	chmod 0660 "$FIFO_PATH"
+else
+	rm -f "$FIFO_PATH"
+	mkfifo "$FIFO_PATH"
+	chown roverd:audio "$FIFO_PATH"
+	chmod 0660 "$FIFO_PATH"
 fi
+# Ensure ALSA config is in place for rovermic device
+install -m 0644 pi/asound.conf /etc/asound.conf
+log "Installed ALSA config (/etc/asound.conf)"
+
+install_audio_support
 
 systemctl daemon-reload
 systemctl enable roverd.service
 systemctl enable video-publisher.service
+systemctl enable audio-only-publisher.service
 if [[ $CONFIG_EXISTS -eq 1 ]]; then
 	systemctl restart roverd.service
 	systemctl restart video-publisher.service
-	log "Restarted roverd + video publisher"
+	systemctl restart audio-only-publisher.service
+	log "Restarted roverd + video/audio publishers"
 else
-	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher"
+	log "Skipped auto-start because config is the sample; edit $CONFIG_DEST then run: sudo systemctl restart roverd video-publisher audio-only-publisher"
 fi
 
 log "Install complete"

pi/roverd/Makefile

@@ -10,9 +10,10 @@ build:
 
 pi-build:
 	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/roverd ./cmd/roverd
+	GOOS=$(GOOS) GOARCH=$(GOARCH) GOARM=$(GOARM) go build -trimpath -ldflags="-s -w" -o $(BIN_DIR)/servoverifier ./cmd/servoverifier
 
 dummy:
 	GOOS=linux GOARCH=amd64 go build -tags dummy -o $(BIN_DIR)/roverd-dummy ./cmd/roverd
 
 clean:
-	rm -f $(BIN_DIR)/roverd
+	rm -f $(BIN_DIR)/roverd $(BIN_DIR)/servoverifier

pi/roverd/camera_servo.go

@@ -0,0 +1,143 @@
+//go:build !dummy
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+	"math"
+	"sync"
+
+	rpio "github.com/stianeikeland/go-rpio/v4"
+)
+
+type CameraServo struct {
+	cfg          CameraServoConfig
+	logger       *log.Logger
+	pin          rpio.Pin
+	mu           sync.Mutex
+	currentAngle float64
+	closed       bool
+}
+
+func NewCameraServo(cfg CameraServoConfig, logger *log.Logger) (*CameraServo, error) {
+	if !cfg.Enabled {
+		return nil, fmt.Errorf("camera servo disabled")
+	}
+	if err := rpio.Open(); err != nil {
+		return nil, fmt.Errorf("open gpio: %w", err)
+	}
+
+	pin := rpio.Pin(cfg.Pin)
+	pin.Mode(rpio.Pwm)
+	targetClock := cfg.FreqHz * cfg.CycleLen
+	pin.Freq(targetClock)
+
+	servo := &CameraServo{
+		cfg:    cfg,
+		logger: logger,
+		pin:    pin,
+	}
+	if err := servo.setAngleLocked(cfg.HomeAngle); err != nil {
+		rpio.Close()
+		return nil, err
+	}
+	logger.Printf("camera servo initialized on GPIO %d (%.1f..%.1f deg)", cfg.Pin, cfg.MinAngle, cfg.MaxAngle)
+	return servo, nil
+}
+
+func (s *CameraServo) Close() {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	if s.closed {
+		return
+	}
+	s.applyPulseLocked(s.angleToPulse(s.cfg.HomeAngle))
+	rpio.Close()
+	s.closed = true
+}
+
+func (s *CameraServo) SetAngle(angle float64) error {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	return s.setAngleLocked(angle)
+}
+
+func (s *CameraServo) setAngleLocked(angle float64) error {
+	if s.closed {
+		return fmt.Errorf("servo closed")
+	}
+	clamped := clampFloat(angle, s.cfg.MinAngle, s.cfg.MaxAngle)
+	s.applyPulseLocked(s.angleToPulse(clamped))
+	s.currentAngle = clamped
+	return nil
+}
+
+func (s *CameraServo) Nudge(delta float64) error {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	if delta == 0 {
+		delta = s.cfg.NudgeDegrees
+	}
+	target := s.currentAngle + delta
+	return s.setAngleLocked(target)
+}
+
+func (s *CameraServo) SetPulseWidth(micros int) error {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	if s.closed {
+		return fmt.Errorf("servo closed")
+	}
+	if !s.cfg.AllowRawPulse {
+		return fmt.Errorf("raw pulse commands disabled")
+	}
+	if micros <= 0 {
+		return fmt.Errorf("pulse width must be > 0")
+	}
+	s.applyPulseLocked(micros)
+	s.currentAngle = s.pulseToAngle(micros)
+	return nil
+}
+
+func (s *CameraServo) CurrentAngle() float64 {
+	s.mu.Lock()
+	defer s.mu.Unlock()
+	return s.currentAngle
+}
+
+func (s *CameraServo) applyPulseLocked(micros int) {
+	micros = clampInt(micros, s.cfg.MinPulseUs, s.cfg.MaxPulseUs)
+	s.pin.DutyCycle(uint32(micros), uint32(s.cfg.CycleLen))
+}
+
+func (s *CameraServo) angleToPulse(angle float64) int {
+	totalRange := s.cfg.MaxAngle - s.cfg.MinAngle
+	if totalRange == 0 {
+		return s.cfg.MinPulseUs
+	}
+	norm := (angle - s.cfg.MinAngle) / totalRange
+	norm = math.Max(0, math.Min(1, norm))
+	pulseRange := s.cfg.MaxPulseUs - s.cfg.MinPulseUs
+	return s.cfg.MinPulseUs + int(math.Round(norm*float64(pulseRange)))
+}
+
+func (s *CameraServo) pulseToAngle(pulse int) float64 {
+	pulseRange := s.cfg.MaxPulseUs - s.cfg.MinPulseUs
+	if pulseRange == 0 {
+		return s.cfg.MinAngle
+	}
+	norm := float64(pulse-s.cfg.MinPulseUs) / float64(pulseRange)
+	norm = math.Max(0, math.Min(1, norm))
+	return s.cfg.MinAngle + norm*(s.cfg.MaxAngle-s.cfg.MinAngle)
+}
+
+func clampInt(value, min, max int) int {
+	if value < min {
+		return min
+	}
+	if value > max {
+		return max
+	}
+	return value
+}

pi/roverd/camera_servo_dummy.go

@@ -0,0 +1,32 @@
+//go:build dummy
+
+package roverd
+
+import (
+	"fmt"
+	"log"
+)
+
+type CameraServo struct{}
+
+func NewCameraServo(cfg CameraServoConfig, logger *log.Logger) (*CameraServo, error) {
+	return nil, fmt.Errorf("camera servo not supported in dummy build")
+}
+
+func (c *CameraServo) Close() {}
+
+func (c *CameraServo) SetAngle(angle float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) Nudge(delta float64) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) SetPulseWidth(micros int) error {
+	return fmt.Errorf("camera servo disabled")
+}
+
+func (c *CameraServo) CurrentAngle() float64 {
+	return 0
+}

pi/roverd/cmd/roverd/main.go

@@ -21,7 +21,7 @@ func main() {
 	if err != nil {
 		log.Fatalf("load config: %v", err)
 	}
-	if err := roverd.UpdatePublisherEnv(cfg.Media); err != nil {
+	if err := roverd.UpdatePublisherEnv(cfg.Media, cfg.Audio); err != nil {
 		log.Fatalf("prepare media env: %v", err)
 	}
 
@@ -55,15 +55,24 @@ func main() {
 
 	adapter := roverd.NewSerialAdapter(serialPort, logger)
 
-	mediaSupervisor := roverd.NewMediaSupervisor(cfg.Media, logger)
+	mediaSupervisor := roverd.NewMediaSupervisor(cfg.Media, cfg.Audio, logger)
 	if mediaSupervisor != nil {
 		mediaSupervisor.Start(ctx)
 	}
 
+	var cameraServo *roverd.CameraServo
+	if cfg.CameraServo.Enabled {
+		cameraServo, err = roverd.NewCameraServo(cfg.CameraServo, logger)
+		if err != nil {
+			logger.Fatalf("init camera servo: %v", err)
+		}
+		defer cameraServo.Close()
+	}
+
 	autoCharge := roverd.NewAutoChargeController(adapter, eventStream, logger)
 	go autoCharge.Run(ctx, sensorSamples)
 
-	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, logger)
+	client := roverd.NewWSClient(cfg, adapter, sensorFrames, eventStream, mediaSupervisor, cameraServo, logger)
 
 	retryDelay := time.Second
 	for ctx.Err() == nil {

pi/roverd/cmd/servoverifier/main.go

@@ -0,0 +1,95 @@
+package main
+
+import (
+	"flag"
+	"log"
+	"time"
+
+	rpio "github.com/stianeikeland/go-rpio/v4"
+)
+
+func main() {
+	var (
+		pinNum    = flag.Int("pin", 19, "BCM pin connected to the servo signal line")
+		freqHz    = flag.Int("freq", 50, "Servo PWM frequency in Hz")
+		cycleLen  = flag.Int("cycle", 20000, "PWM cycle length (counts per period)")
+		minPulse  = flag.Int("min", 900, "Minimum pulse width in microseconds")
+		maxPulse  = flag.Int("max", 2100, "Maximum pulse width in microseconds")
+		stepPulse = flag.Int("step", 100, "Pulse width increment in microseconds when sweeping")
+		sweeps    = flag.Int("sweeps", 2, "How many full min→max→min sweeps to perform")
+		pause     = flag.Duration("pause", 150*time.Millisecond, "Delay between pulse adjustments")
+		holdPulse = flag.Int("hold", 0, "Pulse width to hold before exiting (0 = midpoint of min/max)")
+	)
+	flag.Parse()
+
+	if *freqHz <= 0 || *cycleLen <= 0 {
+		log.Fatalf("invalid freq (%d) or cycle (%d)", *freqHz, *cycleLen)
+	}
+	if *minPulse <= 0 || *maxPulse <= 0 || *minPulse >= *maxPulse {
+		log.Fatalf("invalid min/max pulses (%d/%d)", *minPulse, *maxPulse)
+	}
+	if *stepPulse <= 0 {
+		log.Fatalf("step must be > 0 (got %d)", *stepPulse)
+	}
+	if *pause <= 0 {
+		log.Fatalf("pause must be > 0 (got %s)", pause)
+	}
+	if *sweeps < 0 {
+		log.Fatalf("sweeps must be >= 0 (got %d)", *sweeps)
+	}
+
+	if err := rpio.Open(); err != nil {
+		log.Fatalf("open gpio: %v", err)
+	}
+	defer rpio.Close()
+
+	pin := rpio.Pin(*pinNum)
+	pin.Mode(rpio.Pwm)
+
+	targetClock := *freqHz * *cycleLen
+	pin.Freq(targetClock)
+	log.Printf("Configured PWM pin %d at %d Hz (clock=%d Hz, cycle=%d)", *pinNum, *freqHz, targetClock, *cycleLen)
+
+	setPulse := func(us int) {
+		clamped := clamp(us, *minPulse, *maxPulse)
+		pin.DutyCycle(uint32(clamped), uint32(*cycleLen))
+		log.Printf("pulse -> %dµs", clamped)
+	}
+
+	mid := (*minPulse + *maxPulse) / 2
+	setPulse(mid)
+
+	runSweep := func() {
+		for pulse := *minPulse; pulse <= *maxPulse; pulse += *stepPulse {
+			setPulse(pulse)
+			time.Sleep(*pause)
+		}
+		for pulse := *maxPulse - *stepPulse; pulse >= *minPulse; pulse -= *stepPulse {
+			setPulse(pulse)
+			time.Sleep(*pause)
+		}
+	}
+
+	for i := 0; i < *sweeps; i++ {
+		log.Printf("Sweep %d/%d", i+1, *sweeps)
+		runSweep()
+	}
+
+	finalPulse := *holdPulse
+	if finalPulse <= 0 {
+		finalPulse = mid
+	}
+	setPulse(finalPulse)
+	log.Printf("Holding at %dµs", clamp(finalPulse, *minPulse, *maxPulse))
+	log.Print("Servo verification complete")
+}
+
+func clamp(value, min, max int) int {
+	if value < min {
+		return min
+	}
+	if value > max {
+		return max
+	}
+	return value
+}

pi/roverd/command.go

@@ -6,6 +6,8 @@ type helloMessage struct {
 	Battery       BatteryConfig     `json:"battery"`
 	MaxWheelSpeed int               `json:"maxWheelSpeed"`
 	Media         MediaConfig       `json:"media"`
+	CameraServo   CameraServoConfig `json:"cameraServo"`
+	Audio         AudioConfig       `json:"audio"`
 }
 
 type sensorMessage struct {
@@ -22,6 +24,8 @@ type inboundMessage struct {
 	Raw          string               `json:"raw,omitempty"`
 	SensorStream *sensorStreamPayload `json:"sensorStream,omitempty"`
 	Media        *mediaCommand        `json:"media,omitempty"`
+	Servo        *servoPayload        `json:"servo,omitempty"`
+	TTS          *ttsPayload          `json:"tts,omitempty"`
 }
 
 type driveDirectPayload struct {
@@ -43,6 +47,20 @@ type mediaCommand struct {
 	Action string `json:"action"`
 }
 
+type servoPayload struct {
+	Angle   *float64 `json:"angle,omitempty"`
+	Nudge   *float64 `json:"nudge,omitempty"`
+	PulseUs *int     `json:"pulseUs,omitempty"`
+}
+
+type ttsPayload struct {
+	Text   string `json:"text"`
+	Engine string `json:"engine,omitempty"`
+	Voice  string `json:"voice,omitempty"`
+	Pitch  int    `json:"pitch,omitempty"`
+	Speak  bool   `json:"speak,omitempty"`
+}
+
 type ackMessage struct {
 	Type   string `json:"type"`
 	ID     string `json:"id"`

pi/roverd/config.go

@@ -53,11 +53,26 @@ type BatteryConfig struct {
 	Urgent int `yaml:"urgent"`
 }
 
+type AudioConfig struct {
+	CaptureEnabled bool   `yaml:"captureEnabled" json:"captureEnabled"`
+	CaptureDevice  string `yaml:"captureDevice" json:"captureDevice,omitempty"`
+	SampleRate     int    `yaml:"sampleRate" json:"sampleRate,omitempty"`
+	Channels       int    `yaml:"channels" json:"channels,omitempty"`
+	Bitrate        int    `yaml:"bitrate" json:"bitrate,omitempty"`
+	TTSEnabled     bool   `yaml:"ttsEnabled" json:"ttsEnabled"`
+	DefaultEngine  string `yaml:"defaultEngine" json:"defaultEngine,omitempty"`
+	DefaultVoice   string `yaml:"defaultVoice" json:"defaultVoice,omitempty"`
+	DefaultPitch   int    `yaml:"defaultPitch" json:"defaultPitch,omitempty"`
+}
+
 type MediaConfig struct {
 	PublishURL      string   `yaml:"publishUrl" json:"publishUrl,omitempty"`
+	AudioPublishURL string   `yaml:"audioPublishUrl" json:"audioPublishUrl,omitempty"`
 	PublishPort     int      `yaml:"publishPort" json:"-"`
 	Manage          bool     `yaml:"manage"`
+	ManageAudio     bool     `yaml:"manageAudio"`
 	Service         string   `yaml:"service"`
+	AudioService    string   `yaml:"audioService"`
 	HealthURL       string   `yaml:"healthUrl"`
 	HealthInterval  Duration `yaml:"healthInterval"`
 	VideoWidth      int      `yaml:"videoWidth" json:"-"`
@@ -66,6 +81,20 @@ type MediaConfig struct {
 	VideoBitrate    int      `yaml:"videoBitrate" json:"-"`
 }
 
+type CameraServoConfig struct {
+	Enabled       bool    `yaml:"enabled" json:"enabled"`
+	Pin           int     `yaml:"pin" json:"pin"`
+	FreqHz        int     `yaml:"freqHz" json:"freqHz"`
+	CycleLen      int     `yaml:"cycleLen" json:"cycleLen"`
+	MinPulseUs    int     `yaml:"minPulseUs" json:"minPulseUs"`
+	MaxPulseUs    int     `yaml:"maxPulseUs" json:"maxPulseUs"`
+	MinAngle      float64 `yaml:"minAngle" json:"minAngle"`
+	MaxAngle      float64 `yaml:"maxAngle" json:"maxAngle"`
+	HomeAngle     float64 `yaml:"homeAngle" json:"homeAngle"`
+	NudgeDegrees  float64 `yaml:"nudgeDegrees" json:"nudgeDegrees"`
+	AllowRawPulse bool    `yaml:"allowRawPulse" json:"allowRawPulse"`
+}
+
 type Config struct {
 	Name        string            `yaml:"name"`
 	ServerURL   string            `yaml:"serverUrl"`
@@ -74,6 +103,8 @@ type Config struct {
 	Battery     BatteryConfig     `yaml:"battery"`
 	MaxWheelMMs int               `yaml:"maxWheelSpeed"`
 	Media       MediaConfig       `yaml:"media"`
+	CameraServo CameraServoConfig `yaml:"cameraServo"`
+	Audio       AudioConfig       `yaml:"audio"`
 }
 
 func LoadConfig(path string) (*Config, error) {
@@ -84,7 +115,7 @@ func LoadConfig(path string) (*Config, error) {
 	cfg := Config{
 		MaxWheelMMs: 500,
 		BRC: BRCConfig{
-			GPIOPin:  -1,
+			GPIOPin:  4,
 			GPIOChip: "gpiochip0",
 			PulseEvery: Duration{
 				Duration: time.Minute,
@@ -99,7 +130,29 @@ func LoadConfig(path string) (*Config, error) {
 			VideoWidth:     1280,
 			VideoHeight:    720,
 			VideoFPS:       30,
-			VideoBitrate:   3000000,
+			VideoBitrate:   2000000,
+		},
+		CameraServo: CameraServoConfig{
+			Pin:          12,
+			FreqHz:       50,
+			CycleLen:     20000,
+			MinPulseUs:   900,
+			MaxPulseUs:   2100,
+			MinAngle:     -15,
+			MaxAngle:     30,
+			HomeAngle:    0,
+			NudgeDegrees: 2,
+		},
+		Audio: AudioConfig{
+			CaptureEnabled: false,
+			CaptureDevice:  "rovermic",
+			SampleRate:     48000,
+			Channels:       2,
+			Bitrate:        24000,
+			TTSEnabled:     false,
+			DefaultEngine:  "flite",
+			DefaultVoice:   "rms",
+			DefaultPitch:   50,
 		},
 	}
 	if err := yaml.Unmarshal(data, &cfg); err != nil {
@@ -151,12 +204,83 @@ func LoadConfig(path string) (*Config, error) {
 		}
 		cfg.Media.PublishURL = derived
 	}
+	if cfg.Media.AudioPublishURL == "" {
+		derived, err := derivePublishURL(cfg.ServerURL, cfg.Name+"-audio", cfg.Media.PublishPort)
+		if err != nil {
+			return nil, fmt.Errorf("derive audioPublishUrl: %w", err)
+		}
+		cfg.Media.AudioPublishURL = derived
+	}
+	if err := validateServoConfig(&cfg.CameraServo); err != nil {
+		return nil, fmt.Errorf("cameraServo: %w", err)
+	}
+	validateAudioConfig(&cfg.Audio)
 	return &cfg, nil
 }
 
-func derivePublishURL(serverURL, roverName string, port int) (string, error) {
-	if roverName == "" {
-		return "", errors.New("missing rover name for publishUrl")
+func validateServoConfig(cfg *CameraServoConfig) error {
+	if !cfg.Enabled {
+		return nil
+	}
+	if cfg.Pin <= 0 {
+		return errors.New("pin must be > 0")
+	}
+	if cfg.FreqHz <= 0 {
+		return errors.New("freqHz must be > 0")
+	}
+	if cfg.CycleLen <= 0 {
+		return errors.New("cycleLen must be > 0")
+	}
+	if cfg.MinPulseUs <= 0 || cfg.MaxPulseUs <= 0 || cfg.MinPulseUs >= cfg.MaxPulseUs {
+		return errors.New("minPulseUs/maxPulseUs invalid")
+	}
+	if cfg.MinAngle >= cfg.MaxAngle {
+		return errors.New("minAngle must be less than maxAngle")
+	}
+	cfg.HomeAngle = clampFloat(cfg.HomeAngle, cfg.MinAngle, cfg.MaxAngle)
+	if cfg.NudgeDegrees <= 0 {
+		cfg.NudgeDegrees = 2
+	}
+	return nil
+}
+
+func clampFloat(value, min, max float64) float64 {
+	if value < min {
+		return min
+	}
+	if value > max {
+		return max
+	}
+	return value
+}
+
+func validateAudioConfig(cfg *AudioConfig) {
+	if cfg.CaptureEnabled && cfg.CaptureDevice == "" {
+		cfg.CaptureDevice = "hw:0,0"
+	}
+	if cfg.SampleRate <= 0 {
+		cfg.SampleRate = 48000
+	}
+	if cfg.Channels <= 0 {
+		cfg.Channels = 2
+	}
+	if cfg.Bitrate <= 0 {
+		cfg.Bitrate = 64000
+	}
+	if cfg.DefaultEngine == "" {
+		cfg.DefaultEngine = "flite"
+	}
+	if cfg.DefaultVoice == "" {
+		cfg.DefaultVoice = "rms"
+	}
+	if cfg.DefaultPitch <= 0 {
+		cfg.DefaultPitch = 50
+	}
+}
+
+func derivePublishURL(serverURL, streamName string, port int) (string, error) {
+	if streamName == "" {
+		return "", errors.New("missing stream name for publishUrl")
 	}
 	parsed, err := url.Parse(serverURL)
 	if err != nil {
@@ -169,6 +293,6 @@ func derivePublishURL(serverURL, roverName string, port int) (string, error) {
 	if port <= 0 {
 		port = 9000
 	}
-	streamName := url.PathEscape(roverName)
-	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316", host, port, streamName), nil
+	escaped := url.PathEscape(streamName)
+	return fmt.Sprintf("srt://%s:%d?streamid=#!::r=%s,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316", host, port, escaped), nil
 }

pi/roverd/go.mod

@@ -3,6 +3,7 @@ module multiroombarover/pi/roverd
 go 1.25.4
 
 require (
+	github.com/stianeikeland/go-rpio/v4 v4.6.0
 	github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
 	github.com/warthog618/go-gpiocdev v0.9.1
 	gopkg.in/yaml.v3 v3.0.1

pi/roverd/go.sum

@@ -4,6 +4,8 @@ github.com/pkg/errors v0.9.1 h1:FEBLx1zS214owpjy7qsBeixbURkuhQAwrK5UwLGTwt4=
 github.com/pkg/errors v0.9.1/go.mod h1:bwawxfHBFNV+L2hUp1rHADufV3IMtnDRdf1r5NINEl0=
 github.com/pmezard/go-difflib v1.0.0 h1:4DBwDE0NGyQoBHbLQYPwSUPoCMWR5BEzIk/f1lZbAQM=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
+github.com/stianeikeland/go-rpio/v4 v4.6.0 h1:eAJgtw3jTtvn/CqwbC82ntcS+dtzUTgo5qlZKe677EY=
+github.com/stianeikeland/go-rpio/v4 v4.6.0/go.mod h1:A3GvHxC1Om5zaId+HqB3HKqx4K/AqeckxB7qRjxMK7o=
 github.com/stretchr/testify v1.9.0 h1:HtqpIVDClZ4nwg75+f6Lvsy/wHu+3BoSGCbBAcpTsTg=
 github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8C91i36aY=
 github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=

pi/roverd/media_env.go

@@ -9,24 +9,51 @@ import (
 
 const publisherEnvPath = "/var/lib/roverd/video.env"
 
