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PitresAli
2026-08-27 18:24:22 +02:00
parent 3d47f479e6
commit 10cd37eea7
26 changed files with 4905 additions and 860 deletions
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SUB Control/web/app.js
+205 -66
View File
@@ -6,11 +6,25 @@ const STATUS_LABELS = {
link_degraded: 'Signal lost — check tether',
};
const $=s=>document.querySelector(s), $$=s=>[...document.querySelectorAll(s)];
const control={forward:0,turn:0,vertical:0}, keys=new Set(); let bridgeReady=false, appState='disconnected', batteryConfig={}, servoSignature='', lastAxisSend=0, axisTimer=0, demoActive=false, demoState=null;
const control={forward:0,turn:0,vertical:0}, pressedKeys=new Set(); let bridgeReady=false, appState='disconnected', batteryConfig={}, servoSignature='', lastAxisSend=0, axisTimer=0, demoActive=false, demoState=null;
const api=(name,...args)=>window.pywebview.api[name](...args);
function makeDemoState(){const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,label:i<=3?`Motor ${i}`:'Unassigned',motor:i<=3?i:null,direction:i<=3?1:null};return {connected:true,link:'LINK OK',vehicle:'DEMO • DISARMED',armed:false,mode:'MANUAL',app_state:'connected_disarmed',status:'Demo mode ready — no hardware or spoofer.',battery:{voltage:15.8,per_cell:3.95,percent:72,cells:4,low:false},servos}}
const activity=[];
let lastReportedStatus='';
function recordActivity(message){
if(!message||activity[0]===message)return;
activity.unshift(String(message));activity.length=Math.min(activity.length,3);
['#status-text','#activity-previous','#activity-oldest'].forEach((selector,i)=>{
const row=$(selector);if(row){row.textContent=activity[i]||'';row.hidden=!activity[i]}
});
}
function withTimeout(promise,ms=1500){return new Promise((resolve,reject)=>{const timer=setTimeout(()=>reject(new Error('Control bridge timed out')),ms);Promise.resolve(promise).then(value=>{clearTimeout(timer);resolve(value)},error=>{clearTimeout(timer);reject(error)})})}
let vehicleSnapshot={connected:false,armed:null}, view=ControlState.present(vehicleSnapshot), inputFocused=true,
bridgeStale=false,lastBridgeAt=performance.now(),axisBusy=false,inputSequence=Date.now(),
localRequest=null,commandError='',requestSerial=0,demoCommandTimer=0,lastSafetyTick=performance.now();
const canDrive=()=>view.drive&&performance.now()-lastSafetyTick<750;
window.canDrive=canDrive;
function makeDemoState(){const servos={};for(let i=1;i<=16;i++)servos[String(i)]={function:i<=3?32+i:0,label:i<=3?`Motor ${i}`:'Unassigned',motor:i<=3?i:null,direction:i<=3?1:null};return {connected:true,link:'LINK OK',vehicle:'DEMO • DISARMED',armed:false,armed_known:true,mode:'MANUAL',app_state:'connected_disarmed',status:'Demo mode ready — no hardware or spoofer.',battery:{voltage:15.8,per_cell:3.95,percent:72,cells:4,low:false},servos}}
function updateDemo(patch){Object.assign(demoState,patch);render(demoState)}
addEventListener('pointermove',e=>{const button=e.target.closest?.('button:not(.battery-card), .stick');if(!button)return;const rect=button.getBoundingClientRect();button.style.setProperty('--glow-x',`${e.clientX-rect.left}px`);button.style.setProperty('--glow-y',`${e.clientY-rect.top}px`)});
document.addEventListener('click',e=>{const btn=e.target.closest('.num-step');if(!btn)return;const pill=btn.closest('.number-pill');if(!pill)return;const input=pill.querySelector('input');if(!input)return;const step=+input.step||1,min=input.min!==''?+input.min:-Infinity,max=input.max!==''?+input.max:Infinity;let val=+input.value||0;if(btn.classList.contains('down'))val=Math.max(min,+(val-step).toFixed(4));else val=Math.min(max,+(val+step).toFixed(4));input.value=val;input.dispatchEvent(new Event('input',{bubbles:true}));input.dispatchEvent(new Event('change',{bubbles:true}))});
function toast(message,error=false){const el=$('#toast');el.textContent=message;el.className=`toast show${error?' error':''}`;clearTimeout(toast.t);toast.t=setTimeout(()=>el.className='toast',2600)}