-func UpdatePublisherEnv(cfg MediaConfig) error {
-	if cfg.PublishURL == "" {
+func UpdatePublisherEnv(media MediaConfig, audio AudioConfig) error {
+	if media.PublishURL == "" {
 		return fmt.Errorf("media publishUrl missing")
 	}
-	if cfg.VideoWidth <= 0 || cfg.VideoHeight <= 0 || cfg.VideoFPS <= 0 || cfg.VideoBitrate <= 0 {
+	if media.AudioPublishURL == "" && audio.CaptureEnabled {
+		return fmt.Errorf("audio publishUrl missing")
+	}
+	if media.VideoWidth <= 0 || media.VideoHeight <= 0 || media.VideoFPS <= 0 || media.VideoBitrate <= 0 {
 		return fmt.Errorf("invalid media dimensions/bitrate")
 	}
 	if err := os.MkdirAll(filepath.Dir(publisherEnvPath), 0o755); err != nil {
 		return err
 	}
 	var buf bytes.Buffer
-	fmt.Fprintf(&buf, "PUBLISH_URL=%s\n", cfg.PublishURL)
-	fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", cfg.VideoWidth)
-	fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", cfg.VideoHeight)
-	fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", cfg.VideoFPS)
-	fmt.Fprintf(&buf, "VIDEO_BITRATE=%d\n", cfg.VideoBitrate)
+	fmt.Fprintf(&buf, "PUBLISH_URL=%s\n", media.PublishURL)
+	if audio.CaptureEnabled && media.AudioPublishURL != "" {
+		fmt.Fprintf(&buf, "AUDIO_PUBLISH_URL=%s\n", media.AudioPublishURL)
+	}
+	fmt.Fprintf(&buf, "VIDEO_WIDTH=%d\n", media.VideoWidth)
+	fmt.Fprintf(&buf, "VIDEO_HEIGHT=%d\n", media.VideoHeight)
+	fmt.Fprintf(&buf, "VIDEO_FPS=%d\n", media.VideoFPS)
+	fmt.Fprintf(&buf, "VIDEO_BITRATE=%d\n", media.VideoBitrate)
+	audioDevice := audio.CaptureDevice
+	if audioDevice == "" || audioDevice == "rovermic" {
+		audioDevice = "hw:0,0"
+	}
+	if audio.SampleRate <= 0 {
+		audio.SampleRate = 48000
+	}
+	if audio.Channels <= 0 {
+		audio.Channels = 2
+	}
+	fmt.Fprintf(&buf, "AUDIO_ENABLE=%d\n", boolToInt(audio.CaptureEnabled))
+	fmt.Fprintf(&buf, "AUDIO_DEVICE=%s\n", audioDevice)
+	fmt.Fprintf(&buf, "AUDIO_RATE=%d\n", audio.SampleRate)
+	fmt.Fprintf(&buf, "AUDIO_CHANNELS=%d\n", audio.Channels)
 	if err := os.WriteFile(publisherEnvPath, buf.Bytes(), 0o640); err != nil {
 		return err
 	}
 	return nil
 }
+
+func boolToInt(v bool) int {
+	if v {
+		return 1
+	}
+	return 0
+}

pi/roverd/media_supervisor.go

@@ -13,13 +13,14 @@ import (
 
 type MediaSupervisor struct {
 	cfg           MediaConfig
+	audio         AudioConfig
 	logger        *log.Logger
 	client        *http.Client
 	checkInterval time.Duration
 }
 
-func NewMediaSupervisor(cfg MediaConfig, logger *log.Logger) *MediaSupervisor {
-	if err := UpdatePublisherEnv(cfg); err != nil {
+func NewMediaSupervisor(cfg MediaConfig, audio AudioConfig, logger *log.Logger) *MediaSupervisor {
+	if err := UpdatePublisherEnv(cfg, audio); err != nil {
 		logger.Printf("media supervisor: update env failed: %v", err)
 	}
 	if !cfg.Manage || cfg.Service == "" {
@@ -35,6 +36,7 @@ func NewMediaSupervisor(cfg MediaConfig, logger *log.Logger) *MediaSupervisor {
 	}
 	return &MediaSupervisor{
 		cfg:           cfg,
+		audio:         audio,
 		logger:        logger,
 		client:        client,
 		checkInterval: interval,
@@ -45,7 +47,7 @@ func (m *MediaSupervisor) Start(ctx context.Context) {
 	if m == nil {
 		return
 	}
-	if err := UpdatePublisherEnv(m.cfg); err != nil {
+	if err := UpdatePublisherEnv(m.cfg, m.audio); err != nil {
 		m.logger.Printf("media supervisor: update env failed: %v", err)
 	}
 	if m.cfg.HealthURL == "" || m.client == nil {
@@ -76,7 +78,7 @@ func (m *MediaSupervisor) HandleAction(ctx context.Context, action string) error
 	if m == nil {
 		return errors.New("media supervisor disabled")
 	}
-	if err := UpdatePublisherEnv(m.cfg); err != nil {
+	if err := UpdatePublisherEnv(m.cfg, m.audio); err != nil {
 		return err
 	}
 	switch action {

pi/roverd/roverd.sample.yaml

@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s
@@ -15,13 +15,35 @@ battery:
   urgent: 1650
 maxWheelSpeed: 350
 media:
-  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=20&mode=caller&transtype=live&pkt_size=1316
+  publishUrl: srt://192.168.0.86:9000?streamid=#!::r=roomba-alpha,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
   publishPort: 9000
   videoWidth: 1280
   videoHeight: 720
   videoFps: 30
-  videoBitrate: 3000000
+  videoBitrate: 2000000
   manage: true
   service: video-publisher.service
   healthUrl: ""
   healthInterval: 30s
+cameraServo:
+  enabled: false
+  pin: 12
+  freqHz: 50
+  cycleLen: 20000
+  minPulseUs: 900
+  maxPulseUs: 2100
+  minAngle: -15
+  maxAngle: 30
+  homeAngle: 0
+  nudgeDegrees: 2
+  allowRawPulse: false
+audio:
+  captureEnabled: false
+  captureDevice: hw:0,0
+  sampleRate: 48000
+  channels: 2
+  bitrate: 24000
+  ttsEnabled: false
+  defaultEngine: flite
+  defaultVoice: rms
+  defaultPitch: 50

pi/roverd/roverd.yaml

@@ -5,7 +5,7 @@ serial:
   device: /dev/ttyAMA0
   baud: 115200
 brc:
-  gpioPin: 17
+  gpioPin: 4
   gpioChip: gpiochip0
   pulseEvery: 1m
   pulseWidth: 1s
@@ -19,3 +19,15 @@ media:
   service: mediamtx.service
   healthUrl: http://127.0.0.1:9997/v3/paths/list
   healthInterval: 30s
+cameraServo:
+  enabled: false
+  pin: 19
+  freqHz: 50
+  cycleLen: 20000
+  minPulseUs: 900
+  maxPulseUs: 2100
+  minAngle: -15
+  maxAngle: 30
+  homeAngle: 0
+  nudgeDegrees: 2
+  allowRawPulse: false

pi/roverd/sensor_stream.go

@@ -14,6 +14,7 @@ import (
 const (
 	sensorHeader          = 19
 	sensorReadTimeout     = 150 * time.Millisecond
+	sensorThrottleMinimum = 250 * time.Millisecond
 )
 
 type SensorStreamer struct {
@@ -29,6 +30,7 @@ func NewSensorStreamer(r io.Reader, rawOut chan<- []byte, parsed chan<- SensorSa
 
 func (s *SensorStreamer) Run(ctx context.Context) {
 	reader := bufio.NewReader(s.r)
+	var nextSend time.Time
 	for {
 		select {
 		case <-ctx.Done():
@@ -62,6 +64,12 @@ func (s *SensorStreamer) Run(ctx context.Context) {
 			continue
 		}
 
+		now := time.Now()
+		if !nextSend.IsZero() && now.Before(nextSend) {
+			continue
+		}
+		nextSend = now.Add(sensorThrottleMinimum)
+
 		select {
 		case s.rawOut <- frame:
 		default:

pi/roverd/tts.go

@@ -0,0 +1,75 @@
+package roverd
+
+import (
+	"context"
+	"fmt"
+	"os/exec"
+	"strings"
+	"time"
+)
+
+func (c *WSClient) handleTTSPayload(payload *ttsPayload) error {
+	if payload == nil {
+		return fmt.Errorf("tts payload required")
+	}
+	if !c.cfg.Audio.TTSEnabled {
+		return fmt.Errorf("tts disabled on rover")
+	}
+	if payload.Speak == false {
+		return nil
+	}
+	text := strings.TrimSpace(payload.Text)
+	if text == "" {
+		return fmt.Errorf("tts text required")
+	}
+	if len([]rune(text)) > 512 {
+		text = string([]rune(text)[:512])
+	}
+
+	engine := strings.ToLower(strings.TrimSpace(payload.Engine))
+	if engine == "" {
+		engine = strings.ToLower(strings.TrimSpace(c.cfg.Audio.DefaultEngine))
+	}
+	if engine == "" {
+		engine = "flite"
+	}
+
+	voice := strings.TrimSpace(payload.Voice)
+	if voice == "" {
+		voice = strings.TrimSpace(c.cfg.Audio.DefaultVoice)
+	}
+	pitch := payload.Pitch
+	if pitch <= 0 {
+		pitch = c.cfg.Audio.DefaultPitch
+	}
+	pitch = clampInt(pitch, 0, 99)
+
+	ctx, cancel := context.WithTimeout(context.Background(), 12*time.Second)
+	defer cancel()
+
+	var cmd *exec.Cmd
+	switch engine {
+	case "espeak", "e":
+		args := []string{}
+		if pitch > 0 {
+			args = append(args, "-p", fmt.Sprintf("%d", pitch))
+		}
+		args = append(args, text)
+		cmd = exec.CommandContext(ctx, "espeak", args...)
+	case "flite", "f":
+		args := []string{}
+		if voice != "" {
+			args = append(args, "-voice", voice)
+		}
+		args = append(args, "-t", text)
+		cmd = exec.CommandContext(ctx, "flite", args...)
+	default:
+		return fmt.Errorf("unsupported tts engine: %s", engine)
+	}
+
+	out, err := cmd.CombinedOutput()
+	if err != nil {
+		return fmt.Errorf("tts exec failed: %w (%s)", err, string(out))
+	}
+	return nil
+}

pi/roverd/wsclient.go

@@ -17,16 +17,18 @@ type WSClient struct {
 	sensorFrames <-chan []byte
 	events       <-chan RoverEvent
 	media        *MediaSupervisor
+	servo        *CameraServo
 	log          *log.Logger
 }
 
-func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events <-chan RoverEvent, media *MediaSupervisor, logger *log.Logger) *WSClient {
+func NewWSClient(cfg *Config, adapter *SerialAdapter, frames <-chan []byte, events <-chan RoverEvent, media *MediaSupervisor, servo *CameraServo, logger *log.Logger) *WSClient {
 	return &WSClient{
 		cfg:          cfg,
 		adapter:      adapter,
 		sensorFrames: frames,
 		events:       events,
 		media:        media,
+		servo:        servo,
 		log:          logger,
 	}
 }
@@ -68,7 +70,10 @@ func (c *WSClient) sendHello(ctx context.Context, conn *websocket.Conn) error {
 		Battery:       c.cfg.Battery,
 		MaxWheelSpeed: c.cfg.MaxWheelMMs,
 		Media:         c.cfg.Media,
+		CameraServo:   c.cfg.CameraServo,
+		Audio:         c.cfg.Audio,
 	}
+	c.log.Printf("sending hello (camera servo enabled=%v pin=%d)", msg.CameraServo.Enabled, msg.CameraServo.Pin)
 	return writeJSON(ctx, conn, msg)
 }
 
@@ -141,11 +146,31 @@ func (c *WSClient) dispatch(ctx context.Context, msg *inboundMessage) error {
 			return fmt.Errorf("media supervisor disabled")
 		}
 		return c.media.HandleAction(ctx, msg.Media.Action)
+	case msg.Servo != nil:
+		if c.servo == nil {
+			return fmt.Errorf("camera servo disabled")
+		}
+		return c.handleServoCommand(msg.Servo)
+	case msg.TTS != nil:
+		return c.handleTTSPayload(msg.TTS)
 	default:
 		return fmt.Errorf("unsupported command type: %s", msg.Type)
 	}
 }
 
+func (c *WSClient) handleServoCommand(payload *servoPayload) error {
+	switch {
+	case payload.Angle != nil:
+		return c.servo.SetAngle(*payload.Angle)
+	case payload.Nudge != nil:
+		return c.servo.Nudge(*payload.Nudge)
+	case payload.PulseUs != nil:
+		return c.servo.SetPulseWidth(*payload.PulseUs)
+	default:
+		return fmt.Errorf("servo command requires angle, nudge, or pulseUs")
+	}
+}
+
 func (c *WSClient) forwardSensors(ctx context.Context, conn *websocket.Conn) {
 	for {
 		select {

pi/systemd/audio-only-publisher.service

@@ -0,0 +1,16 @@
+[Unit]
+Description=Rover Audio Publisher (ALSA -> SRT)
+After=network-online.target roverd.service
+Wants=network-online.target
+
+[Service]
+Type=simple
+User=roverd
+Group=roverd
+EnvironmentFile=/var/lib/roverd/video.env
+ExecStart=/usr/local/bin/audio-only-publisher
+Restart=on-failure
+RestartSec=2
+
+[Install]
+WantedBy=multi-user.target

pi/systemd/roverd.service

@@ -8,8 +8,6 @@ Type=simple
 ExecStart=/usr/local/bin/roverd -config /etc/roverd.yaml
 Restart=on-failure
 RestartSec=5
-User=roverd
-Group=roverd
 AmbientCapabilities=CAP_SYS_TTY_CONFIG CAP_SYS_RAWIO
 
 [Install]

plans/audio_on_roomba_outline.md

@@ -0,0 +1,27 @@
+# general idea
+- the pi on each roomba will have a speaker and microphone
+- alsa devices
+  - they are both the default audio device
+- you will have to modify roverd, the pi install script, and the server to get this all to work
+
+# adding stuff to installation script
+- I am using the google voice AIY v1 kits for audio
+- boot config stuff
+  - enable `dtoverlay=googlevoicehat-soundcard`
+  - disable `dtparam=audio=on`
+- copy asound.conf in pi folder to /etc/asound.conf
+
+# microphone
+- add microphone to the SRT publish stream
+
+# speaker
+- user's chat messages will be TTS'ed through the speaker on the pi
+  - either flite with a way to choose the voice
+  - or espeak where you can choose the pitch
+- on the web UI and in the chat API
+  - add new stuff to chat
+    - only shows up if you are on a rover
+    - only shows up if TTS is enabled on that rover
+  - people can choose between flite or espeak
+    - if they choose flite, they can choose the voice from the default flite voices (exclude awb and awb_time)
+    - if they choose espeak, they can choose the pitch. Have a dropdown with increments of 10 from 0 to 99

plans/battery_manager_outline.md

@@ -0,0 +1,27 @@
+# general idea
+- uses the rover's reported battery full, warn, and urgent values
+- will apply to all rovers individually
+- uses the rover locking system
+- completely server side
+- always use the battery warn value as 0% battery and the full value as 100%
+
+## first: the server-side server-wide event bus
+- global server event bus
+- used for realtime alerts between modules
+- includes a way to tell where the event is coming from
+
+## what will the battery manager do?
+- watch each rover's battery charge number (reported in sensors)
+- if the number reaches warn, fire an event on the event bus
+- the UI will show a warning to users, independently based on sensor data
+- once the rover is docked and charging, lock it.
+- when the battery is fully charged, unlock it.
+
+## while we're at it...
+- add a lock reason to the rover locking system
+- add the following to the rover roster in the UI session state:
+  - battery full #
+  - battery warn #
+  - battery urgent #
+- in the rover roster UI component, add a display for battery percentage and lock reason.
+  - make the rover's background red when locked

plans/battle_mode.md

@@ -0,0 +1,9 @@
+# general idea
+- IR led on the front of each roomba
+  - connected to a pin on the pi
+  - made to be very directional
+- each roomba has a different IR code
+- use the omni reciever to get a shot
+- keep score per user
+- use the go alert system
+- alert discord with a live score count

plans/discord_bot_outline.md

@@ -0,0 +1,35 @@
+# general idea
+- discord bot run by the server
+- use discord.js
+- don't use discord's slash commands
+  - listen for commands the old fashioned way
+  - only admins with IDs set in the server config can use commands
+- use nice looking embeds with colors for everything but messages
+
+# features
+
+## admin server management commands
+- admins can lock and unlock rovers from discord
+- admins can change the server access control mode
+
+## announcements
+- the bot has an announcements channel assigned in the server config. It will also have an announcement role ID to optionally ping. it will announce:
+  - when a rover is locked / unlocked (no ping)
+  - when the server access mode is changed (ping)
+- the bot will have an admin ping role and alert channel. in here will be:
+  - rover activity (no pings)
+    - docking
+    - charging
+    - stopping charging
+    - undocking
+  - rover alerts (ping)
+    - rover comes online
+    - rover goes offline
+    - rover is at warn battery
+    - rover is at urgent battery
+
+## chat bridge
+- bridge between the server chat and discord chat
+- use chat events that are on the bus already
+
+

plans/home_assistant_controls_outline.md

@@ -0,0 +1,15 @@
+# general idea:
+- control on / off switches and lights in home assistant from the web UI
+- use this:
+  - https://www.npmjs.com/package/home-assistant-js-websocket/v/3.1.2
+  - remember to ignore updates that are of the same states, this library will give you a lot of those
+- switches and lights are configured in the server's config file
+  - give each one a name (no description)
+  - auto detect a switch type or light type
+- deliver list of lights to the UI through the session service
+- show realtime on/off status of the switches / lights in the UI
+- create a react component for the controls
+  - it will automatically create a control for each switch / light
+
+## permissions:
+- even if someone isnt assigned to a rover, they should be able to control the switches / lights

plans/new_video_pipeline.md

@@ -18,7 +18,7 @@
          webrtcMaxPlayoutDelay: 0
          alwaysRemuxWhep: no
      ```
-   - Pis publish to `srt://<server>:9000` with the streamid above; mediaMTX auto-creates the path and fans it out over WHEP/WebRTC.
+   - Pis publish to `srt://<server>:9000` with the streamid above; mediaMTX auto-creates the path and fans it out over WHEP/WebRTC. If you expose playback under `/video/<id>` externally, let the reverse proxy rewrite that prefix back to `<id>` before forwarding to mediaMTX so the wildcard continues to match every rover.
    - Only playback is gated: mediaMTX calls the Node server to validate JWTs on `/whep/rover-<id>`, so “locking” a stream is as simple as refusing to mint viewer tokens for that rover. Ingest stays unauthenticated because it lives on a secure LAN.
 
 3. **Web clients**

plans/nicknames_and_chat_outline.md

@@ -0,0 +1,53 @@
+# nicknames:
+- users will be able to have and set nicknames
+- a user's nickname will store in the browser using persistence.js
+- the user's nickname should probably just be in socket.data.nickname
+- on connection, the web UI will tell the server "this is my nickname"
+  - completely enforced by the web UI
+- replace any place in the web UI that shows a socket ID with the nickname
+- create a small react component which can set your nickname and save it
+
+# user list in session data:
+- add a list of users to the session data for the web UI
+- contains for each user:
+  - socket ID
+  - nickname
+  - the rover that they are driving
+  - their role (user, admin, lockdown, spectator)
+
+# user list:
+- a list of users
+- new react component
+- uses user list with nicknames from session data
+- show their nickname and whether or not they are an admin
+
+# chat:
+- server side chat system:
+  - don't store message history
+  - emit an event to the event bus for each message
+    - eventually will be forwarded to discord through a bot
+  - listen to chat message events on the bus
+    - eventually the discord bot will also send messages to the server chat
+  - profanity filter
+  - spam filter
+    - repeated words
+    - keymashing
+    - etc
+  - somehow link chat messages to rovers
+    - in the future rovers will have TTS onboard, and will speak chat messages only from the person driving the rover
+- chat on the UI
+  - new react component
+  - show messages as they come in:
+    - time (just like 19:23), sender nickname, rover they are driving, message
+  - pressing enter on the keyboard will pause rover control, and focus the chat box.
+    - pressing enter again after typing will send the message
+
+
+# layout and styling for new UI elements:
+- use index.css styles to match the new stuff to the current UI
+- just edit the desktop page for now
+- layout:
+  - in the left column, a new row in between video and logs
+  - 50/50 split between:
+    - user list and nickname entry
+    - chat history and chat box

plans/pi_mic_to_rover_video_outline.md

@@ -0,0 +1,23 @@
+# general idea
+- the pi's microphone needs to be streamed to users
+  - as part of the rover's video feed
+- the pi model is a zero 2 W
+  - it CANNOT handle transcoding the audio onboard, I have tried.
+- the server is super powerful and can handle transcoding
+- it is NOT acceptable to add more than 100ms of video latency from glass to glass
+- it is NOT acceptable to break video streaming for pis that don't have microphones
+
+### OLD, BAD, but working audio configuration that worked for the microphone
+```
+-f alsa -guess_layout_max 0 -thread_queue_size 2048 -ac 1 -ar 48000 -i plughw:0,0 \
+-map 1:a:0 \
+-c:a libopus -b:a 24000 -compression_level 0 -application voip -frame_duration 60 \
+-ac:a 1 -ar:a 48000 -af "pan=1c|c0=c0,volume=20dB"
+```
+- the raspberry pi CANNOT HANDLE AUDIO ENCODING onboard. this is just to show you how to use the mic.
+
+
+sudo systemctl restart roverd
+#sudo systemctl restart audio-capture
+sudo systemctl restart video-publisher
+sudo cat /var/lib/roverd/video.env

plans/problems.md

@@ -0,0 +1,27 @@
+## raspberry pi
+- need to throttle sensor sending, maybe only send one in every 5 packets.
+
+## 3d models for camera:
+- https://www.thingiverse.com/thing:2873677
+- https://www.printables.com/model/356894-raspberry-camera-module-with-automatic-ir-cut-swit
+- https://www.thingiverse.com/thing:4514531
+
+## spectator page
+- completely remake it from scratch
+
+## todo
+<!-- 1. battery manager -->
+<!-- 2. pi-side sensor throttle (1/5th) -->
+<!-- 3. convert rover roster to a reusable component, unbake it from telemetry and admin panels -->
+<!-- 4. room cameras -->
+4. fix gamepad input - more complex axis assignment? division, combined axes?
+<!-- 5. home assistant controls -->
+<!-- 6. nicknames -->
+<!-- 7. discord bot -->
+<!-- 8. turns mode display -->
+<!-- 9. online user list -->
+<!-- 10. chat -->
+<!-- 9. discord invite button -->
+10. redo both mobile layouts
+11. redo spectator view (last)
+21. finally.. set the favicon and title

plans/react_ui_controls_system_outline.md

@@ -0,0 +1,69 @@
+# general idea
+- a modular control system
+  - every piece of the UI that uses rover controls will go through this, including onscreen click buttons
+  - allows for dynamic control labels based on saved settings
+  - allow a place to assign OI command macros
+    - like the one that the drive button uses now
+- allows realtime responsive control of the rover that you are driving
+
+## some sort of system for the site to save settings per browser
+- needs to be extensible
+  - future things will use it
+- expose functions like saveSettings and loadSettings
+- other parts of the UI will need to save and load settings using this function
+- use cookies
+
+## keyboard controls:
+- remappable by new component in settings tab
+  - key mappings will save
+- controls for the keyboard
+  - driving
+    - WASD blended for tank steering
+    - hold backslash to move faster
+    - hold right shift to move slower
+  - aux motors
+    - main brush
+      - hold O to move it forward at speed 127
+      - hold L to move it backward at speed -127
+    - side brush
+      - hold P to move it forward at speed 127
+      - hold ; to move it backward at speed -70
+    - vacuum motor
+      - hold [ to move it at speed 127
+      - hold ' to move it at speed 50
+    - ALL AUX MOTORS
+      - hold . to move at full speed forward (127)
+  - camera movement
+    - hold I to look up
+    - hold K to look down
+  - dock and drive hotkeys
+    - G for drive (use same 3 part macro as the drive button)
+    - H for dock (seek dock command)
+
+## Mobile controls
+- 2 different layouts, already implemented just needs improved.
+### mobile landscape
+- a video game style layout
+- on the left, buttons that you hold to operate the aux motors
+- in the middle, is the rover video component. 
+- on the right, an area for a floating joystick and above is a unified control to see and change the rover's mode (drive or dock)
+### mobile portrait
+- designed to be driven vertically with 2 hands
+- mostly fine already
+- rover video at the top
+- then below it, is a section with the aux motor buttons on the left, and the floating joystick are on the right.
+
+
+## Gamepad controls:
+- use some sort of react thing that makes it easy to use the web gamepad stuff
+- left joystick for movement, right joystick for moving camera up / down
+  - both fully analog
+- right trigger for the main brush motor
+  - fully analog
+  - press right bumper to switch it to reverse
+- left trigger for the side brush motor
+  - fully analog
+  - press left bumper to switch it to reverse
+- hold the right face button to run the vacuum motor
+- hold the lower face button to run all aux motors forward
+- left and right on the Dpad switch between drive and dock modes