window.showToast=toast;
@@ -51,23 +65,51 @@ function populatePorts(ports){
p.value=allList[0].device;
}
}
function sendAxes(){if(appState!=='armed')return;if(demoActive){demoState.status=`Demo controls • surge ${control.forward.toFixed(2)} • yaw ${control.turn.toFixed(2)} • heave ${control.vertical.toFixed(2)}`;$('#status-text').textContent=demoState.status;return}if(!bridgeReady)return;const transmit=()=>{lastAxisSend=performance.now();axisTimer=0;api('set_axes',control.forward,control.turn,control.vertical).catch(e=>toast(e.message,true))},wait=50-(performance.now()-lastAxisSend);if(wait<=0)transmit();else{clearTimeout(axisTimer);axisTimer=setTimeout(transmit,wait)}}
function updateReadouts(){ if(appState!=='armed'){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}
function sendAxes(){
if(!canDrive()||demoActive||!bridgeReady||axisBusy)return;
const transmit=()=>{
axisTimer=0;
if(!canDrive()||demoActive||axisBusy)return;
lastAxisSend=performance.now();axisBusy=true;
withTimeout(api('set_axes',control.forward,control.turn,control.vertical,++inputSequence))
.catch(()=>markBridgeStale()).finally(()=>axisBusy=false);
};
const wait=50-(performance.now()-lastAxisSend);
if(wait<=0)transmit();else if(!axisTimer)axisTimer=setTimeout(transmit,wait);
}
// This is a local bridge lease, not extra MAVLink traffic. The worker retains
// the configured wire rate and neutralizes if the UI stops renewing its input.
setInterval(()=>{if(canDrive())sendAxes()},250);
function updateReadouts(){ if(!canDrive()){$('#surge-readout').textContent='—';$('#yaw-readout').textContent='—';$('#heave-readout').textContent='—';return;}$('#surge-readout').textContent=Math.round(control.forward*100);$('#yaw-readout').textContent=Math.round(control.turn*100);$('#heave-readout').textContent=Math.round(control.vertical*100);}
window.setJoyControl=(x,y)=>{if(appState!=='armed')return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
window.setJoyControl=(x,y)=>{if(!canDrive())return;control.turn=x;control.forward=-y;updateReadouts();sendAxes();};
function releaseHandle(el){el.classList.remove('pressed');el.classList.add('released');setTimeout(()=>el.classList.remove('released'),520)}
const heave=$('#heave'),hknob=$('#heave-knob'),hfill=$('#heave-fill');let heavePointer=null,heaveAnim=0;
function setHeave(v,send=true){if(appState!=='armed'&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&appState==='armed')sendAxes();}
function setHeave(v,send=true){if(!canDrive()&&v!==0)return;v=Math.max(-1,Math.min(1,v));control.vertical=v;heave.dataset.commanded=String(Math.abs(v)>.03);hknob.style.top=`${50-v*43}%`;hfill.style.top=v>=0?`${50-v*43}%`:'50%';hfill.style.height=`${Math.abs(v)*43}%`;updateReadouts();if(send&&canDrive())sendAxes();}
function heaveEvent(e){const b=heave.getBoundingClientRect();setHeave((b.top+b.height/2-e.clientY)/(b.height*.43))}
function releaseHeave(e){if(heavePointer===null||(e?.pointerId!=null&&e.pointerId!==heavePointer))return;const pointer=heavePointer;heavePointer=null;try{heave.releasePointerCapture(pointer)}catch(_){}releaseHandle(hknob);easeHeave()}
heave.addEventListener('pointerdown',e=>{if(appState!=='armed'||heavePointer!==null)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
heave.addEventListener('pointerdown',e=>{if(!canDrive()||heavePointer!==null||e.button>0)return;heavePointer=e.pointerId;hknob.classList.remove('released');hknob.classList.add('pressed');cancelAnimationFrame(heaveAnim);heave.setPointerCapture(e.pointerId);heaveEvent(e);e.preventDefault()});heave.addEventListener('pointermove',e=>{if(e.pointerId===heavePointer)heaveEvent(e)});heave.addEventListener('pointerup',releaseHeave);heave.addEventListener('pointercancel',releaseHeave);heave.addEventListener('lostpointercapture',e=>{if(e.pointerId===heavePointer)releaseHeave(e)});
function easeHeave(){const sv=control.vertical,start=performance.now();function frame(now){const p=Math.min(1,(now-start)/400),smooth=p*p*(3-2*p);setHeave(sv*(1-smooth));if(p<1)heaveAnim=requestAnimationFrame(frame)}heaveAnim=requestAnimationFrame(frame)}
window.verticalControl={setPos:value=>{cancelAnimationFrame(heaveAnim);setHeave(value)},easeBack:()=>{if(heavePointer===null)easeHeave()},getState:()=>({value:control.vertical,active:heavePointer!==null})};
function applyKeys(){if(appState!=='armed'){keys.clear();window.joystick3D?.easeBack();if(heavePointer===null)easeHeave();return;}const turn=(keys.has('d')||keys.has('e')?1:0)-(keys.has('a')||keys.has('q')?1:0),forward=(keys.has('w')?1:0)-(keys.has('s')?1:0),vertical=(keys.has('r')?1:0)-(keys.has('f')?1:0);if(turn||forward){window.joystick3D?.setPos(turn,-forward)}else{window.joystick3D?.easeBack()}if(vertical){cancelAnimationFrame(heaveAnim);setHeave(vertical)}else if(heavePointer===null)easeHeave();}
addEventListener('keydown',e=>{if(/^(INPUT|SELECT)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(appState==='connected_disarmed'&&!e.repeat)startEngageHold();return;}if(e.key==='F3'){e.preventDefault();if(appState==='armed'&&!e.repeat)engageButton?.click();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)){if(appState!=='armed')return;if(!keys.has(k)){keys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(keys.delete(k))applyKeys();});
addEventListener('blur',()=>{keys.clear();window.joystick3D?.easeBack();if(heavePointer===null)easeHeave()});
function applyKeys(){if(!canDrive()){pressedKeys.clear();return;}const turn=(pressedKeys.has('d')||pressedKeys.has('e')?1:0)-(pressedKeys.has('a')||pressedKeys.has('q')?1:0),forward=(pressedKeys.has('w')?1:0)-(pressedKeys.has('s')?1:0),vertical=(pressedKeys.has('r')?1:0)-(pressedKeys.has('f')?1:0);if(!window.joystick3D?.getState().active){if(turn||forward)window.joystick3D?.setPos(turn,-forward);else window.joystick3D?.easeBack()}if(heavePointer===null){if(vertical){cancelAnimationFrame(heaveAnim);setHeave(vertical)}else easeHeave()}}
addEventListener('keydown',e=>{if(e.key==='F3'){e.preventDefault();if(!e.repeat&&view.action==='disarm')requestControl('disarm');return;}if(/^(INPUT|SELECT|TEXTAREA)$/.test(e.target.tagName))return;if(e.key==='F2'){e.preventDefault();if(!e.repeat)startEngageHold();return;}const k=e.key.toLowerCase();if('wasdqerf'.includes(k)&&k.length===1){if(!canDrive())return;e.preventDefault();if(!pressedKeys.has(k)){pressedKeys.add(k);applyKeys();}}});addEventListener('keyup',e=>{if(e.key==='F2'){e.preventDefault();cancelEngageHold(true);return;}const k=e.key.toLowerCase();if(pressedKeys.delete(k))applyKeys();});
function resetInputs(){
if(gainPointer!==null)releaseGain({pointerId:gainPointer});
clearTimeout(axisTimer);axisTimer=0;pressedKeys.clear();cancelEngageHold(false);
window.joystick3D?.reset();
const pointer=heavePointer;heavePointer=null;cancelAnimationFrame(heaveAnim);
if(pointer!==null)try{heave.releasePointerCapture(pointer)}catch(_){}
hknob.classList.remove('pressed','released');
control.forward=control.turn=control.vertical=0;setHeave(0,false);
if(bridgeReady&&!demoActive)api('stop_controls',++inputSequence).catch(()=>{});
}
function focusChanged(focused){inputFocused=focused;if(!focused)resetInputs();render(vehicleSnapshot)}
addEventListener('blur',()=>focusChanged(false));
addEventListener('focus',()=>focusChanged(!document.hidden));
document.addEventListener('visibilitychange',()=>focusChanged(!document.hidden&&document.hasFocus()));
addEventListener('pagehide',()=>focusChanged(false));
function openModal(id){
const el=typeof id==='string'?document.getElementById(id):id;
@@ -166,7 +208,14 @@ if(rovStage){
if(file)handleStlFile(file);
});
}
$('#refresh').onclick=async e=>{const button=e.currentTarget;button.classList.remove('spinning');void button.offsetWidth;button.classList.add('spinning');setTimeout(()=>button.classList.remove('spinning'),650);if(bridgeReady)populatePorts(await api('refresh_ports'))};