plans/room_camera_conversion_outline.md

@@ -0,0 +1,10 @@
+# general idea
+- convert room cameras from webrtc h264 streams to 4fps jpegs sent over socket.io
+
+## requirements
+- make updated services for server and pi room cams
+- no backwards compatability is needed
+- room cameras are both 4:3, make sure they show as such in the UI
+- remove anything related to the webRTC room cams
+- send the jpegs efficiently (as binary)
+- make sure the room cams are still authed as they are now

plans/room_cameras_outline.md

@@ -0,0 +1,14 @@
+# general idea
+- add support for multiple room cameras through the server to the UI
+
+## what needs to happen on the server:
+- add support for a path of room cameras on mediamtx
+  - /room/<camera_name>
+  - CANNOT interfere with rover cameras (/<rover_name>)
+- needs to use the same auth system as the rover camera
+- room cameras will be streamed to the server over SRT
+
+## what needs to happen in the web UI
+- users should be able to see all room cameras, even if not assigned to a rover
+- automatically add a room camera player for each room camera
+- make a component that shows all room cameras

plans/spectate_mode_overhaul_outline.md

@@ -0,0 +1,44 @@
+# spectate system overhaul
+- rip out and remake the entire page
+  - basically keep nothing from it
+- right now the spectator page is a mess, and hasn't been updated in a while
+  - does not work properly, aside from the page being out of date
+- the spectate page should use modules from the driver page
+- there should be no such thing as a "spectate mode" on the driver page. If someone wants to spectate, they must go to the spectator page.
+
+## rules of the spectator page
+- spectators are not allowed to drive
+- spectators are not allowed to chat
+- spectators are not allowed to have nicknames
+- spectators are not allowed to login as admin
+- these are the permissions for spectators based on the sever's access control mode
+  - open
+    - spectators can spectate
+  - turns
+    - spectators can spectate
+  - admin
+    - spectators can spectate
+  - lockdown
+    - spectators can NOT spectate
+
+
+## what should be on the spectator page?
+- for each rover
+  - video component
+  - current driver
+  - sensor telemetry component
+- logs
+- room cameras
+- online user list
+
+## layout and styling of the spectator page
+- use same styling style as the driver page
+- feel free to add spectator role checks to hide the features that spectators can't use in certain components.
+- mainly designed for a 4:3 monitor
+  - make use of the vertical space
+- a row of columns, one for each rover at the top
+- below the row of columns:
+  - 50/50 split
+    - user list
+    - chat
+  - room cameras

plans/ui_unification_outline.md

@@ -0,0 +1,23 @@
+# general idea
+- a bunch of small UI adjustments
+- always keep styling consistent to the rest of the page
+
+## everywhere
+- add an audio stream status to the rover video panel, only show it if the rover has the separate audio stream
+- make the room camera panels save their stack setting per instance of the panel in the web UI's settings storage system
+- remove the status bar below room cameras
+  - put it in the corner of the feed, like the other video panels
+- make the styling of the room camera panels match everything else
+- when the user list switches to turns, always show the plain user list, but below the turns info
+
+## on the spectator page
+- rover video panels
+  - no more telemetry bar below each rover video
+    - ovelay the tiny telemetry summary on the left side of the video, with the rest of the HUD elements
+    - including the battery bar, make it vertical on the right side of the video
+  - no more title bar above each rover video
+  - the rover's name is already on the HUD
+  - add current driver to the HUD
+- sidebar
+  - shrink the logs panel
+  - add an actual rover list to the top of the sidebar

problems.md

@@ -1,17 +0,0 @@
-## video stream
-- video stream needs to always autoplay, even if it cant unmute itself
-  - currently, it wont play at all unless it can unmute
-- video stream currently unloads and reloads based on the tab being active
-  - just remove this feature. It needs to stay running all the time.
-
-## server sensor decoding
-- OI mode is not decoded properly
-  - says "safe" when in passive, and "unknown" when in full.
-
-## UI and session info
-- UI needs a display for the turns mode
-
-## Mobile UI
-- need to make it good
-- joystick needs to be floating
-- aux motor buttons need redone

roomcam-service/README.md

@@ -0,0 +1,28 @@
+# Room camera snapshot service
+
+Lightweight systemd service that serves a JPEG snapshot from any MJPEG-capable webcam (most USB webcams) at 4 fps. The server pulls `http://<host>:8080/snapshot.jpg` for room cams.
+
+## Files
+- `room-cam-snapshot.sh` – ffmpeg + simple HTTP server wrapper
+- `room-cam.service` – systemd unit template
+
+## Usage
+1) Copy the service into place (adjust path/env as needed):
+   ```bash
+   sudo cp roomcam-service/room-cam.service /etc/systemd/system/room-cam.service
+   sudo systemctl daemon-reload
+   sudo systemctl enable --now room-cam.service
+   ```
+2) Override defaults via `Environment=` in the unit or drop-ins:
+   - `DEVICE=/dev/video0`
+   - `RESOLUTION=640x480`
+   - `QUALITY=5` (ffmpeg MJPEG quality; lower is higher quality)
+   - `PORT=8080`
+   - `WORKDIR=/run/roomcam`
+   - `INPUT_FORMAT=mjpeg` (use `bayer_grbg8` for OV534/raw Bayer cams; aliases `GRBG`/`grbg` are accepted)
+3) Point the server `roomCameras[].url` to `http://<host>:8080/snapshot.jpg`.
+
+Notes:
+- The camera runs at its native MJPEG frame rate; the server polls snapshots at ~4 fps, so no extra filtering is applied here.
+
+To run outside systemd, just execute `./room-cam-snapshot.sh` with any overrides.

roomcam-service/room-cam-snapshot.sh

@@ -0,0 +1,42 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+# Configurable via environment
+DEVICE="${DEVICE:-/dev/video0}"
+RESOLUTION="${RESOLUTION:-640x480}"
+QUALITY="${QUALITY:-5}" # ffmpeg MJPEG quality (lower is better)
+PORT="${PORT:-8088}"
+WORKDIR="${WORKDIR:-/run/roomcam}"
+# Optional: set INPUT_FORMAT=bayer_grbg8 to transcode raw Bayer cams (e.g., OV534) to JPEG.
+INPUT_FORMAT="${INPUT_FORMAT:-mjpeg}"
+
+mkdir -p "${WORKDIR}"
+SNAPSHOT_PATH="${WORKDIR}/snapshot.jpg"
+rm -f "${SNAPSHOT_PATH}"
+
+cleanup() {
+  [[ -n "${FFMPEG_PID:-}" ]] && kill "${FFMPEG_PID}" 2>/dev/null || true
+  [[ -n "${HTTP_PID:-}" ]] && kill "${HTTP_PID}" 2>/dev/null || true
+}
+trap cleanup EXIT
+trap 'exit 0' SIGTERM INT
+
+FFMPEG_INPUT_ARGS=(-f v4l2 -input_format "${INPUT_FORMAT}" -video_size "${RESOLUTION}" -i "${DEVICE}")
+FFMPEG_FILTERS=()
+if [[ "${INPUT_FORMAT}" == bayer_* ]]; then
+  # Convert raw Bayer to a JPEG-friendly pixel format.
+  FFMPEG_FILTERS=(-pix_fmt yuv420p)
+fi
+
+/usr/bin/ffmpeg -y \
+  -loglevel warning -nostats \
+  "${FFMPEG_INPUT_ARGS[@]}" \
+  "${FFMPEG_FILTERS[@]}" \
+  -q:v "${QUALITY}" \
+  -f image2 -update 1 "${SNAPSHOT_PATH}" &
+FFMPEG_PID=$!
+
+/usr/bin/python3 -u -m http.server "${PORT}" --directory "${WORKDIR}" --bind 0.0.0.0 &
+HTTP_PID=$!
+
+wait -n "${FFMPEG_PID}" "${HTTP_PID}"

roomcam-service/room-cam.service

@@ -0,0 +1,22 @@
+[Unit]
+Description=Room camera snapshot server (MJPEG webcam)
+After=network-online.target
+Wants=network-online.target
+
+[Service]
+Type=simple
+Environment=DEVICE=/dev/video0
+Environment=RESOLUTION=640x480
+Environment=QUALITY=5
+Environment=PORT=8088
+Environment=WORKDIR=/run/roomcam
+Environment=INPUT_FORMAT=mjpeg
+WorkingDirectory=/home/daniel/gits/MultiRoombaRover/roomcam-service
+ExecStart=/usr/bin/env bash /home/daniel/gits/MultiRoombaRover/roomcam-service/room-cam-snapshot.sh
+Restart=always
+RestartSec=2
+User=root
+Group=root
+
+[Install]
+WantedBy=multi-user.target

server/config.example.yaml

@@ -8,6 +8,37 @@ admins:
     discord_id: "0987654321"
     lockdown: true
 media:
-  # Base address for mediaMTX (scheme + host + optional port). The UI will always request
+  # Base address for mediaMTX (scheme + host + optional port/path). The UI will always request
   #   http://<base>/<roverId>/whep
-  whepBaseUrl: "http://192.168.0.86:8889"
+  # Example: http://192.168.0.86:8889/video
+  whepBaseUrl: "http://192.168.0.86:8889/video"
+
+homeAssistant:
+  url: "http://homeassistant.local:8123"
+  token: "REPLACE_WITH_LONG_LIVED_TOKEN"
+  entities:
+    - id: "light.lab_main"
+      name: "Lab Lights"
+    - id: "switch.dock_power"
+      name: "Dock Power"
+      # type is optional; if omitted it is inferred from the entity id (light/switch)
+roomCameras:
+  - id: "lobby"
+    name: "Lobby Camera"
+    description: "Wide shot of the staging area."
+    url: "http://192.168.0.50/snapshot.jpg"
+  - id: "workshop"
+    name: "Workshop Bench"
+    description: "Shows the workbench and charging docks."
+    url: "http://192.168.0.51/snapshot.jpg"
+
+discord:
+  token: "DISCORD_BOT_TOKEN"
+  guildId: "123456789012345678" # optional; bot works in any guild it's invited to
+  channels:
+    announcements: "123456789012345678"
+    adminAlerts: "123456789012345678"
+    chatBridge: "123456789012345678"
+  roles:
+    announcementPing: "123456789012345678"
+    adminPing: "123456789012345678"

server/index.js

@@ -8,15 +8,22 @@ require('./src/helpers/sensorDecoder');
 
 require('./src/services/alertService');
 require('./src/services/authService');
+require('./src/services/eventBus');
 require('./src/services/modeManager');
 require('./src/services/lockdownGuard');
 require('./src/services/roverManager');
 require('./src/services/commandService');
 require('./src/services/roverConnectionService');
 require('./src/services/assignmentService');
+require('./src/services/nicknameService');
+require('./src/services/chatService');
 require('./src/services/videoSessions');
 require('./src/services/videoAuthService');
 require('./src/services/videoSocketService');
+require('./src/services/roomCameraSocketService');
 require('./src/services/logStreamService');
+require('./src/services/homeAssistantService');
 require('./src/services/sessionService');
+require('./src/services/batteryManager');
+require('./src/services/discordBotService');
 require('./src/services/httpServer');

server/mediamtx/mediamtx.yml

@@ -15,8 +15,17 @@ hls: no
 webrtc: yes
 webrtcLocalUDPAddress: :8189
 webrtcLocalTCPAddress: :8189
-webrtcAdditionalHosts: []
-webrtcICEServers2: []
+webrtcAdditionalHosts: ['rover.otter.land', '192.168.0.100']
+webrtcICEServers2:
+  # Google public STUN (world-wide, very commonly used)
+  - url: stun:stun.l.google.com:19302
+  - url: stun:stun1.l.google.com:19302
+  - url: stun:stun2.l.google.com:19302
+  - url: stun:stun3.l.google.com:19302
+  - url: stun:stun4.l.google.com:19302
+
+  # Cloudflare STUN (anycast, global PoPs)
+  - url: stun:stun.cloudflare.com:3478
 
 srt: yes
 srtAddress: :9000
@@ -33,5 +42,3 @@ paths:
   all:
     source: publisher
     sourceOnDemand: no
-    # webrtcMaxPlayoutDelay: 0
-    # alwaysRemuxWhep: no

server/package-lock.json

@@ -9,7 +9,9 @@
       "version": "0.1.0",
       "dependencies": {
         "bcrypt": "^6.0.0",
+        "discord.js": "^14.25.1",
         "express": "^4.19.2",
+        "home-assistant-js-websocket": "^3.1.2",
         "js-yaml": "^4.1.1",
         "morgan": "^1.10.0",
         "socket.io": "^4.7.5",
@@ -20,6 +22,169 @@
         "nodemon": "^3.1.0"
       }
     },
+    "node_modules/@discordjs/builders": {
+      "version": "1.13.0",
+      "resolved": "https://registry.npmjs.org/@discordjs/builders/-/builders-1.13.0.tgz",
+      "integrity": "sha512-COK0uU6ZaJI+LA67H/rp8IbEkYwlZf3mAoBI5wtPh5G5cbEQGNhVpzINg2f/6+q/YipnNIKy6fJDg6kMUKUw4Q==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@discordjs/formatters": "^0.6.1",
+        "@discordjs/util": "^1.1.1",
+        "@sapphire/shapeshift": "^4.0.0",
+        "discord-api-types": "^0.38.31",
+        "fast-deep-equal": "^3.1.3",
+        "ts-mixer": "^6.0.4",
+        "tslib": "^2.6.3"
+      },
+      "engines": {
+        "node": ">=16.11.0"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/collection": {
+      "version": "1.5.3",
+      "resolved": "https://registry.npmjs.org/@discordjs/collection/-/collection-1.5.3.tgz",
+      "integrity": "sha512-SVb428OMd3WO1paV3rm6tSjM4wC+Kecaa1EUGX7vc6/fddvw/6lg90z4QtCqm21zvVe92vMMDt9+DkIvjXImQQ==",
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=16.11.0"
+      }
+    },
+    "node_modules/@discordjs/formatters": {
+      "version": "0.6.2",
+      "resolved": "https://registry.npmjs.org/@discordjs/formatters/-/formatters-0.6.2.tgz",
+      "integrity": "sha512-y4UPwWhH6vChKRkGdMB4odasUbHOUwy7KL+OVwF86PvT6QVOwElx+TiI1/6kcmcEe+g5YRXJFiXSXUdabqZOvQ==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "discord-api-types": "^0.38.33"
+      },
+      "engines": {
+        "node": ">=16.11.0"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/rest": {
+      "version": "2.6.0",
+      "resolved": "https://registry.npmjs.org/@discordjs/rest/-/rest-2.6.0.tgz",
+      "integrity": "sha512-RDYrhmpB7mTvmCKcpj+pc5k7POKszS4E2O9TYc+U+Y4iaCP+r910QdO43qmpOja8LRr1RJ0b3U+CqVsnPqzf4w==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@discordjs/collection": "^2.1.1",
+        "@discordjs/util": "^1.1.1",
+        "@sapphire/async-queue": "^1.5.3",
+        "@sapphire/snowflake": "^3.5.3",
+        "@vladfrangu/async_event_emitter": "^2.4.6",
+        "discord-api-types": "^0.38.16",
+        "magic-bytes.js": "^1.10.0",
+        "tslib": "^2.6.3",
+        "undici": "6.21.3"
+      },
+      "engines": {
+        "node": ">=18"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/rest/node_modules/@discordjs/collection": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/@discordjs/collection/-/collection-2.1.1.tgz",
+      "integrity": "sha512-LiSusze9Tc7qF03sLCujF5iZp7K+vRNEDBZ86FT9aQAv3vxMLihUvKvpsCWiQ2DJq1tVckopKm1rxomgNUc9hg==",
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=18"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/util": {
+      "version": "1.2.0",
+      "resolved": "https://registry.npmjs.org/@discordjs/util/-/util-1.2.0.tgz",
+      "integrity": "sha512-3LKP7F2+atl9vJFhaBjn4nOaSWahZ/yWjOvA4e5pnXkt2qyXRCHLxoBQy81GFtLGCq7K9lPm9R517M1U+/90Qg==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "discord-api-types": "^0.38.33"
+      },
+      "engines": {
+        "node": ">=18"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/ws": {
+      "version": "1.2.3",
+      "resolved": "https://registry.npmjs.org/@discordjs/ws/-/ws-1.2.3.tgz",
+      "integrity": "sha512-wPlQDxEmlDg5IxhJPuxXr3Vy9AjYq5xCvFWGJyD7w7Np8ZGu+Mc+97LCoEc/+AYCo2IDpKioiH0/c/mj5ZR9Uw==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@discordjs/collection": "^2.1.0",
+        "@discordjs/rest": "^2.5.1",
+        "@discordjs/util": "^1.1.0",
+        "@sapphire/async-queue": "^1.5.2",
+        "@types/ws": "^8.5.10",
+        "@vladfrangu/async_event_emitter": "^2.2.4",
+        "discord-api-types": "^0.38.1",
+        "tslib": "^2.6.2",
+        "ws": "^8.17.0"
+      },
+      "engines": {
+        "node": ">=16.11.0"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@discordjs/ws/node_modules/@discordjs/collection": {
+      "version": "2.1.1",
+      "resolved": "https://registry.npmjs.org/@discordjs/collection/-/collection-2.1.1.tgz",
+      "integrity": "sha512-LiSusze9Tc7qF03sLCujF5iZp7K+vRNEDBZ86FT9aQAv3vxMLihUvKvpsCWiQ2DJq1tVckopKm1rxomgNUc9hg==",
+      "license": "Apache-2.0",
+      "engines": {
+        "node": ">=18"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
+    "node_modules/@sapphire/async-queue": {
+      "version": "1.5.5",
+      "resolved": "https://registry.npmjs.org/@sapphire/async-queue/-/async-queue-1.5.5.tgz",
+      "integrity": "sha512-cvGzxbba6sav2zZkH8GPf2oGk9yYoD5qrNWdu9fRehifgnFZJMV+nuy2nON2roRO4yQQ+v7MK/Pktl/HgfsUXg==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=v14.0.0",
+        "npm": ">=7.0.0"
+      }
+    },
+    "node_modules/@sapphire/shapeshift": {
+      "version": "4.0.0",
+      "resolved": "https://registry.npmjs.org/@sapphire/shapeshift/-/shapeshift-4.0.0.tgz",
+      "integrity": "sha512-d9dUmWVA7MMiKobL3VpLF8P2aeanRTu6ypG2OIaEv/ZHH/SUQ2iHOVyi5wAPjQ+HmnMuL0whK9ez8I/raWbtIg==",
+      "license": "MIT",
+      "dependencies": {
+        "fast-deep-equal": "^3.1.3",
+        "lodash": "^4.17.21"
+      },
+      "engines": {
+        "node": ">=v16"
+      }
+    },
+    "node_modules/@sapphire/snowflake": {
+      "version": "3.5.3",
+      "resolved": "https://registry.npmjs.org/@sapphire/snowflake/-/snowflake-3.5.3.tgz",
+      "integrity": "sha512-jjmJywLAFoWeBi1W7994zZyiNWPIiqRRNAmSERxyg93xRGzNYvGjlZ0gR6x0F4gPRi2+0O6S71kOZYyr3cxaIQ==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=v14.0.0",
+        "npm": ">=7.0.0"
+      }
+    },
     "node_modules/@socket.io/component-emitter": {
       "version": "3.1.2",
       "resolved": "https://registry.npmjs.org/@socket.io/component-emitter/-/component-emitter-3.1.2.tgz",
@@ -44,6 +209,25 @@
         "undici-types": "~7.16.0"
       }
     },
+    "node_modules/@types/ws": {
+      "version": "8.18.1",
+      "resolved": "https://registry.npmjs.org/@types/ws/-/ws-8.18.1.tgz",
+      "integrity": "sha512-ThVF6DCVhA8kUGy+aazFQ4kXQ7E1Ty7A3ypFOe0IcJV8O/M511G99AW24irKrW56Wt44yG9+ij8FaqoBGkuBXg==",
+      "license": "MIT",
+      "dependencies": {
+        "@types/node": "*"
+      }
+    },
+    "node_modules/@vladfrangu/async_event_emitter": {
+      "version": "2.4.7",
+      "resolved": "https://registry.npmjs.org/@vladfrangu/async_event_emitter/-/async_event_emitter-2.4.7.tgz",
+      "integrity": "sha512-Xfe6rpCTxSxfbswi/W/Pz7zp1WWSNn4A0eW4mLkQUewCrXXtMj31lCg+iQyTkh/CkusZSq9eDflu7tjEDXUY6g==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=v14.0.0",
+        "npm": ">=7.0.0"
+      }
+    },
     "node_modules/accepts": {
       "version": "1.3.8",
       "resolved": "https://registry.npmjs.org/accepts/-/accepts-1.3.8.tgz",
@@ -339,6 +523,42 @@
         "npm": "1.2.8000 || >= 1.4.16"
       }
     },
+    "node_modules/discord-api-types": {
+      "version": "0.38.34",
+      "resolved": "https://registry.npmjs.org/discord-api-types/-/discord-api-types-0.38.34.tgz",
+      "integrity": "sha512-muq7xKGznj5MSFCzuIm/2TO7DpttuomUTemVM82fRqgnMl70YRzEyY24jlbiV6R9tzOTq6A6UnZ0bsfZeKD38Q==",
+      "license": "MIT",
+      "workspaces": [
+        "scripts/actions/documentation"
+      ]
+    },
+    "node_modules/discord.js": {
+      "version": "14.25.1",
+      "resolved": "https://registry.npmjs.org/discord.js/-/discord.js-14.25.1.tgz",
+      "integrity": "sha512-2l0gsPOLPs5t6GFZfQZKnL1OJNYFcuC/ETWsW4VtKVD/tg4ICa9x+jb9bkPffkMdRpRpuUaO/fKkHCBeiCKh8g==",
+      "license": "Apache-2.0",
+      "dependencies": {
+        "@discordjs/builders": "^1.13.0",
+        "@discordjs/collection": "1.5.3",
+        "@discordjs/formatters": "^0.6.2",
+        "@discordjs/rest": "^2.6.0",
+        "@discordjs/util": "^1.2.0",
+        "@discordjs/ws": "^1.2.3",
+        "@sapphire/snowflake": "3.5.3",
+        "discord-api-types": "^0.38.33",
+        "fast-deep-equal": "3.1.3",
+        "lodash.snakecase": "4.1.1",
+        "magic-bytes.js": "^1.10.0",
+        "tslib": "^2.6.3",
+        "undici": "6.21.3"
+      },
+      "engines": {
+        "node": ">=18"
+      },
+      "funding": {
+        "url": "https://github.com/discordjs/discord.js?sponsor"
+      }
+    },
     "node_modules/dunder-proto": {
       "version": "1.0.1",
       "resolved": "https://registry.npmjs.org/dunder-proto/-/dunder-proto-1.0.1.tgz",
@@ -541,6 +761,12 @@
         "url": "https://opencollective.com/express"
       }
     },
+    "node_modules/fast-deep-equal": {
+      "version": "3.1.3",
+      "resolved": "https://registry.npmjs.org/fast-deep-equal/-/fast-deep-equal-3.1.3.tgz",
+      "integrity": "sha512-f3qQ9oQy9j2AhBe/H9VC91wLmKBCCU/gDOnKNAYG5hswO7BLKj09Hc5HYNz9cGI++xlpDCIgDaitVs03ATR84Q==",
+      "license": "MIT"
+    },
     "node_modules/fill-range": {
       "version": "7.1.1",
       "resolved": "https://registry.npmjs.org/fill-range/-/fill-range-7.1.1.tgz",
@@ -695,6 +921,12 @@
         "node": ">= 0.4"
       }
     },
+    "node_modules/home-assistant-js-websocket": {
+      "version": "3.1.2",
+      "resolved": "https://registry.npmjs.org/home-assistant-js-websocket/-/home-assistant-js-websocket-3.1.2.tgz",
+      "integrity": "sha512-HzaJtuhufBkppfXerla5cJHSP8uXzLoSRV+XPCcYlOttiKzqLQHD3sPm2T9UHTHPPppy3jRZtaA86ISfH3GK/g==",
+      "license": "Apache-2.0"
+    },
     "node_modules/http-errors": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/http-errors/-/http-errors-2.0.0.tgz",
@@ -803,6 +1035,24 @@
         "js-yaml": "bin/js-yaml.js"
       }
     },
+    "node_modules/lodash": {
+      "version": "4.17.21",
+      "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.21.tgz",
+      "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg==",
+      "license": "MIT"
+    },
+    "node_modules/lodash.snakecase": {
+      "version": "4.1.1",
+      "resolved": "https://registry.npmjs.org/lodash.snakecase/-/lodash.snakecase-4.1.1.tgz",
+      "integrity": "sha512-QZ1d4xoBHYUeuouhEq3lk3Uq7ldgyFXGBhg04+oRLnIz8o9T65Eh+8YdroUwn846zchkA9yDsDl5CVVaV2nqYw==",
+      "license": "MIT"
+    },
+    "node_modules/magic-bytes.js": {
+      "version": "1.12.1",
+      "resolved": "https://registry.npmjs.org/magic-bytes.js/-/magic-bytes.js-1.12.1.tgz",
+      "integrity": "sha512-ThQLOhN86ZkJ7qemtVRGYM+gRgR8GEXNli9H/PMvpnZsE44Xfh3wx9kGJaldg314v85m+bFW6WBMaVHJc/c3zA==",
+      "license": "MIT"
+    },
     "node_modules/math-intrinsics": {
       "version": "1.1.0",
       "resolved": "https://registry.npmjs.org/math-intrinsics/-/math-intrinsics-1.1.0.tgz",
@@ -1523,6 +1773,18 @@
         "nodetouch": "bin/nodetouch.js"
       }
     },
+    "node_modules/ts-mixer": {
+      "version": "6.0.4",
+      "resolved": "https://registry.npmjs.org/ts-mixer/-/ts-mixer-6.0.4.tgz",
+      "integrity": "sha512-ufKpbmrugz5Aou4wcr5Wc1UUFWOLhq+Fm6qa6P0w0K5Qw2yhaUoiWszhCVuNQyNwrlGiscHOmqYoAox1PtvgjA==",
+      "license": "MIT"
+    },
+    "node_modules/tslib": {
+      "version": "2.8.1",
+      "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
+      "integrity": "sha512-oJFu94HQb+KVduSUQL7wnpmqnfmLsOA/nAh6b6EH0wCEoK0/mPeXU6c3wKDV83MkOuHPRHtSXKKU99IBazS/2w==",
+      "license": "0BSD"
+    },
     "node_modules/type-is": {
       "version": "1.6.18",
       "resolved": "https://registry.npmjs.org/type-is/-/type-is-1.6.18.tgz",
@@ -1543,6 +1805,15 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/undici": {
+      "version": "6.21.3",
+      "resolved": "https://registry.npmjs.org/undici/-/undici-6.21.3.tgz",
+      "integrity": "sha512-gBLkYIlEnSp8pFbT64yFgGE6UIB9tAkhukC23PmMDCe5Nd+cRqKxSjw5y54MK2AZMgZfJWMaNE4nYUHgi1XEOw==",
+      "license": "MIT",
+      "engines": {
+        "node": ">=18.17"
+      }
+    },
     "node_modules/undici-types": {
       "version": "7.16.0",
       "resolved": "https://registry.npmjs.org/undici-types/-/undici-types-7.16.0.tgz",