$('#refresh').onclick=async e=>{
const button=e.currentTarget;button.classList.remove('spinning');void button.offsetWidth;button.classList.add('spinning');setTimeout(()=>button.classList.remove('spinning'),650);
try{
if(typeof window.pywebview?.api?.refresh_ports!=='function')throw new Error('Desktop connection is not ready. Open the app using run.ps1.');
populatePorts(await withTimeout(api('refresh_ports'),4000));
if(!booted)boot();
}catch(error){recordActivity(`Port refresh failed: ${error.message}`);toast(error.message,true)}
};
$('#connect').onclick=async()=>{
const btn=$('#connect');
const label=btn.querySelector('.btn-label')||btn;
@@ -174,6 +223,7 @@ $('#connect').onclick=async()=>{
const port=p?p.value:'';
if(port==='demo'||demoActive){
resetInputs();clearTimeout(demoCommandTimer);requestSerial++;localRequest=null;commandError='';bridgeStale=false;
if(demoActive){demoActive=false;demoState=null;render({app_state:'disconnected',connected:false,link:'DISCONNECTED',vehicle:'No heartbeat',armed:false,mode:null,status:'Demo mode disconnected',battery:null,servos:{}});toast('Demo disconnected')}
else{demoActive=true;demoState=makeDemoState();render(demoState);toast('Demo connected — no hardware required')}
return;
@@ -186,6 +236,7 @@ $('#connect').onclick=async()=>{
}
if(appState!=='disconnected'){
resetInputs();
label.textContent='Disconnecting…';
try{
await api('disconnect');
@@ -201,17 +252,17 @@ $('#connect').onclick=async()=>{
btn.classList.add('is-connecting');
label.textContent='Connecting…';
const statusEl=$('#status-text');
if(statusEl)statusEl.textContent=`Opening ${port}…`;
recordActivity(`Connecting to ${port}…`);
toast(`Connecting to ${port}…`);
try{
const confirmedState=await api('connect',port,+$('#baud').value,+$('#rate').value);
if(confirmedState)render(confirmedState);
toast('MAVLink connected');
toast(confirmedState?.armed_known?'MAVLink connected':'Waiting for vehicle telemetry',!confirmedState?.armed_known);
}catch(e){
btn.classList.remove('is-connecting');
label.textContent='Connect';
toast(e.message,true);
if(statusEl)statusEl.textContent=`Connection error: ${e.message}`;
recordActivity(`Connection error: ${e.message}`);
}
}
};
@@ -240,27 +291,69 @@ const engageProgressLabel=engageButton?.querySelector('.engage-progress-label');
let engageHoldTimer=null,engageStart=0,engagePointer=null,completedEngagePointer=null,suppressEngageClick=false,engageVisualState='',engageTransitionTimer=null;
const ENGAGE_HOLD_MS=1400;
function isManualMode(s){
const m=(s&&s.mode)?String(s.mode).toUpperCase():'';
return m==='MANUAL';
}
function applyEngageVisual(next){
if(!engageButton||engageVisualState===next)return;
const previous=engageVisualState;engageVisualState=next;clearTimeout(engageTransitionTimer);
const commit=()=>{engageButton.classList.remove('arm','danger','subtle','charged');engageButton.classList.add(next==='disarm'?'danger':next==='engage'?'arm':'subtle');engageButton.disabled=next==='disabled';const label=next==='disarm'?'DISARM':'ENGAGE';$('#engage-label').textContent=label;if(engageProgressLabel)engageProgressLabel.textContent=label;engageButton.title=next==='disarm'?'Disarm immediately (F3)':next==='engage'?'Hold to Engage (F2)':'Engage';engageButton.setAttribute('aria-label',label)};
if((previous==='engage'&&next==='disarm')||(previous==='disarm'&&next==='engage')){engageButton.classList.add('state-transition');engageTransitionTimer=setTimeout(()=>{commit();engageTransitionTimer=setTimeout(()=>engageButton.classList.remove('state-transition'),150)},120)}else commit();
if(!engageButton)return;
const label=({'ENGAGE':'engage','DISARM':'disengage','ENGAGING…':'engaging…','DISARMING…':'disengaging…','DISARM · ?':'disengage · ?','STATE UNKNOWN':'state unknown'})[next.label]||next.label.toLowerCase();
// Interaction updates immediately; the short fade never gates emergency access.