server/package.json

@@ -9,7 +9,9 @@
   },
   "dependencies": {
     "bcrypt": "^6.0.0",
+    "discord.js": "^14.25.1",
     "express": "^4.19.2",
+    "home-assistant-js-websocket": "^3.1.2",
     "js-yaml": "^4.1.1",
     "morgan": "^1.10.0",
     "socket.io": "^4.7.5",

server/public/index.html

@@ -2,11 +2,17 @@
 <html lang="en">
   <head>
     <meta charset="UTF-8" />
-    <link rel="icon" type="image/svg+xml" href="/vite.svg" />
+    <link rel="icon" type="image/png" href="/bitmap.png" />
+    <link rel="apple-touch-icon" href="/bitmap.png" />
+    <link rel="manifest" href="/manifest.json" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>webui</title>
-    <script type="module" crossorigin src="/assets/index-BvgUoEqO.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-DwQ38q3M.css">
+    <meta name="theme-color" content="#020617" />
+    <meta name="apple-mobile-web-app-capable" content="yes" />
+    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
+    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
+    <title>Multi Roomba Rover</title>
+    <script type="module" crossorigin src="/assets/index-CnvHZcbU.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-B1UrCI1T.css">
   </head>
   <body>
     <div id="root"></div>

server/public/manifest.json

@@ -0,0 +1,18 @@
+{
+  "name": "Multi Roomba Rover",
+  "short_name": "MRR",
+  "description": "Remote driving interface for the MultiRoomba Rover fleet.",
+  "start_url": "/",
+  "scope": "/",
+  "display": "standalone",
+  "background_color": "#000000",
+  "theme_color": "#020617",
+  "icons": [
+    {
+      "src": "/bitmap.png",
+      "sizes": "512x512",
+      "type": "image/png",
+      "purpose": "any"
+    }
+  ]
+}

server/src/globals/io.js

@@ -5,4 +5,8 @@ const io = new SocketIOServer(httpServer, {
   cors: { origin: '*' },
 });
 
+// Allow more service listeners without warnings.
+io.sockets.setMaxListeners(30);
+io.of('/').setMaxListeners(30);
+
 module.exports = io;

server/src/helpers/sensorDecoder.js

@@ -9,10 +9,10 @@ const CHARGING_STATE = {
 };
 
 const OI_MODES = {
-  0: 'off',
-  1: 'passive',
-  2: 'safe',
-  3: 'full',
+  1: 'off',
+  2: 'passive',
+  3: 'safe',
+  4: 'full',
 };
 
 const GROUP100_LAYOUT = [

server/src/services/assignmentService.js

@@ -129,6 +129,21 @@ function releaseAssignment(socket, roverId) {
   assignmentEvents.emit('update', socket.id);
 }
 
+function forceRelease(roverId, socketId) {
+  const socket = socketRefs.get(socketId) || io.sockets.sockets.get(socketId);
+  if (assignments.get(socketId) === roverId) {
+    assignments.delete(socketId);
+  }
+  waiting.delete(socketId);
+  if (socket) {
+    roverManager.releaseControl(roverId, socket);
+    logger.info('Force released socket from rover', socketId, roverId);
+  } else {
+    logger.warn('Force release: socket not found', socketId, roverId);
+  }
+  assignmentEvents.emit('update', socketId);
+}
+
 function pickRover() {
   const mode = getMode();
   if (mode === MODES.ADMIN || mode === MODES.LOCKDOWN) {
@@ -161,4 +176,5 @@ function describeAssignment(socketId) {
 module.exports = {
   assignmentEvents,
   describeAssignment,
+  forceRelease,
 };

server/src/services/batteryManager.js

@@ -0,0 +1,175 @@
+const logger = require('../globals/logger').child('batteryManager');
+const { publishEvent } = require('./eventBus');
+const { managerEvents, lockRover, rovers } = require('./roverManager');
+
+const STATES = {
+  NORMAL: 'normal',
+  WARN: 'warn',
+  URGENT: 'urgent',
+  DOCKED: 'docked',
+  CHARGING: 'charging',
+  FULL: 'full',
+  LOCKED: 'locked',
+};
+
+const WAITING_UNLOCK_MS = 5 * 60 * 1000;
+
+const roverState = new Map(); // roverId -> state snapshot
+
+function getState(roverId) {
+  if (!roverState.has(roverId)) {
+    roverState.set(roverId, {
+      lastPercent: null,
+      warned: false,
+      urgent: false,
+      onDock: false,
+      dockedCharging: false,
+      charging: false,
+      batteryLocked: false,
+      waitingSince: null,
+    });
+  }
+  return roverState.get(roverId);
+}
+
+function shouldLock(record) {
+  return record.lockReason == null || record.lockReason === 'battery';
+}
+
+function handleSensorEvent({ roverId, sensors, batteryState }) {
+  if (!roverId) return;
+  const record = rovers.get(roverId);
+  if (!record) return;
+  const state = getState(roverId);
+  const config = record.meta?.battery || {};
+  const lockable = shouldLock(record);
+
+  if (batteryState?.percent != null) {
+    state.lastPercent = batteryState.percent;
+  }
+
+  if (!state.warned && batteryState?.warnActive) {
+    state.warned = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.warn',
+      payload: { roverId, batteryState },
+    });
+  }
+  if (!state.urgent && batteryState?.urgentActive) {
+    state.urgent = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.urgent',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const chargingState = sensors?.chargingState?.code;
+  const chargingSources = sensors?.chargingSources;
+  const onDock = Boolean(chargingSources?.homeBase);
+  if (onDock && !state.onDock) {
+    state.onDock = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.docked',
+      payload: { roverId, batteryState },
+    });
+  } else if (!onDock && state.onDock) {
+    state.onDock = false;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.undocked',
+      payload: { roverId, batteryState },
+    });
+  }
+  const chargingLabel = sensors?.chargingState?.label?.toLowerCase();
+  const chargingByLabel =
+    chargingLabel === 'waiting' || chargingLabel === 'full charging' || chargingLabel === 'trickle charging';
+  const chargingByCode = chargingState === 2 || chargingState === 3 || chargingState === 4;
+  const isCharging = chargingByLabel || chargingByCode;
+  if (isCharging && !state.charging) {
+    state.charging = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.charging.start',
+      payload: { roverId, batteryState },
+    });
+  } else if (!isCharging && state.charging) {
+    state.charging = false;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.charging.stop',
+      payload: { roverId, batteryState },
+    });
+  }
+  const dockedCharging = onDock && isCharging;
+  if (dockedCharging && !state.dockedCharging) {
+    state.dockedCharging = true;
+  } else if (!dockedCharging && state.dockedCharging) {
+    state.dockedCharging = false;
+  }
+
+  const waitingState = chargingState === 4;
+  if (waitingState && state.waitingSince == null) {
+    state.waitingSince = Date.now();
+  } else if (!waitingState && state.waitingSince != null) {
+    state.waitingSince = null;
+  }
+  const waitingLongEnough =
+    waitingState && state.waitingSince != null && Date.now() - state.waitingSince >= WAITING_UNLOCK_MS;
+
+  const warnThreshold =
+    typeof config?.Warn === 'number' ? config.Warn : batteryState?.warn ?? null;
+  const fullThreshold =
+    typeof config?.Full === 'number' ? config.Full : batteryState?.full ?? null;
+  const chargeMah = batteryState?.charge ?? null;
+  let waitingPercent = batteryState?.percent ?? null;
+  if (chargeMah != null && warnThreshold != null && fullThreshold != null && fullThreshold > warnThreshold) {
+    waitingPercent = (chargeMah - warnThreshold) / (fullThreshold - warnThreshold);
+    waitingPercent = Math.max(0, Math.min(1, waitingPercent));
+  }
+
+  const isFull =
+    (batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
+    (batteryState?.percent != null && batteryState.percent >= 0.99);
+
+  const needsCharge = state.warned;
+
+  if (dockedCharging && lockable && needsCharge && !state.batteryLocked && !isFull && !waitingLongEnough) {
+    logger.info('Auto-locking rover for charging', { roverId });
+    lockRover(roverId, true, { reason: 'battery' });
+    state.batteryLocked = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.locked',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const waitingHalfOrMore = waitingPercent != null && waitingPercent >= 0.5;
+  const shouldUnlock = state.batteryLocked && waitingLongEnough && waitingHalfOrMore;
+
+  if (shouldUnlock) {
+    logger.info('Unlocking rover after charge', {
+      roverId,
+      isFull,
+      docked: dockedCharging,
+      waitingState,
+      waitingPercent,
+      waitedMs: state.waitingSince ? Date.now() - state.waitingSince : null,
+    });
+    lockRover(roverId, false, { reason: 'battery' });
+    state.batteryLocked = false;
+    state.warned = false;
+    state.urgent = false;
+    state.waitingSince = null;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.unlocked',
+      payload: { roverId, batteryState },
+    });
+  }
+}
+
+managerEvents.on('sensor', handleSensorEvent);

server/src/services/chatService.js

@@ -0,0 +1,196 @@
+const { v4: uuidv4 } = require('uuid');
+const io = require('../globals/io');
+const logger = require('../globals/logger').child('chatService');
+const { publishEvent, subscribe } = require('./eventBus');
+const { getRole } = require('./roleService');
+const { describeAssignment } = require('./assignmentService');
+const roverManager = require('./roverManager');
+const { getNickname } = require('./nicknameService');
+const { issueCommand } = require('./commandService');
+
+const RATE_LIMIT_WINDOW_MS = 8000;
+const RATE_LIMIT_MAX = 5;
+const rateBuckets = new Map(); // socketId -> [timestamps]
+
+const PROFANITY_LIST = ['bitch', 'cunt', 'nigger', 'nigga', 'asshole', 'dick'];
+const DUPLICATE_WINDOW_MS = 15000;
+const lastMessageBySocket = new Map(); // socketId -> { text, ts }
+
+function withinRateLimit(socketId) {
+  const now = Date.now();
+  const entries = rateBuckets.get(socketId) || [];
+  const next = entries.filter((ts) => now - ts <= RATE_LIMIT_WINDOW_MS);
+  next.push(now);
+  rateBuckets.set(socketId, next);
+  return next.length <= RATE_LIMIT_MAX;
+}
+
+function hasProfanity(text) {
+  const lower = text.toLowerCase();
+  return PROFANITY_LIST.some((word) => lower.includes(word));
+}
+
+function isDuplicate(socketId, text) {
+  const prev = lastMessageBySocket.get(socketId);
+  const now = Date.now();
+  if (!prev) {
+    lastMessageBySocket.set(socketId, { text, ts: now });
+    return false;
+  }
+  lastMessageBySocket.set(socketId, { text, ts: now });
+  return prev.text === text && now - prev.ts <= DUPLICATE_WINDOW_MS;
+}
+
+function isKeymash(text) {
+  if (!text) return false;
+  if (/(.)\1{6,}/.test(text)) return true; // same char 7+
+  if (/^[asdfghjkl;'\-=\[\]\\]{6,}$/i.test(text)) return true;
+  if (/^[qwertyuiop]{6,}$/i.test(text)) return true;
+  return false;
+}
+
+function resolveRoverId(socketId) {
+  const primary = roverManager.getPrimaryRoverForSocket(socketId);
+  if (primary) return primary;
+  const assignment = describeAssignment(socketId);
+  return assignment?.roverId || null;
+}
+
+function normalizeUserText(raw) {
+  if (typeof raw !== 'string') return '';
+  return raw.replace(/\\n/g, '\n');
+}
+
+function buildMessage(socket, text, meta = {}) {
+  const roverId = meta.roverId || resolveRoverId(socket?.id);
+  return {
+    id: uuidv4(),
+    ts: Date.now(),
+    socketId: socket?.id || null,
+    nickname: meta.nickname || getNickname(socket) || null,
+    role: meta.role || getRole(socket),
+    roverId,
+    fromDiscord: Boolean(meta.fromDiscord),
+    text,
+    tts: meta.tts || null,
+  };
+}
+
+function broadcastMessage(message) {
+  publishEvent({ source: 'chat', type: 'chat:message', payload: message });
+}
+
+function normalizeTtsOptions(raw = {}) {
+  if (!raw || typeof raw !== 'object') return null;
+  const speak = raw.speak !== false;
+  if (!speak) return null;
+  const engine = typeof raw.engine === 'string' && raw.engine.toLowerCase() === 'espeak' ? 'espeak' : 'flite';
+  const voice = typeof raw.voice === 'string' ? raw.voice.trim() : undefined;
+  let pitch = Number.isFinite(raw.pitch) ? Math.round(raw.pitch) : undefined;
+  if (typeof pitch === 'number') {
+    pitch = Math.max(0, Math.min(99, pitch));
+  }
+  return { speak, engine, voice, pitch };
+}
+
+function handleIncoming({ text, tts } = {}, socket, cb = () => {}) {
+  const role = getRole(socket);
+  // if (role === 'spectator') {
+  //   cb({ error: 'Spectators cannot chat' });
+  //   return;
+  // }
+  const normalized = normalizeUserText(text);
+  const clean = normalized.trim();
+  if (!clean) {
+    cb({ error: 'Message required' });
+    return;
+  }
+  if (!withinRateLimit(socket.id)) {
+    cb({ error: 'Slow down' });
+    return;
+  }
+  if (clean.length > 256) {
+    cb({ error: 'Message too long' });
+    return;
+  }
+  if (hasProfanity(clean)) {
+    cb({ error: 'Message blocked' });
+    return;
+  }
+  // if (isDuplicate(socket.id, clean)) {
+  //   cb({ error: 'Duplicate message' });
+  //   return;
+  // }
+  if (isKeymash(clean)) {
+    cb({ error: 'Message looks like spam' });
+    return;
+  }
+  const roverId = resolveRoverId(socket?.id);
+  const ttsOptions = normalizeTtsOptions(tts);
+  const message = buildMessage(socket, clean, { fromDiscord: false, roverId, tts: ttsOptions });
+  logger.info('Chat message', { socket: socket.id, roverId: message.roverId });
+  broadcastMessage(message);
+  maybeSpeak(socket, message, ttsOptions);
+  cb({ success: true });
+}
+
+function maybeSpeak(socket, message, ttsOptions) {
+  if (!ttsOptions || !message?.roverId) return;
+  const record = roverManager.rovers.get(message.roverId);
+  const audio = record?.meta?.audio || {};
+  const ttsEnabled = Boolean(audio.ttsEnabled);
+  if (!ttsEnabled) return;
+  if (!roverManager.canDrive(message.roverId, socket)) return;
+  try {
+    issueCommand(message.roverId, {
+      type: 'tts',
+      tts: {
+        text: message.text,
+        engine: ttsOptions.engine,
+        voice: ttsOptions.voice,
+        pitch: ttsOptions.pitch,
+        speak: true,
+      },
+    });
+    logger.info('TTS sent', { roverId: message.roverId, engine: ttsOptions.engine, socket: socket.id });
+  } catch (err) {
+    logger.warn('TTS send failed', { roverId: message.roverId, error: err.message });
+  }
+}
+
+function sendExternalMessage({ text, nickname = 'Discord', role = 'admin', roverId = null }) {
+  const normalized = normalizeUserText(text);
+  const clean = normalized.trim();
+  if (!clean || clean.length > 256) {
+    throw new Error('Message invalid');
+  }
+  if (hasProfanity(clean)) {
+    throw new Error('Message blocked');
+  }
+  if (isKeymash(clean)) {
+    throw new Error('Message looks like spam');
+  }
+  const message = buildMessage(null, clean, {
+    nickname,
+    role,
+    roverId,
+    fromDiscord: true,
+  });
+  logger.info('External chat message', { roverId, nickname });
+  broadcastMessage(message);
+  return message;
+}
+
+io.on('connection', (socket) => {
+  socket.on('chat:send', (payload = {}, cb = () => {}) => handleIncoming(payload, socket, cb));
+});
+
+subscribe('chat:message', ({ payload }) => {
+  if (!payload) return;
+  io.emit('chat:message', payload);
+});
+
+module.exports = {
+  handleIncoming,
+  sendExternalMessage,
+};

server/src/services/commandService.js

@@ -49,6 +49,12 @@ io.on('connection', (socket) => {
       const payload = data ? { ...data } : {};
       const id = issueCommand(roverId, { type, ...payload });
       logger.info('Queued command', socket.id, roverId, type);
+      try {
+        const { recordActivity } = require('./turnService');
+        recordActivity(roverId, socket.id);
+      } catch (err) {
+        // best effort; ignore activity update errors
+      }
       reply({ id });
     } catch (err) {
       logger.warn('Command rejected', socket.id, err.message);

server/src/services/discordBotService.js

@@ -0,0 +1,436 @@
+const {
+  Client,
+  GatewayIntentBits,
+  Partials,
+  ActivityType,
+  EmbedBuilder,
+} = require('discord.js');
+const logger = require('../globals/logger').child('discordBot');
+const { loadConfig } = require('../helpers/configLoader');
+const { subscribe } = require('./eventBus');
+const { getRoster, lockRover } = require('./roverManager');
+const { MODES, getMode, setMode } = require('./modeManager');
+const { sendExternalMessage } = require('./chatService');
+
+const config = loadConfig();
+const discordConfig = config.discord || {};
+const enabled = Boolean(discordConfig.token);
+const adminIds = new Set(
+  (config.admins || []).map((a) => String(a.discord_id || '').trim()).filter(Boolean),
+);
+
+if (!enabled) {
+  logger.info('Discord bot disabled; missing token in config.discord.token');
+  return;
+}
+
+const intents = [
+  GatewayIntentBits.Guilds,
+  GatewayIntentBits.GuildMessages,
+  GatewayIntentBits.MessageContent,
+];
+
+const client = new Client({
+  intents,
+  partials: [Partials.Channel],
+});
+
+const channelCache = new Map();
+let skippedFirstModeAnnouncement = false;
+
+function sanitizeMentions(text) {
+  if (!text) return '';
+  return String(text)
+    // strip mention tokens
+    .replace(/<(@[!&]?\d+|#\d+)>/g, '[ping removed]')
+    // neutralize everyone/here
+    .replace(/@everyone/gi, '[everyone]')
+    .replace(/@here/gi, '[here]');
+}
+
+function formatRoverStatus(rover) {
+  if (!rover) return 'Unknown rover';
+  const percent = rover.batteryState?.percentDisplay;
+  const battery = percent != null ? `${percent}%` : 'n/a';
+  const lockLabel = rover.locked ? '🔒 locked' : '🔓 unlocked';
+  return `**${rover.name || rover.id}** — ${lockLabel} — battery ${battery}`;
+}
+
+function countReady() {
+  const roster = getRoster();
+  const total = roster.length;
+  const ready = roster.filter((r) => !r.locked).length;
+  return { ready, total };
+}
+
+async function updatePresence() {
+  if (!client?.user) return;
+  const { ready, total } = countReady();
+  try {
+    await client.user.setPresence({
+      activities: [{ name: `${ready}/${total} Rovers Ready`, type: ActivityType.Watching }],
+      status: 'online',
+    });
+  } catch (err) {
+    logger.warn('Failed to update Discord presence', err.message);
+  }
+}
+
+async function fetchChannel(id) {
+  if (!id) return null;
+  if (channelCache.has(id)) return channelCache.get(id);
+  try {
+    const channel = await client.channels.fetch(id);
+    if (channel) {
+      channelCache.set(id, channel);
+      return channel;
+    }
+  } catch (err) {
+    logger.warn('Failed to fetch Discord channel', { id, error: err.message });
+  }
+  return null;
+}
+
+async function sendToChannel(id, content, options = {}, allowedMentions = { parse: [] }, sanitizeContent = true) {
+  const channel = await fetchChannel(id);
+  if (!channel) return;
+  try {
+    const messageContent = sanitizeContent ? sanitizeMentions(content) : content;
+    await channel.send({ content: messageContent, allowedMentions, ...options });
+  } catch (err) {
+    logger.warn('Failed to send Discord message', { id, error: err.message });
+  }
+}
+
+function isAdminUser(discordId) {
+  return adminIds.has(String(discordId || '').trim());
+}
+
+function formatHelp() {
+  return [
+    '**Rover Bot Commands**',
+    '`rs help` — show this help',
+    '`rs status [id]` — show rover status (all or one)',
+    '`rs lock <id>` — lock a rover',
+    '`rs unlock <id>` — unlock a rover',
+    '`rs mode <open|turns|admin|lockdown>` — change server mode',
+  ].join('\n');
+}
+
+function findRover(id) {
+  const roster = getRoster();
+  if (!id) return null;
+  return roster.find((r) => String(r.id) === String(id) || String(r.name) === String(id));
+}
+
+async function handleStatusCommand(message, roverId) {
+  const roster = getRoster();
+  if (!roverId) {
+    const summary = roster.map((r) => formatRoverStatus(r)).join('\n') || 'No rovers online.';
+    await message.reply({
+      content: sanitizeMentions(summary.slice(0, 1900)),
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+    return;
+  }
+  const rover = findRover(roverId);
+  await message.reply({
+    content: sanitizeMentions(formatRoverStatus(rover).slice(0, 1900)),
+    allowedMentions: { parse: [], repliedUser: false },
+  });
+}
+
+async function handleLockCommand(message, roverId, locked) {
+  if (!roverId) {
+    await message.reply({
+      content: 'Specify a rover ID. Example: `rs lock alpha`',
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+    return;
+  }
+  try {
+    lockRover(roverId, locked, { reason: 'discord' });
+    await message.reply({
+      content: sanitizeMentions(`${locked ? 'Locked' : 'Unlocked'} ${roverId}.`),
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+  } catch (err) {
+    await message.reply({
+      content: sanitizeMentions(`Failed: ${err.message}`),
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+  }
+}
+
+async function handleModeCommand(message, mode) {
+  const next = String(mode || '').toLowerCase();
+  if (!Object.values(MODES).includes(next)) {
+    await message.reply({
+      content: 'Invalid mode. Use one of: open, turns, admin, lockdown.',
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+    return;
+  }
+  try {
+    setMode(next, null, { force: true });
+    await message.reply({
+      content: sanitizeMentions(`Mode set to ${next}.`),
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+  } catch (err) {
+    await message.reply({
+      content: sanitizeMentions(`Failed to set mode: ${err.message}`),
+      allowedMentions: { parse: [], repliedUser: false },
+    });
+  }
+}
+
+async function handleCommand(message) {
+  if (message.author.bot) return;
+  const content = (message.content || '').trim();
+  if (!content.toLowerCase().startsWith('rs')) return;
+  if (!isAdminUser(message.author.id)) {
+    return; // ignore non-admins
+  }
+
+  const tokens = content.split(/\s+/);
+  tokens.shift(); // remove prefix
+  const action = (tokens.shift() || '').toLowerCase();
+
+  switch (action) {
+    case 'help':
+      await message.reply(formatHelp());
+      break;
+    case 'status':
+      await handleStatusCommand(message, tokens[0]);
+      break;
+    case 'lock':
+      await handleLockCommand(message, tokens[0], true);
+      break;
+    case 'unlock':
+      await handleLockCommand(message, tokens[0], false);
+      break;
+    case 'mode':
+      await handleModeCommand(message, tokens[0]);
+      break;
+    default:
+      await message.reply(formatHelp());
+      break;
+  }
+}
+
+function formatChatLine(payload) {
+  const name = payload.nickname || payload.socketId?.slice(0, 6) || 'unknown';
+  const rover = payload.roverId ? `**[${payload.roverId}]** ` : '';
+  const role =
+    payload.role === 'admin' || payload.role === 'lockdown' ? '**(admin)** ' : '';
+  return `${rover}${role}${name}: ${payload.text}`;
+}
+
+async function handleBridgeInbound(message) {
+  const bridgeChannelId = discordConfig?.channels?.chatBridge;
+  if (!bridgeChannelId) return;
+  if (String(message.channelId) !== String(bridgeChannelId)) return;
+  if (message.author.bot) return;
+  const content = (message.content || '').trim();
+  if (content.toLowerCase().startsWith('rs')) return; // don't echo commands
+  const nickname =
+    message.member?.nickname || message.author?.globalName || message.author?.username || 'Discord';
+  const role = isAdminUser(message.author.id) ? 'admin' : 'user';
+  try {
+    sendExternalMessage({
+      text: content,
+      nickname,
+      role,
+      roverId: null,
+    });
+  } catch (err) {
+    logger.warn('Failed to bridge inbound Discord chat', err.message);
+  }
+}
+
+function buildEmbed({ title, description, color }) {
+  const embed = new EmbedBuilder().setTitle(title || 'Update').setColor(color || 0x2196f3);
+  if (description) embed.setDescription(description);
+  embed.setTimestamp(new Date());
+  return embed;
+}
+
+async function announce({ channelId, content, pingRoleId, color, title, description }) {
+  if (!channelId) return;
+  const prefix = pingRoleId ? `<@&${pingRoleId}> ` : '';
+  const embed = buildEmbed({ title, description, color });
+  const allowedMentions = pingRoleId ? { roles: [pingRoleId], parse: [] } : { parse: [] };
+  await sendToChannel(
+    channelId,
+    `${prefix}${content || ''}`.trim(),
+    { embeds: [embed] },
+    allowedMentions,
+    !pingRoleId, // keep role mention intact when pinging
+  );
+}
+
+function handleBusEvent(event) {
+  const { type, payload } = event || {};
+  const channels = discordConfig.channels || {};
+  const roles = discordConfig.roles || {};
+  switch (type) {
+    case 'mode.changed':
+      if (!skippedFirstModeAnnouncement) {
+        skippedFirstModeAnnouncement = true;
+        updatePresence();
+        break;
+      }
+      announce({
+        channelId: channels.announcements,
+        pingRoleId: roles.announcementPing || null,
+        color: 0x2196f3,
+        title: 'Mode Changed',
+        description: `Server mode set to **${payload?.mode}**`,
+      });
+      updatePresence();
+      break;
+    case 'rover.locked':
+      announce({
+        channelId: channels.announcements,
+        color: 0xf0b651,
+        title: 'Rover Locked',
+        description: `${payload?.roverId} locked${payload?.reason ? ` (${payload.reason})` : ''}.`,
+      });
+      updatePresence();
+      break;
+    case 'rover.unlocked':
+      announce({
+        channelId: channels.announcements,
+        pingRoleId: roles.announcementPing || null,
+        color: 0x4caf50,
+        title: 'Rover Unlocked',
+        description: `${payload?.roverId} unlocked.`,
+      });
+      updatePresence();
+      break;
+    case 'rover.online':
+      announce({
+        channelId: channels.adminAlerts,
+        pingRoleId: roles.adminPing || null,
+        color: 0x4caf50,
+        title: 'Rover Online',
+        description: `${payload?.roverId} is online.`,
+      });
+      updatePresence();
+      break;
+    case 'rover.offline':
+      announce({
+        channelId: channels.adminAlerts,
+        pingRoleId: roles.adminPing || null,
+        color: 0xe53935,
+        title: 'Rover Offline',
+        description: `${payload?.roverId} went offline.`,
+      });
+      updatePresence();
+      break;
+    case 'battery.warn':
+      announce({
+        channelId: channels.adminAlerts,
+        pingRoleId: roles.adminPing || null,
+        color: 0xf0b651,
+        title: 'Battery Warn',
+        description: `${payload?.roverId} at ${payload?.batteryState?.percentDisplay ?? 'low'}%.`,
+      });
+      break;
+    case 'battery.urgent':
+      announce({
+        channelId: channels.adminAlerts,
+        pingRoleId: roles.adminPing || null,
+        color: 0xe53935,
+        title: 'Battery Urgent',
+        description: `${payload?.roverId} at ${payload?.batteryState?.percentDisplay ?? 'urgent'}%.`,
+      });
+      break;
+    case 'battery.docked':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0x2196f3,
+        title: 'Docked',
+        description: `${payload?.roverId} docked.`,
+      });
+      break;
+    case 'battery.undocked':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0x2196f3,
+        title: 'Undocked',
+        description: `${payload?.roverId} undocked.`,
+      });
+      break;
+    case 'battery.charging.start':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0x2196f3,
+        title: 'Charging Started',
+        description: `${payload?.roverId} started charging.`,
+      });
+      break;
+    case 'battery.charging.stop':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0xf0b651,
+        title: 'Charging Stopped',
+        description: `${payload?.roverId} stopped charging.`,
+      });
+      break;
+    case 'battery.locked':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0xf0b651,
+        title: 'Locked for Charging',
+        description: `${payload?.roverId} locked for charging.`,
+      });
+      updatePresence();
+      break;
+    case 'battery.unlocked':
+      announce({
+        channelId: channels.adminAlerts,
+        color: 0x4caf50,
+        title: 'Unlocked after Charging',
+        description: `${payload?.roverId} unlocked after charging.`,
+      });
+      updatePresence();
+      break;
+    default:
+      break;
+  }
+}
+
+function handleChatBridgeOutbound(event) {
+  const payload = event?.payload;
+  if (!payload || payload.fromDiscord) return;
+  const bridgeChannelId = discordConfig?.channels?.chatBridge;
+  if (!bridgeChannelId) return;
+  const line = formatChatLine(payload);
+  const text = line.length > 1900 ? `${line.slice(0, 1897)}...` : line;
+  sendToChannel(bridgeChannelId, text, {}, { parse: [] });
+}
+
+client.on('messageCreate', async (message) => {
+  try {
+    await handleCommand(message);
+    await handleBridgeInbound(message);
+  } catch (err) {
+    logger.warn('Error handling Discord message', err.message);
+  }
+});
+
+client.once('ready', () => {
+  logger.info('Discord bot logged in', { tag: client.user?.tag });
+  updatePresence();
+});
+
+subscribe('*', handleBusEvent);
+subscribe('chat:message', handleChatBridgeOutbound);
+
+client.login(discordConfig.token).catch((err) => {
+  logger.error('Discord login failed', err.message);
+});
+
+module.exports = {};

server/src/services/eventBus.js

@@ -0,0 +1,57 @@
+const EventEmitter = require('events');
+const baseLogger = require('../globals/logger');
+const logger = baseLogger.child ? baseLogger.child('eventBus') : baseLogger;
+
+const eventBus = new EventEmitter();
+
+/**
+ * Publish a structured event onto the server-wide bus.
+ * @param {object} options
+ * @param {string} options.source - Origin module identifier.
+ * @param {string} options.type - Event type name.
+ * @param {any} [options.payload] - Optional event payload.
+ */
+function publishEvent({ source, type, payload = null }) {
+  if (!source) {
+    throw new Error('eventBus.publishEvent requires source');
+  }
+  if (!type) {
+    throw new Error('eventBus.publishEvent requires type');
+  }
+  const event = {
+    source,
+    type,
+    payload,
+    ts: Date.now(),
+  };
+  const logFn = typeof logger.debug === 'function' ? 'debug' : 'info';
+  logger[logFn](`Publishing event ${type}`, { source });
+  eventBus.emit(type, event);
+  eventBus.emit('*', event);
+}
+
+/**
+ * Subscribe to events of a given type.
+ * @param {string} type
+ * @param {(event: object) => void} handler
+ */
+function subscribe(type, handler) {
+  eventBus.on(type, handler);
+  return () => eventBus.off(type, handler);
+}
+
+/**
+ * Subscribe to all events on the bus.
+ * @param {(event: object) => void} handler
+ */
+function subscribeAll(handler) {
+  eventBus.on('*', handler);
+  return () => eventBus.off('*', handler);
+}
+
+module.exports = {
+  eventBus,
+  publishEvent,
+  subscribe,
+  subscribeAll,
+};

server/src/services/homeAssistantService.js

@@ -0,0 +1,267 @@
+const EventEmitter = require('events');
+const WebSocket = require('ws');
+const { createConnection, subscribeEntities, callService, Auth } = require('home-assistant-js-websocket');
+const io = require('../globals/io');
+const logger = require('../globals/logger').child('homeAssistantService');
+const { loadConfig } = require('../helpers/configLoader');
+const { getMode } = require('./modeManager');
+const { isAdmin } = require('./roleService');
+
+// home-assistant-js-websocket expects a global WebSocket in Node.
+if (!global.WebSocket) {
+  global.WebSocket = WebSocket;
+}
+
+const config = loadConfig();
+const haConfig = config.homeAssistant || {};
+
+const events = new EventEmitter();
+const entityConfig = new Map(); // entityId -> { id, name, type }
+const entityState = new Map(); // entityId -> normalized state
+
+let connection = null;
+let unsubscribeEntities = null;
+let reconnectTimer = null;
+let connected = false;
+
+const enabled = Boolean(haConfig?.url && haConfig?.token);
+
+function buildAuth() {
+  const token = haConfig?.token?.trim();
+  const url = haConfig?.url?.trim();
+  if (!token || !url) {
+    throw new Error('Home Assistant url/token missing');
+  }
+  // Long-lived tokens last 10 years; set a far future expiry to avoid refresh attempts.
+  return new Auth(
+    {
+      hassUrl: url.replace(/\/+$/, ''),
+      access_token: token,
+      expires: Date.now() + 1000 * 60 * 60 * 24 * 365 * 10,
+      refresh_token: null,
+      clientId: 'multiroomba-rover',
+    },
+    null,
+  );
+}
+
+function inferType(entityId, explicitType) {
+  if (explicitType === 'light' || explicitType === 'switch') {
+    return explicitType;
+  }
+  const domain = String(entityId || '').split('.')[0];
+  if (domain === 'light') return 'light';
+  return 'switch';
+}
+
+function normalizeConfigEntry(entry) {
+  if (!entry) return null;
+  const id = entry.id || entry.entityId || entry.entity_id;
+  if (!id) return null;
+  const type = inferType(id, entry.type);
+  const name = entry.name || null;
+  return { id: String(id), name, type };
+}
+
+function loadEntityConfig() {
+  entityConfig.clear();
+  const list = Array.isArray(haConfig?.entities) ? haConfig.entities : [];
+  list.forEach((entry) => {
+    const normalized = normalizeConfigEntry(entry);
+    if (normalized) {
+      entityConfig.set(normalized.id, normalized);
+      if (!entityState.has(normalized.id)) {
+        entityState.set(normalized.id, buildState(normalized, null));
+      }
+    }
+  });
+  logger.info('Loaded Home Assistant entities', { count: entityConfig.size });
+}
+
+function buildState(meta, raw) {
+  if (!meta) return null;
+  const name = meta.name || raw?.attributes?.friendly_name || meta.id;
+  if (!raw) {
+    return {
+      id: meta.id,
+      name,
+      type: meta.type,
+      state: 'unknown',
+      available: false,
+      lastChanged: null,
+      lastUpdated: null,
+    };
+  }
+  const rawState = raw.state;
+  const unavailable = rawState === 'unavailable' || rawState === 'unknown';
+  const state = unavailable ? 'unavailable' : rawState === 'on' ? 'on' : 'off';
+  return {
+    id: meta.id,
+    name,
+    type: meta.type,
+    state,
+    available: !unavailable,
+    lastChanged: raw.last_changed || null,
+    lastUpdated: raw.last_updated || null,
+  };
+}
+
+function emitUpdate() {
+  events.emit('update', getState());
+}
+
+function emitStatus() {
+  events.emit('status', getState());
+}
+
+function handleEntitySnapshot(snapshot = {}) {
+  let changed = false;
+  entityConfig.forEach((meta, id) => {
+    const raw = snapshot[id];
+    const next = buildState(meta, raw);
+    const prev = entityState.get(id);
+    if (
+      !prev ||
+      prev.state !== next.state ||
+      prev.available !== next.available ||
+      prev.lastChanged !== next.lastChanged
+    ) {
+      entityState.set(id, next);
+      changed = true;
+    }
+  });
+  if (changed) {
+    emitUpdate();
+  }
+}
+
+function teardownConnection() {
+  if (unsubscribeEntities) {
+    try {
+      unsubscribeEntities();
+    } catch (err) {
+      logger.warn('Failed to unsubscribe entity stream', err.message);
+    }
+  }
+  unsubscribeEntities = null;
+  if (connection) {
+    try {
+      connection.close();
+    } catch (err) {
+      logger.warn('Error closing Home Assistant connection', err.message);
+    }
+  }
+  connection = null;
+  const wasConnected = connected;
+  connected = false;
+  if (wasConnected) {
+    emitStatus();
+  }
+}
+
+function scheduleReconnect(delayMs = 5000) {
+  if (!enabled) return;
+  if (reconnectTimer) return;
+  reconnectTimer = setTimeout(() => {
+    reconnectTimer = null;
+    connect();
+  }, delayMs);
+}
+
+async function connect() {
+  if (!enabled) {
+    logger.info('Home Assistant integration disabled; missing url/token in config');
+    return;
+  }
+  if (connection) {
+    return;
+  }
+  try {
+    const auth = buildAuth();
+    connection = await createConnection({ auth, setupRetry: 0 });
+    connected = true;
+    emitStatus();
+    logger.info('Connected to Home Assistant');
+    unsubscribeEntities = subscribeEntities(connection, handleEntitySnapshot);
+    connection.addEventListener('disconnected', () => {
+      logger.warn('Home Assistant connection lost');
+      teardownConnection();
+      scheduleReconnect();
+    });
+  } catch (err) {
+    logger.warn('Home Assistant connection failed', err.message);
+    teardownConnection();
+    scheduleReconnect();
+  }
+}
+
+async function setEntityState(entityId, desiredState) {
+  if (!enabled) {
+    throw new Error('Home Assistant not configured');
+  }
+  const meta = entityConfig.get(entityId);
+  if (!meta) {
+    throw new Error('Unknown Home Assistant entity');
+  }
+  if (!connection) {
+    throw new Error('Home Assistant not connected');
+  }
+  const nextState = desiredState === 'on' ? 'on' : 'off';
+  const domain = meta.type === 'light' ? 'light' : 'switch';
+  const service = nextState === 'on' ? 'turn_on' : 'turn_off';
+  await callService(connection, domain, service, { entity_id: entityId });
+  logger.info('Issued Home Assistant command', { entityId, domain, service });
+}
+
+async function toggleEntity(entityId) {
+  const current = entityState.get(entityId);
+  const nextState = current?.state === 'on' ? 'off' : 'on';
+  return setEntityState(entityId, nextState);
+}
+
+function getState() {
+  const entities = Array.from(entityConfig.values()).map(
+    (meta) => entityState.get(meta.id) || buildState(meta, null),
+  );
+  return { enabled, connected, entities };
+}
+
+loadEntityConfig();
+connect();
+
+io.on('connection', (socket) => {
+  socket.on('homeAssistant:toggle', async ({ entityId } = {}, cb = () => {}) => {
+    if ((getMode() === 'admin' || getMode() === 'lockdown') && isAdmin(socket) !== true) {
+      return cb({ error: 'Insufficient permissions to control Home Assistant' });
+    }
+    
+    try {
+      if (!entityId) throw new Error('entityId required');
+      await toggleEntity(entityId);
+      cb({ success: true });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+
+  socket.on('homeAssistant:setState', async ({ entityId, state } = {}, cb = () => {}) => {
+    if ((getMode() === 'admin' || getMode() === 'lockdown') && isAdmin(socket) !== true) {
+      return cb({ error: 'Insufficient permissions to control Home Assistant' });
+    }
+
+    try {
+      if (!entityId) throw new Error('entityId required');
+      await setEntityState(entityId, state);
+      cb({ success: true });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+});
+
+module.exports = {
+  getState,
+  toggleEntity,
+  setEntityState,
+  homeAssistantEvents: events,
+};

server/src/services/modeManager.js

@@ -2,6 +2,7 @@ const EventEmitter = require('events');
 const io = require('../globals/io');
 const { sendAlert, COLORS } = require('./alertService');
 const { isAdmin, isLockdownAdmin } = require('./roleService');
+const { publishEvent } = require('./eventBus');
 
 const MODES = {
   OPEN: 'open',
@@ -10,7 +11,7 @@ const MODES = {
   LOCKDOWN: 'lockdown',
 };
 
-let currentMode = MODES.OPEN;
+let currentMode = MODES.ADMIN;
 const modeEvents = new EventEmitter();
 
 function canChangeMode(socket, nextMode) {
@@ -20,11 +21,12 @@ function canChangeMode(socket, nextMode) {
   return isAdmin(socket);
 }
 
-function setMode(nextMode, socket) {
+function setMode(nextMode, socket, options = {}) {
   if (!Object.values(MODES).includes(nextMode)) {
     throw new Error(`Unknown mode ${nextMode}`);
   }
-  if (!canChangeMode(socket, nextMode)) {
+  const force = Boolean(options.force);
+  if (!force && !canChangeMode(socket, nextMode)) {
     throw new Error('Not authorized to change mode');
   }
   if (currentMode === nextMode) {
@@ -36,6 +38,11 @@ function setMode(nextMode, socket) {
     title: 'Mode Changed',
     message: `Server mode set to ${nextMode}`,
   });
+  publishEvent({
+    source: 'modeManager',
+    type: 'mode.changed',
+    payload: { mode: currentMode, by: socket?.data?.user?.username || null },
+  });
   modeEvents.emit('change', currentMode);
   io.emit('mode', { mode: currentMode });
   return currentMode;

server/src/services/nicknameService.js

@@ -1 +1,51 @@
+const EventEmitter = require('events');
 const io = require('../globals/io');
+const logger = require('../globals/logger').child('nicknameService');
+const { getRole } = require('./roleService');
+
+const nicknameEvents = new EventEmitter();
+
+function sanitizeNickname(raw) {
+  if (typeof raw !== 'string') return '';
+  const trimmed = raw.trim();
+  if (!trimmed) return '';
+  return trimmed.slice(0, 32);
+}
+
+function getNickname(socket) {
+  return socket?.data?.nickname || '';
+}
+
+function setNickname(socket, nickname) {
+  if (!socket) return null;
+  const role = getRole(socket);
+  // if (role === 'spectator') {
+  //   throw new Error('Spectators cannot set nicknames');
+  // }
+  const value = sanitizeNickname(nickname);
+  if (!value) {
+    throw new Error('Nickname required');
+  }
+  socket.data = socket.data || {};
+  socket.data.nickname = value;
+  nicknameEvents.emit('change', { socketId: socket.id, nickname: value });
+  logger.info('Nickname set', { socketId: socket.id, nickname: value });
+  return value;
+}
+
+io.on('connection', (socket) => {
+  socket.on('nickname:set', ({ nickname } = {}, cb = () => {}) => {
+    try {
+      const value = setNickname(socket, nickname);
+      cb({ success: true, nickname: value });
+    } catch (err) {
+      cb({ error: err.message });
+    }
+  });
+});
+
+module.exports = {
+  getNickname,
+  setNickname,
+  nicknameEvents,
+};

server/src/services/roomCameraService.js

@@ -0,0 +1,57 @@
+const EventEmitter = require('events');
+const logger = require('../globals/logger').child('roomCameraService');
+const { loadConfig } = require('../helpers/configLoader');
+
+const events = new EventEmitter();
+const config = loadConfig();
+
+const cameraMap = new Map();
+
+function normalizeCamera(camera) {
+  if (!camera) return null;
+  const id = camera.id || camera.name;
+  if (!id) {
+    logger.warn('Room camera missing id', camera);
+    return null;
+  }
+  if (!camera.url) {
+    logger.warn('Room camera missing url', { id, camera });
+    return null;
+  }
+  return {
+    id: String(id),
+    name: camera.name || camera.id || String(id),
+    description: camera.description || null,
+    url: camera.url,
+  };
+}
+
+function loadFromConfig() {
+  cameraMap.clear();
+  const list = Array.isArray(config.roomCameras) ? config.roomCameras : [];
+  list.forEach((camera) => {
+    const normalized = normalizeCamera(camera);
+    if (normalized) {
+      cameraMap.set(normalized.id, normalized);
+    }
+  });
+  logger.info('Loaded room cameras', { count: cameraMap.size });
+  events.emit('update', getRoomCameras());
+}
+
+function getRoomCameras() {
+  return Array.from(cameraMap.values());
+}
+
+function getRoomCamera(id) {
+  if (!id) return null;
+  return cameraMap.get(String(id)) || null;
+}
+
+loadFromConfig();
+
+module.exports = {
+  getRoomCameras,
+  getRoomCamera,
+  roomCameraEvents: events,
+};