engageButton.disabled=!next.action;
engageButton.setAttribute('aria-busy',String(next.pending));
engageButton.setAttribute('aria-label',label);
engageButton.title=next.action==='disarm'?'Request disarm immediately (F3)':next.action==='arm'?'Hold 1.4 seconds to engage (F2)':next.message;
const key=`${next.label}/${next.tone}`;
if(engageVisualState===key)return;
const previous=engageVisualState;engageVisualState=key;
clearTimeout(engageTransitionTimer);
engageButton.classList.remove('arm','danger','subtle','charged','pending');
engageButton.classList.add(next.tone==='danger'?'danger':next.tone==='pending'?'pending':'arm');
engageButton.style.setProperty('--engage-progress',next.pending?'100%':'0%');
$('#engage-label').textContent=label;
if(engageProgressLabel)engageProgressLabel.textContent=label;
const sheen=engageButton.querySelector('.engage-sheen-label');if(sheen)sheen.textContent=label;
if(previous){
engageButton.classList.remove('state-transition');void engageButton.offsetWidth;
engageButton.classList.add('state-transition');
engageTransitionTimer=setTimeout(()=>engageButton.classList.remove('state-transition'),240);
}
}
async function completeEngage(){
const pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;completedEngagePointer=typeof pointer==='number'?pointer:null;if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}engageButton.classList.remove('charging');engageButton.classList.add('charged');engageButton.style.setProperty('--engage-progress','100%');
try{if(demoActive){updateDemo({armed:true,app_state:'armed',vehicle:'DEMO • ARMED',status:'Demo: Arm confirmed'});toast('Demo vehicle armed')}else{await api('command','arm');toast('Engage command sent');setTimeout(()=>{if(appState!=='armed'){engageButton.classList.remove('charged');engageButton.style.setProperty('--engage-progress','0%')}},2500)}}catch(error){engageButton.classList.remove('charged');engageButton.style.setProperty('--engage-progress','0%');toast(error.message,true)}
function completeEngage(){
const pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;completedEngagePointer=typeof pointer==='number'?pointer:null;engageButton.classList.remove('charging');engageButton.classList.add('charged');engageButton.style.setProperty('--engage-progress','100%');
requestControl('arm');
}
async function requestControl(name){
if((name==='arm'&&view.action!=='arm')||(name==='disarm'&&view.action!=='disarm'))return;
const id=++requestSerial;
commandError='';localRequest={name,deadline:performance.now()+6000,sent:false};
recordActivity(name==='arm'?'Engage requested':'Disengage requested');
resetInputs();render(vehicleSnapshot);
try{
if(demoActive){
// Separate simulated request and simulated heartbeat, just like the real UI.
clearTimeout(demoCommandTimer);
updateDemo({pending_command:name,command_error:''});
demoCommandTimer=setTimeout(()=>{
if(!demoActive||id!==requestSerial)return;
localRequest=null;
updateDemo({pending_command:null,armed:name==='arm',armed_known:true,
app_state:name==='arm'?'armed':'connected_disarmed',
vehicle:`DEMO • ${name==='arm'?'ARMED':'DISARMED'}`,status:`Demo: ${name} confirmed`});
},650);
}else{
await api('command',name,++inputSequence,Date.now()+2000);
if(id===requestSerial&&localRequest)localRequest.sent=true;
// Only poll snapshots may confirm state; a send result is not confirmation.
}
}catch(error){
if(id!==requestSerial)return;
localRequest=null;commandError=`${name==='arm'?'Engage':'Disarm'} request failed: ${error.message}`;
render(vehicleSnapshot);toast(commandError,true);
}
}
function updateEngageProgress(now){
if(!engageStart||appState!=='connected_disarmed'||!engageButton?.classList.contains('arm'))return cancelEngageHold(false);
if(!engageStart||view.action!=='arm'||!inputFocused)return cancelEngageHold(false);
const progress=Math.min(1,(now-engageStart)/ENGAGE_HOLD_MS);engageButton.style.setProperty('--engage-progress',`${progress*100}%`);if(progress>=1)return void completeEngage();engageHoldTimer=requestAnimationFrame(updateEngageProgress);
}
function startEngageHold(e){
if(appState!=='connected_disarmed'||!engageButton?.classList.contains('arm')||engageStart)return;
if(view.action!=='arm'||!inputFocused||engageStart)return;
if(e&&e.button!==undefined&&e.button!==0)return;
engagePointer=e?.pointerId??'keyboard';engageStart=performance.now();engageButton.classList.add('charging');engageButton.style.setProperty('--engage-progress','0%');
if(e?.pointerId!=null)engageButton.setPointerCapture(e.pointerId);
@@ -268,39 +361,51 @@ function startEngageHold(e){
}
function cancelEngageHold(showHint=true){
if(!engageStart)return;
const elapsed=performance.now()-engageStart,pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;engageButton.classList.remove('charging');engageButton.style.setProperty('--engage-progress','0%');if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}if(showHint&&elapsed>80)toast('Keep holding to engage');
const elapsed=performance.now()-engageStart,pointer=engagePointer;cancelAnimationFrame(engageHoldTimer);engageHoldTimer=null;engageStart=0;engagePointer=null;engageButton.classList.remove('charging');engageButton.classList.add('canceling');engageButton.style.setProperty('--engage-progress','0%');setTimeout(()=>engageButton.classList.remove('canceling'),280);if(typeof pointer==='number')try{engageButton.releasePointerCapture(pointer)}catch(_){}if(showHint&&elapsed>80)toast('Engagement canceled');
}
if(engageButton){
engageButton.addEventListener('pointerdown',startEngageHold);
engageButton.addEventListener('pointerup',e=>{if(e.pointerId===completedEngagePointer){completedEngagePointer=null;suppressEngageClick=true;setTimeout(()=>suppressEngageClick=false,0);return}if(e.pointerId===engagePointer)cancelEngageHold(true)});
engageButton.addEventListener('pointerup',e=>{if(e.pointerId===completedEngagePointer){completedEngagePointer=null;try{engageButton.releasePointerCapture(e.pointerId)}catch(_){}suppressEngageClick=true;setTimeout(()=>suppressEngageClick=false,0);return}if(e.pointerId===engagePointer)cancelEngageHold(true)});
engageButton.addEventListener('pointerleave',e=>{if(e.pointerId===engagePointer)cancelEngageHold(true)});
engageButton.addEventListener('pointercancel',e=>{if(e.pointerId===completedEngagePointer)completedEngagePointer=null;if(e.pointerId===engagePointer)cancelEngageHold(false)});
engageButton.addEventListener('lostpointercapture',e=>{if(e.pointerId===engagePointer)cancelEngageHold(false);if(e.pointerId===completedEngagePointer)completedEngagePointer=null});
engageButton.addEventListener('pointermove',e=>{if(e.pointerId!==engagePointer)return;const r=engageButton.getBoundingClientRect();if(e.clientX<r.left||e.clientX>r.right||e.clientY<r.top||e.clientY>r.bottom)cancelEngageHold(false)});
engageButton.addEventListener('contextmenu',e=>e.preventDefault());
engageButton.onclick=async()=>{
engageButton.onclick=()=>{
if(suppressEngageClick){suppressEngageClick=false;return}
if(appState==='armed'){
try{
if(demoActive)updateDemo({armed:false,app_state:'connected_disarmed',vehicle:'DEMO • DISARMED',status:'Demo: Disarm confirmed'});
else await api('command','disarm');
toast('Disarm command sent');
}catch(e){
toast(e.message,true);
}
}
if(view.action==='disarm')requestControl('disarm');
};
}
$('#logs').onclick=()=>api('open_logs');
function setGain(value){const gain=$('#gain');gain.value=Math.max(+gain.min,Math.min(+gain.max,value));$('#gain-value').textContent=`${gain.value}%`;if(bridgeReady)api('set_gain',+gain.value)}
$('#gain').oninput=e=>setGain(+e.target.value);$('#gain-down').onclick=()=>setGain(+$('#gain').value-5);$('#gain-up').onclick=()=>setGain(+$('#gain').value+5);
// Explicit pointer ownership makes the full range rail a reliable touch target
// in the embedded window, without depending on native range drag defaults.