server/src/services/roomCameraSnapshotService.js

@@ -0,0 +1,92 @@
+const EventEmitter = require('events');
+const logger = require('../globals/logger').child('roomCameraSnapshot');
+const { getRoomCameras, roomCameraEvents } = require('./roomCameraService');
+
+const POLL_INTERVAL_MS = 500; // 2 fps target
+const FETCH_TIMEOUT_MS = 2000;
+const STALE_AFTER_MS = 4000;
+
+const cameraState = new Map(); // id -> {frame, ts, stale, error, failures, fetching}
+const events = new EventEmitter(); // frame, status
+let pollTimer = null;
+
+function markState(id, updates = {}) {
+  const prev = cameraState.get(id) || {};
+  const next = { ...prev, ...updates };
+  if (next.ts != null) {
+    next.stale = Date.now() - next.ts > STALE_AFTER_MS || !!next.stale;
+  } else {
+    next.stale = true;
+  }
+  cameraState.set(id, next);
+  return next;
+}
+
+async function fetchSnapshot(camera) {
+  const { id, url } = camera;
+  const state = cameraState.get(id);
+  if (!url || state?.fetching) return;
+  markState(id, { fetching: true });
+  const abortController = new AbortController();
+  const timeout = setTimeout(() => abortController.abort(), FETCH_TIMEOUT_MS);
+  try {
+    const res = await fetch(url, { signal: abortController.signal });
+    if (!res.ok) {
+      throw new Error(`HTTP ${res.status}`);
+    }
+    const arrayBuffer = await res.arrayBuffer();
+    const buffer = Buffer.from(arrayBuffer);
+    const ts = Date.now();
+    const next = markState(id, { frame: buffer, ts, error: null, failures: 0 });
+    events.emit('frame', { id, buffer, ts, stale: !!next.stale });
+  } catch (err) {
+    const failures = (state?.failures || 0) + 1;
+    markState(id, { error: err.message, failures });
+    events.emit('status', { id, error: err.message });
+    logger.warn('Snapshot fetch failed', { id, err: err.message });
+  } finally {
+    clearTimeout(timeout);
+    markState(id, { fetching: false });
+  }
+}
+
+function stopAll() {
+  if (pollTimer) {
+    clearInterval(pollTimer);
+    pollTimer = null;
+  }
+  cameraState.clear();
+}
+
+function startAll() {
+  stopAll();
+  pollTimer = setInterval(() => {
+    getRoomCameras().forEach((camera) => fetchSnapshot(camera));
+  }, POLL_INTERVAL_MS);
+  getRoomCameras().forEach((camera) => fetchSnapshot(camera));
+  logger.info('Started snapshot polling', { count: getRoomCameras().length });
+}
+
+function getState(id) {
+  const state = cameraState.get(id);
+  if (!state) return null;
+  const stale = state.ts == null || Date.now() - state.ts > STALE_AFTER_MS;
+  return {
+    frame: state.frame || null,
+    ts: state.ts || null,
+    stale,
+    error: state.error || null,
+  };
+}
+
+roomCameraEvents.on('update', () => {
+  logger.info('Room cameras changed; restarting snapshot pollers');
+  startAll();
+});
+
+startAll();
+
+module.exports = {
+  roomCameraStreamEvents: events,
+  getRoomCameraState: getState,
+};

server/src/services/roomCameraSocketService.js

@@ -0,0 +1,154 @@
+const io = require('../globals/io');
+const logger = require('../globals/logger').child('roomCameraSocket');
+const { getMode, MODES } = require('./modeManager');
+const { isAdmin, isLockdownAdmin, getRole } = require('./roleService');
+const { getRoomCamera, getRoomCameras } = require('./roomCameraService');
+const { roomCameraStreamEvents, getRoomCameraState } = require('./roomCameraSnapshotService');
+
+const SUBSCRIBE_LIMIT = 50;
+const SUBSCRIBE_WINDOW_MS = 10000;
+
+function passesMode(socket) {
+  const mode = getMode();
+  if (mode === MODES.LOCKDOWN) {
+    return isLockdownAdmin(socket);
+  }
+  if (mode === MODES.ADMIN) {
+    const role = getRole(socket);
+    return role === 'spectator' || isAdmin(socket);
+  }
+  return true;
+}
+
+function canViewRoomCamera(socket) {
+  return passesMode(socket);
+}
+
+const cameraSubscribers = new Map(); // id -> Set(socketId)
+const socketSubscriptions = new Map(); // socketId -> Set(id)
+const subscribeBuckets = new Map(); // socketId -> { start, count }
+
+function addSubscription(socket, cameraId) {
+  if (!cameraSubscribers.has(cameraId)) {
+    cameraSubscribers.set(cameraId, new Set());
+  }
+  cameraSubscribers.get(cameraId).add(socket.id);
+
+  if (!socketSubscriptions.has(socket.id)) {
+    socketSubscriptions.set(socket.id, new Set());
+  }
+  socketSubscriptions.get(socket.id).add(cameraId);
+}
+
+function removeSubscription(socketId, cameraId) {
+  const bucket = cameraSubscribers.get(cameraId);
+  if (bucket) {
+    bucket.delete(socketId);
+    if (bucket.size === 0) {
+      cameraSubscribers.delete(cameraId);
+    }
+  }
+  const socketBucket = socketSubscriptions.get(socketId);
+  if (socketBucket) {
+    socketBucket.delete(cameraId);
+    if (socketBucket.size === 0) {
+      socketSubscriptions.delete(socketId);
+    }
+  }
+}
+
+function removeAllSubscriptions(socketId) {
+  const bucket = socketSubscriptions.get(socketId);
+  if (!bucket) return;
+  bucket.forEach((cameraId) => removeSubscription(socketId, cameraId));
+}
+
+function allowSubscribe(socketId) {
+  const now = Date.now();
+  let bucket = subscribeBuckets.get(socketId);
+  if (!bucket || now - bucket.start >= SUBSCRIBE_WINDOW_MS) {
+    bucket = { start: now, count: 0 };
+  }
+  bucket.count += 1;
+  subscribeBuckets.set(socketId, bucket);
+  return bucket.count <= SUBSCRIBE_LIMIT;
+}
+
+function sendFrame(socket, cameraId, payload, buffer) {
+  socket.emit('roomCamera:frame', { id: cameraId, ...payload }, buffer);
+}
+
+function sendStatus(socket, cameraId, status) {
+  socket.emit('roomCamera:status', { id: cameraId, ...status });
+}
+
+roomCameraStreamEvents.on('frame', ({ id, buffer, ts, stale }) => {
+  const bucket = cameraSubscribers.get(id);
+  if (!bucket || !buffer) return;
+  bucket.forEach((socketId) => {
+    const socket = io.sockets.sockets.get(socketId);
+    if (!socket) return;
+    sendFrame(socket, id, { ts, stale: !!stale }, buffer);
+  });
+});
+
+roomCameraStreamEvents.on('status', ({ id, error }) => {
+  const bucket = cameraSubscribers.get(id);
+  if (!bucket) return;
+  bucket.forEach((socketId) => {
+    const socket = io.sockets.sockets.get(socketId);
+    if (!socket) return;
+    sendStatus(socket, id, { error: error || null });
+  });
+});
+
+io.on('connection', (socket) => {
+  socket.on('roomCamera:subscribe', (payload = {}, cb = () => {}) => {
+    const list = Array.isArray(payload?.ids)
+      ? payload.ids.map(String)
+      : payload?.roomCameraId || payload?.id
+      ? [String(payload.roomCameraId || payload.id)]
+      : getRoomCameras().map((cam) => cam.id);
+    const uniqueIds = Array.from(new Set(list));
+    try {
+      if (!allowSubscribe(socket.id)) {
+        cb({ error: 'Rate limited' });
+        return;
+      }
+      if (!canViewRoomCamera(socket)) {
+        throw new Error('Not authorized for room camera');
+      }
+      const validIds = uniqueIds.filter((id) => !!getRoomCamera(id));
+      validIds.forEach((cameraId) => addSubscription(socket, cameraId));
+      validIds.forEach((cameraId) => {
+        const state = getRoomCameraState(cameraId);
+        if (state?.frame) {
+          sendFrame(socket, cameraId, { ts: state.ts, stale: !!state.stale }, state.frame);
+        }
+        sendStatus(socket, cameraId, {
+          ts: state?.ts || null,
+          stale: state?.stale ?? true,
+          error: state?.error || null,
+        });
+      });
+      cb({ ok: true, subscribed: validIds });
+    } catch (err) {
+      logger.warn('Room camera subscribe failed', { socketId: socket.id, err: err.message });
+      cb({ error: err.message });
+    }
+  });
+
+  socket.on('roomCamera:unsubscribe', (payload = {}) => {
+    const list = Array.isArray(payload?.ids)
+      ? payload.ids.map(String)
+      : payload?.roomCameraId || payload?.id
+      ? [String(payload.roomCameraId || payload.id)]
+      : [];
+    list.forEach((cameraId) => removeSubscription(socket.id, cameraId));
+  });
+
+  socket.on('disconnect', () => {
+    removeAllSubscriptions(socket.id);
+    subscribeBuckets.delete(socket.id);
+  });
+});

server/src/services/roverConnectionService.js

@@ -33,6 +33,11 @@ roverWSS.on('connection', (ws) => {
     }
     if (msg.type === 'hello') {
       roverId = msg.name;
+      logger.info('Received rover hello', {
+        roverId,
+        keys: Object.keys(msg),
+        cameraServo: msg.cameraServo,
+      });
       roverManager.upsertRover(msg, ws);
       roverManager.broadcastRoster();
       sendAlert({ color: COLORS.success, title: 'Rover Online', message: roverId });

server/src/services/roverManager.js

@@ -5,6 +5,7 @@ const { sendAlert, COLORS } = require('./alertService');
 const { parseSensorFrame } = require('../helpers/sensorDecoder');
 const { MODES, getMode } = require('./modeManager');
 const { isAdmin, roleEvents } = require('./roleService');
+const { publishEvent } = require('./eventBus');
 
 const rovers = new Map(); // roverId -> record
 const socketToRovers = new Map(); // socketId -> Set(roverId)
@@ -21,6 +22,8 @@ function ensureRecord(id) {
       lastSensor: null,
       drivers: new Set(),
       locked: false,
+      lockReason: null,
+      batteryState: null,
       room: `rover:${id}`,
       lastSeen: Date.now(),
     });
@@ -30,6 +33,12 @@ function ensureRecord(id) {
 
 function upsertRover(meta, ws) {
   const id = meta.name || meta.id;
+  if (!meta.cameraServo) {
+    logger.info('Rover hello missing camera servo block', { id, keys: Object.keys(meta || {}) });
+  } else {
+    logger.info('Rover hello camera servo', { id, servo: meta.cameraServo });
+  }
+  const isNew = !rovers.has(id);
   const record = ensureRecord(id);
   record.meta = meta;
   record.ws = ws;
@@ -40,6 +49,9 @@ function upsertRover(meta, ws) {
     sock?.join(record.room);
   });
   managerEvents.emit('rover', { roverId: id, action: 'upsert', record });
+  if (isNew) {
+    publishEvent({ source: 'roverManager', type: 'rover.online', payload: { roverId: id } });
+  }
   broadcastRoster();
   return record;
 }
@@ -55,22 +67,45 @@ function removeRover(id) {
   });
   broadcastRoster();
   managerEvents.emit('rover', { roverId: id, action: 'removed' });
+  publishEvent({ source: 'roverManager', type: 'rover.offline', payload: { roverId: id } });
 }
 
-function lockRover(id, locked, actorSocket) {
+function lockRover(id, locked, options = {}) {
   const record = rovers.get(id);
   if (!record) {
     throw new Error('Unknown rover');
   }
+  const reason = locked ? options.reason || 'manual' : null;
+  const silent = Boolean(options.silent);
   if (locked) {
     record.locked = true;
-    sendAlert({ color: COLORS.warn, title: 'Rover Locked', message: `${id} locked by admin.` });
+    record.lockReason = reason;
+    if (!silent) {
+      sendAlert({
+        color: COLORS.warn,
+        title: 'Rover Locked',
+        message: `${id} locked${record.lockReason ? ` (${record.lockReason})` : ''}.`,
+      });
+    }
+    publishEvent({
+      source: 'roverManager',
+      type: 'rover.locked',
+      payload: { roverId: id, reason: record.lockReason },
+    });
   } else {
     record.locked = false;
+    record.lockReason = null;
+    if (!silent) {
       sendAlert({ color: COLORS.success, title: 'Rover Unlocked', message: `${id} unlocked.` });
     }
+    publishEvent({
+      source: 'roverManager',
+      type: 'rover.unlocked',
+      payload: { roverId: id },
+    });
+  }
   broadcastRoster();
-  managerEvents.emit('lock', { roverId: id, locked: record.locked });
+  managerEvents.emit('lock', { roverId: id, locked: record.locked, reason: record.lockReason });
   return record.locked;
 }
 
@@ -79,9 +114,13 @@ function getRoster() {
     id: record.id,
     name: record.meta?.name || record.id,
     battery: record.meta?.battery,
+    batteryState: record.batteryState,
     maxWheelSpeed: record.meta?.maxWheelSpeed,
     media: record.meta?.media,
+    cameraServo: record.meta?.cameraServo,
+    audio: record.meta?.audio,
     locked: record.locked,
+    lockReason: record.lockReason,
     lastSeen: record.lastSeen,
   }));
 }
@@ -90,17 +129,52 @@ function broadcastRoster() {
   io.emit('rovers', getRoster());
 }
 
+function computeBatteryState(record, sensors) {
+  if (!record) return null;
+  if (!sensors) return record.batteryState;
+  const config = record.meta?.battery || null;
+  const charge = sensors?.batteryChargeMah ?? null;
+  const capacity = sensors?.batteryCapacityMah ?? null;
+  const full = typeof config?.Full === 'number' ? config.Full : null;
+  const warn = typeof config?.Warn === 'number' ? config.Warn : null;
+  const urgent = typeof config?.Urgent === 'number' ? config.Urgent : null;
+  let percent = null;
+  if (charge != null && warn != null && full != null && full > warn) {
+    const span = full - warn;
+    percent = (charge - warn) / span;
+  } else if (charge != null && capacity != null && capacity > 0) {
+    percent = charge / capacity;
+  }
+  if (percent != null) {
+    percent = Math.max(0, Math.min(1, percent));
+  }
+  return {
+    charge,
+    capacity,
+    full,
+    warn,
+    urgent,
+    percent,
+    percentDisplay: percent == null ? null : Math.round(percent * 100),
+    warnActive: Boolean(warn != null && charge != null && charge <= warn),
+    urgentActive: Boolean(urgent != null && charge != null && charge <= urgent),
+    updatedAt: Date.now(),
+  };
+}
+
 function handleSensorFrame(roverId, frame) {
   const record = rovers.get(roverId);
   if (!record) return;
   record.lastSeen = Date.now();
   const decoded = parseSensorFrame(frame.data);
   record.lastSensor = { raw: frame, decoded };
+  record.batteryState = computeBatteryState(record, decoded);
   io.to(record.room).emit('sensorFrame', {
     roverId,
     frame,
     sensors: decoded,
   });
+  managerEvents.emit('sensor', { roverId, sensors: decoded, batteryState: record.batteryState });
 }
 
 function removeSocket(socket) {
@@ -268,7 +342,7 @@ io.on('connection', (socket) => {
       return;
     }
     try {
-      lockRover(roverId, locked);
+      lockRover(roverId, locked, { reason: 'manual' });
       logger.info('Lock state changed', roverId, locked);
       cb({ success: true });
     } catch (err) {
@@ -283,6 +357,10 @@ io.on('connection', (socket) => {
       cb({ error: 'Spectator role required' });
       return;
     }
+    if (getMode() === MODES.LOCKDOWN) {
+      cb({ error: 'Spectating disabled in lockdown' });
+      return;
+    }
     logger.info('Spectator subscribing to all rovers', socket.id);
     for (const record of rovers.values()) {
       socket.join(record.room);

server/src/services/sessionService.js

@@ -5,9 +5,36 @@ const { getMode, modeEvents } = require('./modeManager');
 const roverManager = require('./roverManager');
 const { managerEvents } = roverManager;
 const assignmentService = require('./assignmentService');
-const { getActiveDrivers, turnEvents } = require('./turnService');
+const { getActiveDrivers, getTurnQueues, turnEvents } = require('./turnService');
+const { getRoomCameras, roomCameraEvents } = require('./roomCameraService');
+const { getState: getHomeAssistantState, homeAssistantEvents } = require('./homeAssistantService');
+const { getNickname, nicknameEvents } = require('./nicknameService');
+const { loadConfig } = require('../helpers/configLoader');
+
+const discordInvite = loadConfig().discord?.invite || null;
+logger.info('Discord invite loaded:', discordInvite ? 'present' : 'not configured');
+
+const ACTIVITY_SYNC_COOLDOWN_MS = 3000;
+let lastActivitySync = 0;
+let pendingActivitySync = null;
+
+function buildUserEntry(socket) {
+  if (!socket) return null;
+  const role = getRole(socket);
+  const assignment = assignmentService.describeAssignment(socket.id);
+  const primaryRover = roverManager.getPrimaryRoverForSocket(socket.id);
+  return {
+    socketId: socket.id,
+    nickname: getNickname(socket) || null,
+    role,
+    roverId: primaryRover || assignment?.roverId || null,
+  };
+}
 
 function buildSession(socket) {
+  const users = Array.from(io.sockets.sockets.values())
+    .map((sock) => buildUserEntry(sock))
+    .filter(Boolean);
   return {
     socketId: socket?.id || null,
     role: getRole(socket),
@@ -15,6 +42,13 @@ function buildSession(socket) {
     roster: roverManager.getRoster(),
     assignment: assignmentService.describeAssignment(socket?.id || ''),
     activeDrivers: getActiveDrivers(),
+    turnQueues: getTurnQueues(),
+    roomCameras: getRoomCameras(),
+    homeAssistant: getHomeAssistantState(),
+    users,
+    discord: {
+      invite: discordInvite,
+    },
   };
 }
 
@@ -77,6 +111,66 @@ turnEvents.on('activeDriver', () => {
   logger.info('Active driver change; syncing all clients');
   syncAll();
 });
+turnEvents.on('queue', (event = {}) => {
+  const { reason } = event;
+  if (reason === 'activity') {
+    const now = Date.now();
+    const elapsed = now - lastActivitySync;
+    if (elapsed >= ACTIVITY_SYNC_COOLDOWN_MS) {
+      lastActivitySync = now;
+      logger.info('Turn activity; syncing all clients (immediate)');
+      syncAll();
+      return;
+    }
+    if (!pendingActivitySync) {
+      const delay = ACTIVITY_SYNC_COOLDOWN_MS - elapsed;
+      pendingActivitySync = setTimeout(() => {
+        lastActivitySync = Date.now();
+        pendingActivitySync = null;
+        logger.info('Turn activity; syncing all clients (delayed)');
+        syncAll();
+      }, delay);
+    }
+    return;
+  }
+  if (pendingActivitySync) {
+    clearTimeout(pendingActivitySync);
+    pendingActivitySync = null;
+  }
+  logger.info('Turn queue change; syncing all clients');
+  syncAll();
+});
+
+roomCameraEvents.on('update', () => {
+  logger.info('Room camera change detected; syncing all clients');
+  syncAll();
+});
+
+homeAssistantEvents.on('update', () => {
+  logger.info('Home Assistant state change; syncing all clients');
+  syncAll();
+});
+
+homeAssistantEvents.on('status', () => {
+  logger.info('Home Assistant status change; syncing all clients');
+  syncAll();
+});
+
+nicknameEvents.on('change', ({ socketId }) => {
+  const socket = socketId ? io.sockets.sockets.get(socketId) : null;
+  if (socket) {
+    logger.info('Nickname change; syncing session', socketId);
+    syncSocket(socket);
+  } else {
+    syncAll();
+  }
+});
+
+// sync all sockets 20 seconds
+setInterval(() => {
+  logger.info('Periodic session sync for all clients');
+  syncAll();
+}, 20000);
 
 module.exports = {
   buildSession,

server/src/services/turnService.js

@@ -6,7 +6,14 @@ const { MODES, getMode, modeEvents } = require('./modeManager');
 const driverQueues = new Map(); // roverId -> { queue: [], current: socketId, timer: Timeout | null }
 const activeDrivers = new Map();
 const TURN_DURATION_MS = 60 * 1000;
+const IDLE_TIMEOUT_MS = 7 * 1000;
+const MAX_IDLE_SKIPS = 3;
 const turnEvents = new EventEmitter();
+const turnDeadlines = new Map(); // roverId -> timestamp when current driver expires
+const idleDeadlines = new Map(); // roverId -> timestamp when idle skip will happen
+const idleTimers = new Map(); // roverId -> Timeout
+const idleSkips = new Map(); // roverId -> Map(socketId -> count)
+const idleDisarmed = new Map(); // roverId -> boolean, true once driver has acted this turn
 
 function driverAdded(roverId, socketId, force) {
   const queue = ensureQueue(roverId);
@@ -23,8 +30,18 @@ function driverRemoved(roverId, socketId) {
   const queue = driverQueues.get(roverId);
   if (!queue) return;
   queue.queue = queue.queue.filter((id) => id !== socketId);
+  const skips = idleSkips.get(roverId);
+  if (skips) {
+    skips.delete(socketId);
+    if (skips.size === 0) {
+      idleSkips.delete(roverId);
+    }
+  }
+  idleDisarmed.delete(roverId);
   if (queue.current === socketId) {
     advanceTurn(roverId);
+  } else {
+    scheduleIdleTimer(roverId);
   }
 }
 
@@ -33,8 +50,14 @@ function cleanupRover(roverId) {
   if (queue) {
     clearTimeout(queue.timer);
   }
+  clearTimeout(idleTimers.get(roverId));
   driverQueues.delete(roverId);
   activeDrivers.delete(roverId);
+  turnDeadlines.delete(roverId);
+  idleDeadlines.delete(roverId);
+  idleTimers.delete(roverId);
+  idleSkips.delete(roverId);
+  idleDisarmed.delete(roverId);
 }
 
 function canDrive(roverId, socket) {
@@ -60,20 +83,94 @@ function syncState(roverId) {
     queue.current = queue.queue[0] || null;
     setActiveDriver(roverId, queue.current);
     clearTimeout(queue.timer);
+    turnDeadlines.delete(roverId);
+    clearTimeout(idleTimers.get(roverId));
+    idleDeadlines.delete(roverId);
+    idleDisarmed.delete(roverId);
+    turnEvents.emit('queue', { roverId });
     return;
   }
   if (!queue.current) {
     queue.current = queue.queue[0];
   }
   setActiveDriver(roverId, queue.current);
+  idleDisarmed.set(roverId, false);
   scheduleNextTurn(roverId);
+  scheduleIdleTimer(roverId);
+  turnEvents.emit('queue', { roverId });
 }
 
 function scheduleNextTurn(roverId) {
   const queue = driverQueues.get(roverId);
   if (!queue) return;
   clearTimeout(queue.timer);
+  const deadline = Date.now() + TURN_DURATION_MS;
+  turnDeadlines.set(roverId, deadline);
   queue.timer = setTimeout(() => advanceTurn(roverId), TURN_DURATION_MS);
+  turnEvents.emit('queue', { roverId });
+}
+
+function scheduleIdleTimer(roverId) {
+  const queue = driverQueues.get(roverId);
+  clearTimeout(idleTimers.get(roverId));
+  idleDeadlines.delete(roverId);
+  if (
+    !queue ||
+    getMode() !== MODES.TURNS ||
+    queue.queue.length <= 1 ||
+    !queue.current ||
+    idleDisarmed.get(roverId)
+  ) {
+    turnEvents.emit('queue', { roverId });
+    return;
+  }
+  const deadline = Date.now() + IDLE_TIMEOUT_MS;
+  idleDeadlines.set(roverId, deadline);
+  idleTimers.set(
+    roverId,
+    setTimeout(() => handleIdleTimeout(roverId, queue.current), IDLE_TIMEOUT_MS),
+  );
+  turnEvents.emit('queue', { roverId });
+}
+
+function incrementSkip(roverId, socketId) {
+  if (!idleSkips.has(roverId)) {
+    idleSkips.set(roverId, new Map());
+  }
+  const map = idleSkips.get(roverId);
+  const next = (map.get(socketId) || 0) + 1;
+  map.set(socketId, next);
+  return next;
+}
+
+function handleIdleTimeout(roverId, expectedDriver) {
+  const queue = driverQueues.get(roverId);
+  if (!queue || queue.current !== expectedDriver) {
+    scheduleIdleTimer(roverId);
+    return;
+  }
+  // already acted this turn, ignore idle timeout
+  if (idleDisarmed.get(roverId)) {
+    scheduleIdleTimer(roverId);
+    return;
+  }
+  const skips = incrementSkip(roverId, expectedDriver);
+  stopRover(roverId);
+  if (skips >= MAX_IDLE_SKIPS) {
+    sendAlert({
+      color: COLORS.error,
+      title: 'Driver removed',
+      message: `${expectedDriver} removed from ${roverId} after ${skips} idle skips`,
+    });
+    removeDriverCompletely(roverId, expectedDriver);
+    return;
+  }
+  sendAlert({
+    color: COLORS.warn,
+    title: 'Turn skipped',
+    message: `${expectedDriver} skipped on ${roverId} (idle ${skips}/${MAX_IDLE_SKIPS})`,
+  });
+  advanceTurn(roverId);
 }
 
 function advanceTurn(roverId) {
@@ -82,6 +179,12 @@ function advanceTurn(roverId) {
   if (queue.queue.length === 0) {
     clearTimeout(queue.timer);
     setActiveDriver(roverId, null);
+    turnDeadlines.delete(roverId);
+    idleDeadlines.delete(roverId);
+    clearTimeout(idleTimers.get(roverId));
+    idleTimers.delete(roverId);
+    idleDisarmed.delete(roverId);
+    turnEvents.emit('queue', { roverId });
     return;
   }
   const mode = getMode();
@@ -89,15 +192,23 @@ function advanceTurn(roverId) {
     queue.current = queue.queue[0] || null;
     setActiveDriver(roverId, queue.current);
     clearTimeout(queue.timer);
+    turnDeadlines.delete(roverId);
+    idleDeadlines.delete(roverId);
+    clearTimeout(idleTimers.get(roverId));
+    idleTimers.delete(roverId);
+    idleDisarmed.delete(roverId);
+    turnEvents.emit('queue', { roverId });
     return;
   }
   const idx = queue.queue.findIndex((id) => id === queue.current);
   const nextIdx = idx === -1 ? 0 : (idx + 1) % queue.queue.length;
   queue.current = queue.queue[nextIdx];
   setActiveDriver(roverId, queue.current);
+  idleDisarmed.set(roverId, false);
   sendAlert({ color: COLORS.info, title: 'Turn switch', message: `${queue.current} now controls ${roverId}` });
   stopRover(roverId);
   scheduleNextTurn(roverId);
+  scheduleIdleTimer(roverId);
 }
 
 function setActiveDriver(roverId, socketId) {
@@ -117,6 +228,21 @@ function getActiveDrivers() {
   return map;
 }
 
+function getTurnQueues() {
+  const mode = getMode();
+  const payload = {};
+  driverQueues.forEach((queue, roverId) => {
+    payload[roverId] = {
+      mode,
+      queue: Array.from(queue.queue),
+      current: queue.current,
+      deadline: turnDeadlines.get(roverId) || null,
+      idleDeadline: idleDeadlines.get(roverId) || null,
+    };
+  });
+  return payload;
+}
+
 function stopRover(roverId) {
   try {
     const { issueCommand } = require('./commandService');
@@ -127,6 +253,24 @@ function stopRover(roverId) {
   }
 }
 
+function removeDriverCompletely(roverId, socketId) {
+  try {
+    const assignmentService = require('./assignmentService');
+    assignmentService.forceRelease(roverId, socketId);
+  } catch (err) {
+    // best effort; log elsewhere if needed
+  }
+}
+
+function recordActivity(roverId, socketId) {
+  const queue = driverQueues.get(roverId);
+  if (!queue || queue.current !== socketId) return;
+  idleDisarmed.set(roverId, true);
+  clearTimeout(idleTimers.get(roverId));
+  idleDeadlines.delete(roverId);
+  turnEvents.emit('queue', { roverId, reason: 'activity' });
+}
+
 modeEvents.on('change', (mode) => {
   driverQueues.forEach((_, roverId) => syncState(roverId));
 });
@@ -138,4 +282,6 @@ module.exports = {
   canDrive,
   getActiveDrivers,
   turnEvents,
+  getTurnQueues,
+  recordActivity,
 };

server/src/services/videoAuthService.js

@@ -5,6 +5,55 @@ const videoSessions = require('./videoSessions');
 const { getMode, MODES } = require('./modeManager');
 const { isAdmin, isLockdownAdmin, getRole } = require('./roleService');
 const roverManager = require('./roverManager');
+const { loadConfig } = require('../helpers/configLoader');
+
+const config = loadConfig();
+const mediaConfig = config.media || {};
+
+function getPathPrefix() {
+  const base = mediaConfig.whepBaseUrl;
+  if (!base) return '';
+  try {
+    const parsed = new URL(base);
+    return parsed.pathname || '';
+  } catch {
+    return base.replace(/^[^/]*:\/\//, '').replace(/^[^/]+/, '');
+  }
+}
+
+const whepPathPrefix = getPathPrefix().replace(/\/+$/, '').replace(/^\/+/, '');
+const whepPrefixSegments = whepPathPrefix ? whepPathPrefix.split('/').filter(Boolean) : [];
+
+function extractStreamInfo(path) {
+  const segments = (path || '').split('/').filter(Boolean);
+  if (!segments.length) {
+    return null;
+  }
+
+  let start = 0;
+  if (
+    whepPrefixSegments.length &&
+    whepPrefixSegments.every((segment, idx) => segments[idx] === segment)
+  ) {
+    start = whepPrefixSegments.length;
+  }
+
+  let end = segments.length;
+  if (segments[end - 1] === 'whep') {
+    end -= 1;
+  }
+
+  const remaining = segments.slice(start, end);
+  if (remaining.length === 1) {
+    const rawId = remaining[0] || '';
+    const baseId = rawId.endsWith('-audio') ? rawId.slice(0, -6) : rawId;
+    return { type: 'rover', id: rawId, baseId };
+  }
+  if (remaining.length === 2 && remaining[0] === 'room') {
+    return { type: 'room', id: remaining[1] || '' };
+  }
+  return null;
+}
 
 function canView(socket) {
   const mode = getMode();
@@ -15,7 +64,8 @@ function canView(socket) {
     return isLockdownAdmin(socket);
   }
   if (mode === MODES.ADMIN) {
-    return isAdmin(socket);
+    const role = getRole(socket);
+    return role === 'spectator' || isAdmin(socket);
   }
   return true;
 }
@@ -24,16 +74,18 @@ app.post('/mediamtx/auth', (req, res) => {
   const body = req.body || {};
   const path = (body.path || '').replace(/^\//, '');
   const sessionId = body.user;
-  const roverId = path;
+  const streamInfo = extractStreamInfo(path);
 
-  if (!sessionId || !roverId) {
-    logger.warn('auth missing session or rover (session=%s path=%s)', sessionId, path);
+  logger.info('video auth request', { path: body.path, sessionId, stream: streamInfo });
+
+  if (!sessionId || !streamInfo?.id) {
+    logger.warn('auth missing session or stream (session=%s path=%s)', sessionId, path);
     return res.status(401).end();
   }
 
   const info = videoSessions.getSession(sessionId);
-  if (!info || info.roverId !== roverId) {
-    logger.warn('invalid session %s for rover %s', sessionId, roverId);
+  if (!info || info.sourceType !== streamInfo.type || info.sourceId !== streamInfo.id) {
+    logger.warn('invalid session %s for stream %s:%s', sessionId, streamInfo.type, streamInfo.id);
     return res.status(401).end();
   }
   const socket = io.sockets.sockets.get(info.socketId);
@@ -45,7 +97,8 @@ app.post('/mediamtx/auth', (req, res) => {
     return res.status(401).end();
   }
   const role = getRole(socket);
-  if (role !== 'spectator' && !isAdmin(socket)) {
+  if (streamInfo.type === 'rover' && role !== 'spectator' && !isAdmin(socket)) {
+    const roverId = streamInfo.baseId || streamInfo.id;
     if (!roverManager.isDriver(roverId, socket)) {
       return res.status(401).end();
     }

server/src/services/videoSessions.js

@@ -1,12 +1,21 @@
 const { v4: uuidv4 } = require('uuid');
 const io = require('../globals/io');
 
-const sessions = new Map(); // sessionId -> { socketId, roverId }
+const sessions = new Map(); // sessionId -> { socketId, sourceType, sourceId }
 const socketSessions = new Map(); // socketId -> Set(sessionId)
 
-function createSession(socket, roverId) {
+function validateSource(source = {}) {
+  const { type, id } = source;
+  if (!type || !id) {
+    throw new Error('Invalid video source');
+  }
+  return { type, id };
+}
+
+function createSession(socket, source) {
+  const { type, id } = validateSource(source);
   const sessionId = uuidv4();
-  sessions.set(sessionId, { socketId: socket.id, roverId });
+  sessions.set(sessionId, { socketId: socket.id, sourceType: type, sourceId: id });
   if (!socketSessions.has(socket.id)) {
     socketSessions.set(socket.id, new Set());
   }

server/src/services/videoSocketService.js

@@ -9,29 +9,47 @@ const { loadConfig } = require('../helpers/configLoader');
 const config = loadConfig();
 const mediaConfig = config.media || {};
 
-function buildWhepUrl(roverId) {
+function getMediaPrefix() {
   const base = mediaConfig.whepBaseUrl;
   if (!base) {
     return '';
   }
-  let origin;
+  let prefix = base;
   try {
     const parsed = new URL(base);
-    origin = parsed.origin;
+    prefix = `${parsed.origin}${parsed.pathname}`;
   } catch (err) {
-    origin = base.replace(/\/.*$/, '');
+    // leave prefix as-is when URL parsing fails; fall back to string cleanup below
   }
-  const cleanBase = origin.replace(/\/$/, '');
-  const encodedId = encodeURIComponent(roverId);
-  return `${cleanBase}/${encodedId}/whep`;
+  return prefix.replace(/\/+$/, '');
 }
 
-function canView(socket, roverId) {
-  const mode = getMode();
-  if (mode === MODES.LOCKDOWN && !isLockdownAdmin(socket)) {
-    return false;
+function buildWhepUrlForSource(source) {
+  const cleanBase = getMediaPrefix();
+  if (!cleanBase) return '';
+  const segments = [];
+  if (source.type === 'room') {
+    segments.push('room', encodeURIComponent(source.id));
+  } else {
+    segments.push(encodeURIComponent(source.id));
   }
-  if (mode === MODES.ADMIN && !isAdmin(socket)) {
+  return `${cleanBase}/${segments.join('/')}/whep`;
+}
+
+function passesMode(socket) {
+  const mode = getMode();
+  if (mode === MODES.LOCKDOWN) {
+    return isLockdownAdmin(socket);
+  }
+  if (mode === MODES.ADMIN) {
+    const role = getRole(socket);
+    return role === 'spectator' || isAdmin(socket);
+  }
+  return true;
+}
+
+function canViewRover(socket, roverId) {
+  if (!passesMode(socket)) {
     return false;
   }
   const role = getRole(socket);
@@ -41,24 +59,50 @@ function canView(socket, roverId) {
   return roverManager.isDriver(roverId, socket);
 }
 
-io.on('connection', (socket) => {
-  socket.on('video:request', ({ roverId } = {}, cb = () => {}) => {
-    try {
-      if (!roverId) {
-        throw new Error('roverId required');
+function canViewRoomCamera(socket) {
+  return passesMode(socket);
+}
+
+function normalizeRequest(payload = {}) {
+  if (!payload) return null;
+  if (payload.type && payload.id) {
+    return { type: payload.type, id: String(payload.id) };
   }
-      if (!roverManager.rovers.has(roverId)) {
+  if (payload.roverId) {
+    return { type: 'rover', id: String(payload.roverId) };
+  }
+  if (payload.roomCameraId) {
+    return { type: 'room', id: String(payload.roomCameraId) };
+  }
+  return null;
+}
+
+io.on('connection', (socket) => {
+  socket.on('video:request', (payload = {}, cb = () => {}) => {
+    try {
+      const target = normalizeRequest(payload);
+      if (!target) {
+        throw new Error('video source required');
+      }
+      if (target.type === 'rover') {
+        const baseId = target.id.endsWith('-audio') ? target.id.slice(0, -6) : target.id;
+        if (!roverManager.rovers.has(baseId)) {
           throw new Error('Rover offline');
         }
-      if (!canView(socket, roverId)) {
+        if (!canViewRover(socket, baseId)) {
           throw new Error('Not authorized for video');
         }
-      const url = buildWhepUrl(roverId);
+      } else if (target.type === 'room') {
+        throw new Error('Room cameras now use the snapshot feed');
+      } else {
+        throw new Error('Unsupported video source');
+      }
+      const url = buildWhepUrlForSource(target);
       if (!url) {
         throw new Error('Server video base URL missing');
       }
-      const sessionId = videoSessions.createSession(socket, roverId);
-      cb({ url, token: sessionId });
+      const sessionId = videoSessions.createSession(socket, target);
+      cb({ url, token: sessionId, type: target.type, id: target.id });
     } catch (err) {
       logger.warn('video request failed: %s', err.message);
       cb({ error: err.message });

webui/index.html

@@ -2,9 +2,15 @@
 <html lang="en">
   <head>
     <meta charset="UTF-8" />
-    <link rel="icon" type="image/svg+xml" href="/vite.svg" />
+    <link rel="icon" type="image/png" href="/bitmap.png" />
+    <link rel="apple-touch-icon" href="/bitmap.png" />
+    <link rel="manifest" href="/manifest.json" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-    <title>webui</title>
+    <meta name="theme-color" content="#020617" />
+    <meta name="apple-mobile-web-app-capable" content="yes" />
+    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
+    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
+    <title>Multi Roomba Rover</title>
   </head>
   <body>
     <div id="root"></div>

webui/package-lock.json

@@ -10,6 +10,7 @@
       "dependencies": {
         "react": "^19.2.0",
         "react-dom": "^19.2.0",
+        "react-icons": "^5.5.0",
         "react-joystick-component": "^6.2.1",
         "react-router-dom": "^7.9.6"
       },
@@ -3391,6 +3392,15 @@
         "react": "^19.2.0"
       }
     },
+    "node_modules/react-icons": {
+      "version": "5.5.0",
+      "resolved": "https://registry.npmjs.org/react-icons/-/react-icons-5.5.0.tgz",
+      "integrity": "sha512-MEFcXdkP3dLo8uumGI5xN3lDFNsRtrjbOEKDLD7yv76v4wpnEq2Lt2qeHaQOr34I/wPN3s3+N08WkQ+CW37Xiw==",
+      "license": "MIT",
+      "peerDependencies": {
+        "react": "*"
+      }
+    },
     "node_modules/react-joystick-component": {
       "version": "6.2.1",
       "resolved": "https://registry.npmjs.org/react-joystick-component/-/react-joystick-component-6.2.1.tgz",

webui/package.json

@@ -4,7 +4,7 @@
   "version": "0.0.0",
   "type": "module",
   "scripts": {
-    "dev": "vite",
+    "dev": "VITE_ROVERD_URL=https://rover.otter.land vite",
     "build": "vite build",
     "lint": "eslint .",
     "preview": "vite preview"
@@ -12,6 +12,7 @@
   "dependencies": {
     "react": "^19.2.0",
     "react-dom": "^19.2.0",
+    "react-icons": "^5.5.0",
     "react-joystick-component": "^6.2.1",
     "react-router-dom": "^7.9.6"
   },

webui/public/manifest.json

@@ -0,0 +1,18 @@
+{
+  "name": "Multi Roomba Rover",
+  "short_name": "MRR",
+  "description": "Remote driving interface for the MultiRoomba Rover fleet.",
+  "start_url": "/",
+  "scope": "/",
+  "display": "standalone",
+  "background_color": "#000000",
+  "theme_color": "#020617",
+  "icons": [
+    {
+      "src": "/bitmap.png",
+      "sizes": "512x512",
+      "type": "image/png",
+      "purpose": "any"
+    }
+  ]
+}

webui/src/App.jsx

@@ -3,8 +3,12 @@ import TelemetryPanel from './components/TelemetryPanel.jsx';
 import DrivePanel from './components/DrivePanel.jsx';
 import AlertFeed from './components/AlertFeed.jsx';
 import AdminPanel from './components/AdminPanel.jsx';
-import MobileControls, { MobileJoystick, AuxMotorControls } from './components/MobileControls.jsx';
-import { DriveControlProvider } from './context/DriveControlContext.jsx';
+import MobileControls, {
+  MobileLandscapeAuxColumn,
+  MobileLandscapeControlColumn,
+} from './components/MobileControls.jsx';
+import { ControlSystemProvider, KeyboardInputManager, GamepadInputManager } from './controls/index.js';
+import { SettingsProvider } from './settings/index.js';
 import RoomCameraPanel from './components/RoomCameraPanel.jsx';
 import LogPanel from './components/LogPanel.jsx';
 import AuthPanel from './components/AuthPanel.jsx';
@@ -12,6 +16,12 @@ import DriverVideoPanel from './components/DriverVideoPanel.jsx';
 import RightPaneTabs from './components/RightPaneTabs.jsx';
 import ModeGateOverlay from './components/ModeGateOverlay.jsx';
 import SessionSnapshot from './components/SessionSnapshot.jsx';
+import HomeAssistantControls from './components/HomeAssistantControls.jsx';
+import TurnAlertListener from './components/TurnAlertListener.jsx';
+import UserListPanel from './components/UserListPanel.jsx';
+import ChatPanel from './components/ChatPanel.jsx';
+import FullscreenPrompt from './components/FullscreenPrompt.jsx';
+import { useFullscreenPrompt } from './hooks/useFullscreenPrompt.js';
 
 function useLayoutMode() {
   const [mode, setMode] = useState(() => {
@@ -45,30 +55,40 @@ function useLayoutMode() {
 
 function DesktopLayout({ layout }) {
   return (
-    <div className="flex flex-col gap-1">
-      <section className="grid grid-cols-[minmax(0,1.8fr)_minmax(0,1fr)] gap-1">
+    <div className="flex h-full gap-0.5 overflow-hidden">
+      <div className="flex min-w-0 flex-[1.8] flex-col gap-0.5 overflow-y-auto pr-0.5">
         <DriverVideoPanel />
-        <RightPaneTabs layout={layout} />
-      </section>
-      <section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-1">
-        {/* <AdminPanel /> */}
+        <div className="grid h-52 grid-cols-2 gap-0.5">
+          <div className="h-full min-h-0">
+            <UserListPanel fillHeight />
+          </div>
+          <div className="h-full min-h-0">
+            <ChatPanel fillHeight />
+          </div>
+        </div>
         <LogPanel />
-        <SessionSnapshot />
-      </section>
+      </div>
+      <div className="flex min-w-0 flex-1 flex-col gap-0.5 overflow-y-auto">
+        <RightPaneTabs layout={layout} />
+        {/* <SessionSnapshot /> */}
+      </div>
     </div>
   );
 }
 
 function MobilePortraitLayout() {
   return (
-    <div className="flex flex-col gap-1">
-      <DriverVideoPanel />
+    <div className="flex flex-col gap-0.5">
+      <DriverVideoPanel layoutFormat='mobile'/>
       <MobileControls />
+      <ChatPanel />
+      <UserListPanel />
       <DrivePanel />
       <TelemetryPanel />
       <AuthPanel />
       <AdminPanel />
-      <RoomCameraPanel />
+      <RoomCameraPanel panelId="mobile-portrait-room" />
+      <HomeAssistantControls />
       <LogPanel />
     </div>
   );
@@ -76,48 +96,66 @@ function MobilePortraitLayout() {
 
 function MobileLandscapeLayout() {
   return (
-    <div className="flex flex-col gap-1">
-      <section className="grid grid-cols-[minmax(0,0.7fr)_minmax(0,2.1fr)_minmax(0,0.7fr)] gap-1">
-        <div className="flex flex-col gap-1">
-          <AuxMotorControls />
-        </div>
-        <DriverVideoPanel />
-        <div className="flex flex-col gap-1">
-          <MobileJoystick />
-        </div>
-      </section>
-      <RoomCameraPanel />
-      <DrivePanel />
-      <section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-1">
-        <div className="flex flex-col gap-1">
-          <AuthPanel />
-          <AdminPanel />
-        </div>
-        <div className="flex flex-col gap-1">
-          <LogPanel />
+    <div className="flex flex-col gap-0.5">
+      <section className="grid min-h-screen grid-cols-[minmax(0,0.7fr)_minmax(0,2.1fr)_minmax(0,0.7fr)] gap-0.5">
+        <MobileLandscapeAuxColumn />
+        <div>
+          <DriverVideoPanel layoutFormat='mobile'/>
           <TelemetryPanel />
         </div>
+        <MobileLandscapeControlColumn />
       </section>
+      <div className="flex flex-col gap-0.5 pb-0.5">
+        <section className="grid grid-cols-[minmax(0,1fr)_minmax(0,1fr)] gap-0.5">
+          <div className="flex flex-col gap-0.5">
+            {/* <AuthPanel /> */}
+            {/* <AdminPanel /> */}
+            <UserListPanel />
+          </div>
+          <div className="flex flex-col gap-0.5">
+            {/* <LogPanel /> */}
+            <ChatPanel />
+          </div>
+        </section>
+        <RoomCameraPanel panelId="mobile-landscape-room" />
+        <HomeAssistantControls />
+        {/* <DrivePanel /> */}
+      </div>
     </div>
   );
 }
 
 function App() {
   const layout = useLayoutMode();
+  const isDesktop = layout === 'desktop';
+  const { visible: fullscreenVisible, mode: fullscreenMode, enterFullscreen, dismiss } = useFullscreenPrompt(layout);
   const renderedLayout =
-    layout === 'desktop'
+    isDesktop
       ? <DesktopLayout layout={layout} />
       : layout === 'mobile-landscape'
       ? <MobileLandscapeLayout />
       : <MobilePortraitLayout />;
 
   return (
-    <div className="min-h-screen bg-black text-slate-50">
-      <DriveControlProvider>
-        <main className="flex w-full flex-col gap-1 px-1 py-1 text-base">{renderedLayout}</main>
+    <div className={`bg-black text-slate-100 ${isDesktop ? 'h-screen overflow-hidden' : 'min-h-screen'}`}>
+      <SettingsProvider>
+        <ControlSystemProvider>
+          <KeyboardInputManager />
+          <GamepadInputManager />
+          <main className={`flex w-full flex-col gap-0.5 text-base ${isDesktop ? 'h-full overflow-hidden' : ''}`}>
+            {renderedLayout}
+          </main>
           <AlertFeed />
+          <TurnAlertListener />
           <ModeGateOverlay />
-      </DriveControlProvider>
+          <FullscreenPrompt
+            visible={fullscreenVisible}
+            mode={fullscreenMode}
+            onEnterFullscreen={enterFullscreen}
+            onDismiss={dismiss}
+          />
+        </ControlSystemProvider>
+      </SettingsProvider>
     </div>
   );
 }

webui/src/components/AdminPanel.jsx

@@ -1,5 +1,6 @@
 import { useMemo, useState } from 'react';
 import { useSession } from '../context/SessionContext.jsx';
+import RoverRoster from './RoverRoster.jsx';
 
 const MODES = [
   { key: 'open', label: 'Open' },
@@ -57,14 +58,10 @@ export default function AdminPanel() {
   if (!isAdmin) return null;
 
   return (
-    <section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
-      <div className="flex items-center justify-between gap-1 text-sm">
+    <section className="panel-section space-y-0.5 text-base">
+      <div className="flex items-center justify-between gap-0.5 text-sm">
         <span>Admin controls</span>
-        <select
-          value={currentMode}
-          onChange={handleModeChange}
-          className="rounded-sm bg-black/40 px-1 py-1 text-sm text-slate-100"
-        >
+        <select value={currentMode} onChange={handleModeChange} className="field-input text-sm">
           {MODES.map((mode) => (
             <option key={mode.key} value={mode.key}>
               {mode.label}
@@ -73,32 +70,23 @@ export default function AdminPanel() {
         </select>
       </div>
 