const gainSlider=$('#gain');let gainPointer=null;
function gainFromPointer(e){const r=gainSlider.getBoundingClientRect(),fraction=Math.max(0,Math.min(1,(e.clientX-r.left-9)/Math.max(1,r.width-18)));setGain(Math.round(+gainSlider.min+fraction*(+gainSlider.max-+gainSlider.min)))}
function releaseGain(e){if(e.pointerId!==gainPointer)return;gainPointer=null;try{gainSlider.releasePointerCapture(e.pointerId)}catch(_){}}
gainSlider.addEventListener('pointerdown',e=>{if(gainPointer!==null||e.button>0)return;gainPointer=e.pointerId;gainSlider.setPointerCapture(e.pointerId);gainFromPointer(e);e.preventDefault()});
gainSlider.addEventListener('pointermove',e=>{if(e.pointerId===gainPointer)gainFromPointer(e)});
['pointerup','pointercancel','lostpointercapture'].forEach(type=>gainSlider.addEventListener(type,releaseGain));
gainSlider.addEventListener('keydown',e=>{const delta={ArrowRight:1,ArrowUp:1,ArrowLeft:-1,ArrowDown:-1}[e.key];if(delta){e.preventDefault();setGain(+gainSlider.value+delta)}else if(e.key==='Home'||e.key==='End'){e.preventDefault();setGain(+(e.key==='Home'?gainSlider.min:gainSlider.max))}});
$('#battery-form').onsubmit=async e=>{e.preventDefault();const data=Object.fromEntries(new FormData(e.target));try{batteryConfig=await api('save_battery',data);closeModal($('#battery-modal'));toast('Battery settings saved')}catch(err){toast(err.message,true)}};
function fillBatteryForm(){for(const [k,v] of Object.entries(batteryConfig)){const el=$(`#battery-form [name=${k}]`);if(el)el.value=v}}
function renderMotors(servos){const signature=JSON.stringify(servos);if(signature===servoSignature)return;servoSignature=signature;const list=$('#motor-list');list.innerHTML='';for(let i=1;i<=16;i++){const s=servos[String(i)]||{},row=document.createElement('div');row.className='motor-row';const opts=['<option value="0">Unassigned</option>',...Array.from({length:12},(_,n)=>`<option value="${n+1}" ${s.motor===n+1?'selected':''}>Motor ${n+1}</option>`)].join('');row.innerHTML=`<strong>SERVO${i}</strong><select aria-label="SERVO${i} function">${opts}</select><span>${s.direction==null?'—':s.direction===-1?'Reversed':'Normal'}</span><button class="button subtle">Reverse</button>`;row.querySelector('select').onchange=e=>{if(demoActive){const motor=+e.target.value;demoState.servos[String(i)]={function:motor?32+motor:0,label:motor?`Motor ${motor}`:'Unassigned',motor:motor||null,direction:motor?1:null};servoSignature='';renderMotors(demoState.servos);toast(`Demo SERVO${i} updated`)}else api('set_servo_function',i,+e.target.value).catch(x=>toast(x.message,true))};row.querySelector('button').onclick=()=>{if(demoActive){if(s.motor){s.direction=s.direction===-1?1:-1;servoSignature='';renderMotors(demoState.servos);toast(`Demo Motor ${s.motor} reversed`)}else toast(`SERVO${i} is unassigned`,true)}else api('reverse_motor',i).catch(x=>toast(x.message,true))};list.append(row)}}
function render(s){
appState=s.app_state||'disconnected';
function render(s,confirmed=false){
vehicleSnapshot=s;
if(confirmed&&localRequest?.sent && (s.pending_command===localRequest.name || s.command_error ||
(s.armed_known&&s.armed===(localRequest.name==='arm')))) localRequest=null;
const previous=view;
view=ControlState.present(s,{stale:bridgeStale,focused:inputFocused,pending:localRequest?.name,error:commandError});
if((previous.drive&&!view.drive)||(previous.action==='arm'&&view.action!=='arm'))resetInputs();
appState=bridgeStale&&s.connected?'link_degraded':s.app_state||'disconnected';
document.body.dataset.appState=appState;
document.body.dataset.controlsEnabled=String(view.drive);
document.body.dataset.telemetryStale=String(!view.known||!!s.battery_stale);
$('#port').disabled=!!s.connected;
const isOnline=(appState==='connected_disarmed'||appState==='armed');
const connectBtn=$('#connect');
const connectLabel=connectBtn?connectBtn.querySelector('.btn-label'):null;
@@ -324,24 +429,26 @@ function render(s){
const engageBtn=$('#engage');
const engageLabel=$('#engage-label');