-      <div className="mt-1 space-y-1 text-sm">
-        {roster.map((rover) => (
-          <div key={rover.id} className="flex flex-wrap items-center justify-between gap-1 rounded-sm bg-black/30 px-1 py-1">
-            <div>
-              <p className="text-slate-100">{rover.name}</p>
-              <p className="text-xs text-slate-400">{lockMap[rover.id] ? 'locked' : 'unlocked'}</p>
-            </div>
-            <div className="flex flex-wrap gap-1 text-xs">
+      <RoverRoster
+        roster={roster}
+        renderActions={(rover) => (
+          <div className="flex flex-wrap gap-0.5 text-xs">
             <button
               type="button"
               onClick={() => handleLockToggle(rover.id, !lockMap[rover.id])}
-                className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
+              className="button-dark"
             >
               {lockMap[rover.id] ? 'Unlock' : 'Lock'}
             </button>
-              <button
-                type="button"
-                onClick={() => handleForceControl(rover.id)}
-                className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
-              >
+            <button type="button" onClick={() => handleForceControl(rover.id)} className="button-dark">
               Force
             </button>
           </div>
-          </div>
-        ))}
-      </div>
+        )}
+      />
     </section>
   );
 }

webui/src/components/AdvancedSettings.jsx

@@ -1,76 +0,0 @@
-import { useMemo } from 'react';
-import { useDriveControl } from '../context/DriveControlContext.jsx';
-import { useSocket } from '../context/SocketContext.jsx';
-import AuthPanel from './AuthPanel.jsx';
-import AdminPanel from './AdminPanel.jsx';
-
-const manualTabs = [
-  { key: 'start', label: 'Start OI' },
-  { key: 'safe', label: 'Safe' },
-  { key: 'full', label: 'Full' },
-  { key: 'passive', label: 'Passive' },
-  { key: 'dock', label: 'Dock' },
-];
-
-export default function AdvancedSettings() {
-  const { roverId, sendOiCommand } = useDriveControl();
-  const socket = useSocket();
-  const canControl = Boolean(roverId);
-
-  const sensorButtons = useMemo(
-    () => [
-      { key: 'start', label: 'Enable stream', enable: true },
-      { key: 'stop', label: 'Disable stream', enable: false },
-    ],
-    [],
-  );
-
-  const handleSensorToggle = (enable) => {
-    if (!roverId) return;
-    socket.emit('command', {
-      roverId,
-      type: 'sensorStream',
-      data: { sensorStream: { enable } },
-    });
-  };
-
-  return (
-    <div className="space-y-1">
-      <section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
-        <p className="text-xs text-slate-400">Manual OI commands</p>
-        <div className="mt-1 flex flex-wrap gap-1">
-          {manualTabs.map((tab) => (
-            <button
-              key={tab.key}
-              type="button"
-              onClick={() => sendOiCommand(tab.key)}
-              disabled={!canControl}
-              className="rounded-sm bg-black/40 px-1 py-0.5 text-xs text-slate-200 disabled:opacity-30"
-            >
-              {tab.label}
-            </button>
-          ))}
-        </div>
-      </section>
-      <section className="rounded-sm bg-[#242a32] p-1 text-sm text-slate-100">
-        <p className="text-xs text-slate-400">Sensor stream</p>
-        <div className="mt-1 flex gap-1">
-          {sensorButtons.map((btn) => (
-            <button
-              key={btn.key}
-              type="button"
-              onClick={() => handleSensorToggle(btn.enable)}
-              disabled={!canControl}
-              className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-xs text-slate-200 disabled:opacity-30"
-            >
-              {btn.label}
-            </button>
-          ))}
-        </div>
-        {!canControl && <p className="mt-1 text-xs text-slate-500">Assign a rover to toggle streams.</p>}
-      </section>
-      <AuthPanel />
-      <AdminPanel />
-    </div>
-  );
-}

webui/src/components/AlertFeed.jsx

@@ -30,7 +30,7 @@ export default function AlertFeed() {
   if (!visible.length) return null;
 
   return (
-    <div className="pointer-events-none fixed top-1 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-1">
+    <div className="pointer-events-none fixed top-0.5 left-1/2 z-50 flex -translate-x-1/2 flex-col gap-0.5">
       {visible.map((toast) => (
         <AlertToast key={toast.key} alert={toast.alert} />
       ))}
@@ -46,8 +46,8 @@ function AlertToast({ alert }) {
       ? 'bg-amber-500/30 text-amber-100'
       : 'bg-emerald-500/30 text-emerald-100';
   return (
-    <div className={`pointer-events-auto rounded-sm px-1 py-1 text-[0.75rem] shadow-lg shadow-black/60 ${colorClasses}`}>
-      <p className="text-[0.65rem] text-slate-300">{alert.title || 'Alert'}</p>
+    <div className={`pointer-events-auto px-0.5 py-0.5 text-[0.85rem] ${colorClasses}`}>
+      <p className="text-xs text-slate-200">{alert.title || 'Alert'}</p>
       <p className="text-sm text-white">{alert.message}</p>
     </div>
   );

webui/src/components/AuthPanel.jsx

@@ -22,46 +22,34 @@ export default function AuthPanel() {
   }
 
   return (
-    <div className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
+    <div className="panel-section space-y-0.5 text-base">
       <p className="text-sm text-slate-400">Admin login</p>
-      <form className="mt-1 flex flex-col gap-1" onSubmit={handleLogin}>
+      <form className="flex flex-col gap-0.5" onSubmit={handleLogin}>
         <input
-          className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
+          className="field-input"
           placeholder="Username"
           value={username}
           onChange={(e) => setUsername(e.target.value)}
         />
         <input
-          className="rounded-sm bg-black/50 px-1 py-1 text-slate-100"
+          className="field-input"
           placeholder="Password"
           type="password"
           value={password}
           onChange={(e) => setPassword(e.target.value)}
         />
-        <button
-          type="submit"
-          disabled={loading}
-          className="rounded-sm bg-slate-200 px-1 py-1 text-sm font-semibold text-black disabled:opacity-50"
-        >
+        <button type="submit" disabled={loading} className="button-dark w-full disabled:opacity-50">
           {loading ? 'Logging in…' : 'Login'}
         </button>
       </form>
-      <div className="mt-1 flex gap-1 text-sm">
-        <button
-          type="button"
-          onClick={() => setRole('user')}
-          className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-slate-200"
-        >
+      {/* <div className="flex gap-0.5 text-sm">
+        <button type="button" onClick={() => setRole('user')} className="flex-1 button-dark">
           Driver
         </button>
-        <button
-          type="button"
-          onClick={() => setRole('spectator')}
-          className="flex-1 rounded-sm bg-black/40 px-1 py-1 text-slate-200"
-        >
+        <button type="button" onClick={() => setRole('spectator')} className="flex-1 button-dark">
           Spectator
         </button>
-      </div>
+      </div> */}
     </div>
   );
 }

webui/src/components/CameraServoPanel.jsx

@@ -0,0 +1,123 @@
+import { useEffect, useRef, useState } from 'react';
+import { useControlSystem } from '../controls/index.js';
+
+const SLIDER_THROTTLE_MS = 150;
+
+function formatDegrees(value) {
+  if (typeof value !== 'number' || Number.isNaN(value)) return '—';
+  return `${value > 0 ? '+' : ''}${value.toFixed(1)}°`;
+}
+
+export default function CameraServoPanel() {
+  const {
+    state: { roverId, camera },
+    actions: { setServoAngle, nudgeServo, goServoHome },
+  } = useControlSystem();
+  const config = camera?.config;
+  const enabled = Boolean(roverId && camera?.enabled && config);
+  const min = typeof config?.minAngle === 'number' ? config.minAngle : -30;
+  const max = typeof config?.maxAngle === 'number' ? config.maxAngle : 30;
+  const value =
+    typeof camera?.angle === 'number'
+      ? camera.angle
+      : typeof config?.homeAngle === 'number'
+        ? config.homeAngle
+        : (min + max) / 2;
+
+  if (!enabled) return null;
+
+  const [pendingAngle, setPendingAngle] = useState(value);
+  const throttleRef = useRef(null);
+  const draggingRef = useRef(false);
+
+  useEffect(() => {
+    if (!draggingRef.current) {
+      setPendingAngle(value);
+    }
+  }, [value]);
+
+  useEffect(
+    () => () => {
+      if (throttleRef.current) {
+        clearTimeout(throttleRef.current);
+      }
+    },
+    [],
+  );
+
+  const step =
+    typeof config?.nudgeDegrees === 'number' && config.nudgeDegrees > 0
+      ? config.nudgeDegrees
+      : 1;
+
+  const scheduleSend = (next) => {
+    if (throttleRef.current) {
+      clearTimeout(throttleRef.current);
+    }
+    throttleRef.current = setTimeout(() => {
+      setServoAngle(next);
+    }, SLIDER_THROTTLE_MS);
+  };
+
+  const handleSlider = (event) => {
+    const next = Number.parseFloat(event.target.value);
+    if (Number.isNaN(next)) return;
+    draggingRef.current = true;
+    setPendingAngle(next);
+    scheduleSend(next);
+  };
+
+  const commitSlider = () => {
+    draggingRef.current = false;
+    if (throttleRef.current) {
+      clearTimeout(throttleRef.current);
+    }
+    setServoAngle(pendingAngle);
+  };
+
+  const handleNudge = (direction) => {
+    const delta = step * direction;
+    nudgeServo(delta);
+  };
+
+  return (
+    <section className="panel-section space-y-0.5 text-base">
+      <div className="flex items-center justify-between text-sm text-slate-300">
+        <span>Camera Tilt</span>
+        <span className="font-mono text-sm text-slate-100">{formatDegrees(value)}</span>
+      </div>
+      <div>
+        <input
+          type="range"
+          className="w-full accent-emerald-400"
+          min={min}
+          max={max}
+          step={0.5}
+          value={pendingAngle}
+          onChange={handleSlider}
+          onMouseUp={commitSlider}
+          onTouchEnd={commitSlider}
+          onPointerUp={commitSlider}
+        />
+        <div className="mt-0.5 flex justify-between text-xs text-slate-400">
+          <span>{formatDegrees(min)}</span>
+          <span>{formatDegrees(max)}</span>
+        </div>
+      </div>
+      {/* <div className="flex gap-0.5 text-sm">
+        <button type="button" className="flex-1 button-dark" onClick={() => handleNudge(-1)}>
+          Tilt Down
+        </button>
+        <button type="button" className="flex-1 button-dark" onClick={() => goServoHome()}>
+          Center
+        </button>
+        <button type="button" className="flex-1 button-dark" onClick={() => handleNudge(1)}>
+          Tilt Up
+        </button>
+      </div> */}
+      {/* <p className="text-xs text-slate-400">
+        Step: {formatDegrees(step)} · Pin GPIO {config?.pin}
+      </p> */}
+    </section>
+  );
+}

webui/src/components/ChatPanel.jsx

@@ -0,0 +1,197 @@
+import { useEffect, useMemo, useRef, useState } from 'react';
+import { useChat } from '../context/ChatContext.jsx';
+import { useSession } from '../context/SessionContext.jsx';
+
+function roleColors(role, fromDiscord) {
+  if (fromDiscord) return 'text-indigo-200';
+  switch (role) {
+    case 'admin':
+    case 'lockdown':
+    case 'lockdown-admin':
+      return 'text-amber-300';
+    case 'spectator':
+      return 'text-slate-400';
+    default:
+      return 'text-sky-300';
+  }
+}
+
+function formatTime(ts) {
+  const date = new Date(ts);
+  return `${date.getHours().toString().padStart(2, '0')}:${date.getMinutes().toString().padStart(2, '0')}`;
+}
+
+function displayName(message) {
+  return message.nickname || message.socketId?.slice(0, 6) || 'unknown';
+}
+
+const FLITE_VOICES = ['kal', 'rms', 'slt', 'ksp', 'bdl'];
+const ESPEAK_PITCHES = Array.from({ length: 10 }, (_, idx) => idx * 10);
+
+export default function ChatPanel({ hideInput = false, hideSpectatorNotice = false, fillHeight = false }) {
+  const { session } = useSession();
+  const { messages, sendMessage, registerInputRef, onInputFocus, onInputBlur, blurChat } = useChat();
+  const [draft, setDraft] = useState('');
+  const [sending, setSending] = useState(false);
+  const [speak, setSpeak] = useState(false);
+  const [engine, setEngine] = useState('flite');
+  const [voice, setVoice] = useState('rms');
+  const [pitch, setPitch] = useState(50);
+  const canChat = session?.role !== 'spectator';
+  const listRef = useRef(null);
+  const currentRoverId = session?.assignment?.roverId || null;
+
+  const rover = useMemo(
+    () => session?.roster?.find((entry) => String(entry.id) === String(currentRoverId)) || null,
+    [currentRoverId, session?.roster],
+  );
+  const ttsSupported = Boolean(rover?.audio?.ttsEnabled);
+
+  const sorted = useMemo(() => messages.slice(-200), [messages]);
+
+  useEffect(() => {
+    if (!listRef.current) return;
+    listRef.current.scrollTop = listRef.current.scrollHeight;
+  }, [sorted]);
+
+  useEffect(() => {
+    if (ttsSupported) {
+      setSpeak(true);
+    } else {
+      setSpeak(false);
+    }
+  }, [ttsSupported]);
+
+  const ttsPayload = useMemo(() => {
+    if (!ttsSupported || !speak) return null;
+    if (engine === 'espeak') {
+      return { speak: true, engine, pitch };
+    }
+    return { speak: true, engine, voice };
+  }, [engine, pitch, speak, ttsSupported, voice]);
+
+  async function handleSend(event) {
+    event.preventDefault();
+    if (!canChat || hideInput) return;
+    // Allow users to type "\n" to represent a newline in messages
+    const normalizedDraft = draft.replace(/\\n/g, '\n');
+    const clean = normalizedDraft.trim();
+    if (!clean) return;
+    setSending(true);
+    try {
+      await sendMessage(clean, ttsPayload);
+      setDraft('');
+      blurChat();
+    } catch (err) {
+      alert(err.message);
+    } finally {
+      setSending(false);
+    }
+  }
+
+  const listClass = fillHeight ? 'flex-1 min-h-0 overflow-y-auto' : 'h-48 overflow-y-auto';
+
+  return (
+    <section className={`panel-section space-y-0.5 text-base ${fillHeight ? 'flex h-full flex-col overflow-hidden' : ''}`}>
+      <div className={`surface overflow-y-auto space-y-0.25 ${listClass}`} ref={listRef}>
+        {sorted.length === 0 ? (
+          <p className="text-sm text-slate-500">No messages yet.</p>
+        ) : (
+          sorted.map((msg) => {
+            const isAdmin =
+              msg.role === 'admin' || msg.role === 'lockdown' || msg.role === 'lockdown-admin';
+            return (
+              <div
+                key={msg.id}
+                className={`surface-muted text-sm flex items-start gap-1 ${
+                  isAdmin
+                    ? 'border border-amber-400/30'
+                    : msg.fromDiscord
+                      ? 'border border-indigo-400/30 bg-indigo-900/20'
+                      : ''
+                }`}
+              >
+                <span className="text-[0.75rem] text-slate-400">{formatTime(msg.ts)}</span>
+                <span className={`font-semibold text-[0.85rem] ${roleColors(msg.role, msg.fromDiscord)}`}>
+                  {displayName(msg)}
+                </span>
+                {msg.fromDiscord && (
+                  <span className="rounded bg-indigo-500/30 px-1 text-[0.7rem] text-indigo-100">
+                    Discord
+                  </span>
+                )}
+                {msg.roverId && (
+                  <span className="rounded bg-slate-800 px-1 text-[0.7rem]">rover {msg.roverId}</span>
+                )}
+                <span className="text-slate-100 break-words leading-tight whitespace-pre-wrap">{msg.text}</span>
+              </div>
+            );
+          })
+        )}
+      </div>
+      {!hideInput && (
+        <form className="flex gap-0.5" onSubmit={handleSend}>
+          <input
+            className="field-input flex-1"
+            value={draft}
+            onChange={(e) => setDraft(e.target.value)}
+            onFocus={onInputFocus}
+            onBlur={onInputBlur}
+            ref={(el) => registerInputRef(el)}
+            placeholder={canChat ? 'Type a message…' : hideSpectatorNotice ? '' : 'Spectators cannot chat'}
+            disabled={!canChat}
+          />
+          {ttsSupported && (
+            <div className="flex items-center gap-0.5">
+              <label className="flex items-center gap-0.25 text-xs text-slate-300">
+                <input
+                  type="checkbox"
+                  checked={speak}
+                  onChange={(e) => setSpeak(e.target.checked)}
+                  className="accent-cyan-500"
+                />
+                <span>Speak</span>
+              </label>
+              <select
+                value={engine}
+                onChange={(e) => setEngine(e.target.value)}
+                className="field-input text-xs"
+              >
+                <option value="flite">flite</option>
+                <option value="espeak">espeak</option>
+              </select>
+              {engine === 'flite' ? (
+                <select
+                  value={voice}
+                  onChange={(e) => setVoice(e.target.value)}
+                  className="field-input text-xs"
+                >
+                  {FLITE_VOICES.map((v) => (
+                    <option key={v} value={v}>
+                      {v}
+                    </option>
+                  ))}
+                </select>
+              ) : (
+                <select
+                  value={pitch}
+                  onChange={(e) => setPitch(Number(e.target.value))}
+                  className="field-input text-xs"
+                >
+                  {ESPEAK_PITCHES.map((p) => (
+                    <option key={p} value={p}>
+                      pitch {p}
+                    </option>
+                  ))}
+                </select>
+              )}
+            </div>
+          )}
+          <button type="submit" disabled={!canChat || sending} className="button-dark disabled:opacity-50">
+            {sending ? '...' : 'Send'}
+          </button>
+        </form>
+      )}
+    </section>
+  );
+}

webui/src/components/DiscordInviteButton.jsx

@@ -0,0 +1,23 @@
+import { useSession } from "../context/SessionContext";
+import { FaDiscord } from "react-icons/fa";
+
+export default function DiscordInviteButton({text = "Join our Discord!"}) {
+  const { session } = useSession();
+  const discordInvite = session?.discord?.invite || null;
+
+  if (!discordInvite) return null;
+
+  return (
+    <a
+      href={discordInvite}
+      target="_blank"
+      rel="noopener noreferrer"npm 
+      className="inline-flex items-center px-3 py-2 text-white rainbow-animate-bg transition justify-center"
+    // animated rainbow backgound
+    // className="inline-flex items-center px-3 py-2 bg-gradient-to-r from-indigo-500 via-purple-500 to-pink-500 text-white rounded hover:from-indigo-600 hover:via-purple-600 hover:to-pink-600 transition"
+    >
+      <FaDiscord className="mr-2" />
+        {text}
+    </a>
+  );
+}

webui/src/components/DrivePanel.jsx

@@ -1,8 +1,12 @@
-import { useDriveControl } from '../context/DriveControlContext.jsx';
 import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
+import { useControlSystem } from '../controls/index.js';
+import DiscordInviteButton from './DiscordInviteButton.jsx';
 
 export default function DrivePanel() {
-  const { roverId, runStartDockFull, seekDock } = useDriveControl();
+  const {
+    state: { roverId },
+    actions,
+  } = useControlSystem();
   const frame = useTelemetryFrame(roverId);
   const sensors = frame?.sensors || {};
   const drivingMode = (sensors.oiMode?.label || '').toLowerCase() === 'full';
@@ -11,61 +15,78 @@ export default function DrivePanel() {
     sensors.chargingState?.label && sensors.chargingState.label.toLowerCase() !== 'not charging',
   );
 
+  const handleStartDrive = () => {
+    if (!roverId) return;
+    actions.setMode('drive');
+    actions.runMacro('drive-sequence');
+  };
+
+  const handleDock = () => {
+    if (!roverId) return;
+    actions.setMode('dock');
+    actions.runMacro('seek-dock');
+  };
+
   return (
-    <section className="rounded-sm bg-[#242a32] p-1 text-base text-slate-100">
-      <div className="flex items-center justify-between text-sm text-slate-300">
+    <section className="panel-section space-y-0.5 text-base">
+      {/* <div className="flex items-center justify-between text-sm text-slate-300">
         <span>Drive control</span>
-        <span>{roverId ? `Rover ${roverId}` : 'unassigned'}</span>
-      </div>
-      <div className="mt-1 space-y-1">
+        <span>{roverId ? 'Ready to drive' : 'No rover assigned'}</span>
+      </div> */}
+      <div className="space-y-0.5">
         <ActionCard
           title="Start Driving"
-          description="Press to enable driving mode, then start moving. The headlamps should illuminate."
+          description="Press to enable driving mode, then start moving."
           statuses={[{ label: drivingMode ? 'Ready!' : 'Not Ready!', active: drivingMode }]}
           tone="emerald"
-          onClick={runStartDockFull}
+          onClick={handleStartDrive}
           disabled={!roverId}
         />
         <ActionCard
           title="Dock and Charge"
-          description="Line the rover up about a foot from the dock, then trigger an automatic approach."
+          description="Line the rover up about a foot from the dock, then trigger an automatic docking attempt."
           statuses={[
             { label: docked ? 'Docked!' : 'Not Docked!', active: docked },
             { label: charging ? 'Charging!' : 'Not Charging!', active: charging },
           ]}
           tone="indigo"
-          onClick={seekDock}
+          onClick={handleDock}
           disabled={!roverId}
         />
       </div>
+      {/* <DiscordInviteButton /> */}
     </section>
   );
 }
 
 function ActionCard({ title, description, statuses, tone, onClick, disabled, footnote }) {
-  const baseColor = tone === 'indigo' ? 'bg-indigo-600' : 'bg-emerald-600';
+  const colors =
+    tone === 'indigo'
+      ? { base: 'bg-indigo-600', hover: 'hover:bg-indigo-500' }
+      : { base: 'bg-emerald-600', hover: 'hover:bg-emerald-500' };
   return (
     <button
       type="button"
       onClick={onClick}
       disabled={disabled}
-      className={`w-full rounded-lg ${baseColor} px-1 py-1 text-left text-white disabled:opacity-40`}
+      className={`w-full ${colors.base} ${colors.hover} px-0.5 py-0.5 text-left text-white transition-colors disabled:opacity-40 disabled:cursor-not-allowed text-center content-center`}
     >
       <p className="text-base font-semibold">{title}</p>
       <p className="text-sm text-white/90">{description}</p>
-      <div className="mt-1 flex flex-wrap gap-1">
+      {/* center statuses in button */}
+      <div className="mt-0.5 flex flex-wrap gap-0.5 items-center w-full justify-center">
         {statuses.map((status) => (
           <span
             key={status.label}
-            className={`rounded-full px-1 py-0.5 text-xs font-semibold ${
-              status.active ? 'bg-lime-300 text-emerald-900' : 'bg-emerald-900 text-emerald-100'
+            className={`p-1 text-xs font-semibold ${
+              status.active ? 'bg-green-600 text-white' : 'bg-red-500 text-white'
             }`}
           >
             {status.label}
           </span>
         ))}
       </div>
-      {footnote && <p className="mt-1 text-xs text-emerald-50/80">{footnote}</p>}
+      {footnote && <p className="mt-0.5 text-xs text-emerald-50/80">{footnote}</p>}
     </button>
   );
 }