if(engageBtn&&engageLabel){
applyEngageVisual(appState==='armed'?'disarm':appState==='connected_disarmed'?'engage':'disabled');
applyEngageVisual(view);
}
const controlStatus=$('#control-status');
controlStatus.textContent=view.message;
controlStatus.classList.toggle('is-error',view.error);
controlStatus.hidden=!(view.pending||view.error||(view.known&&s.armed&&!inputFocused));
const motorBtn=$('[data-open="motors-modal"]');
if(motorBtn)motorBtn.disabled=(!isOnline);
const statusEl=$('#status-text');
if(statusEl){
if(s.status){
statusEl.textContent=s.status;
}else{
statusEl.textContent=STATUS_LABELS[appState]||STATUS_LABELS.disconnected;
}
const confirmedCommand=previous.pending&&!view.pending&&view.known&&!view.error;
const reported=commandError||s.command_error||((!view.known&&s.connected&&appState!=='connecting')?'Telemetry stale — vehicle state unknown':s.status);
if(reported&&reported!==lastReportedStatus){lastReportedStatus=reported;if(!confirmedCommand)recordActivity(reported)}
if(confirmedCommand){
recordActivity(s.armed?'Engage confirmed':'Disengage confirmed');
}
updateReadouts();
const b=s.battery;
if(b){
$('#battery-title').textContent=`${b.voltage.toFixed(2)} V`;
$('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s`;
$('#battery-percent').textContent=`${Math.round(b.percent)}% • ${b.cells}s${!view.known||s.battery_stale?' · stale':''}`;
$('#battery-fill').style.width=`${b.percent}%`;
$('#battery-fill').style.background=b.low?'var(--red)':'var(--acid)';
}else{
@@ -349,10 +456,31 @@ function render(s){
$('#battery-percent').textContent='waiting';
$('#battery-fill').style.width='0';
}
renderMotors(s.servos);
renderMotors(s.servos||{});
}
async function poll(){if(!bridgeReady)return;if(!demoActive)try{render(await api('poll'))}catch(e){}setTimeout(poll,250)}
function markBridgeStale(){
if(demoActive||bridgeStale)return;
bridgeStale=true;resetInputs();render(vehicleSnapshot);
}
setInterval(()=>{
const now=performance.now();
if(now-lastSafetyTick>750)resetInputs();
lastSafetyTick=now;
if(!demoActive&&bridgeReady&&vehicleSnapshot.connected&&performance.now()-lastBridgeAt>1500)markBridgeStale();
if(localRequest&&performance.now()>localRequest.deadline){
commandError=`${localRequest.name==='arm'?'Engage':'Disarm'} confirmation timed out. Check the vehicle state.`;
localRequest=null;render(vehicleSnapshot);
}
},100);
async function poll(){
if(!bridgeReady)return;
if(!demoActive)try{
const snapshot=await withTimeout(api('poll'));
if(!demoActive){lastBridgeAt=performance.now();bridgeStale=false;render(snapshot,true)}
}catch(e){markBridgeStale()}
setTimeout(poll,250);
}
let modelLoadPromise=null;
async function loadDefaultModel(){
if(modelLoadPromise)return modelLoadPromise;
@@ -426,35 +554,46 @@ async function loadDefaultModel(){
return modelLoadPromise;
}
let booted=false;
let booted=false,booting=false,bootRetry=0,portRefreshTimer=0;
function hasDesktopApi(){return ['initial_state','refresh_ports','poll'].every(name=>typeof window.pywebview?.api?.[name]==='function')}
async function boot(){
if(booted||!window.pywebview?.api)return;
booted=true;
bridgeReady=true;
if(booted||booting||!hasDesktopApi())return;
booting=true;clearTimeout(bootRetry);
try{
const init=await api('initial_state');
batteryConfig=init.battery_config;
// OS port discovery must not depend on model/config initialization succeeding.
populatePorts(await withTimeout(api('refresh_ports'),4000));
const init=await withTimeout(api('initial_state'),4000);
batteryConfig=init.battery_config||{};
populatePorts(init.ports);
fillBatteryForm();
render(init.state);
bridgeReady=true;booted=true;lastBridgeAt=performance.now();
if(!demoActive)render(init.state);
poll();
// Populate the serial selector before starting the optional model load.
// A large cached mesh must never delay an operator seeing USB COM ports.
loadDefaultModel();
setInterval(async()=>{
if(appState==='disconnected'){
try{populatePorts(await api('refresh_ports'))}catch(_){}
if(!portRefreshTimer)portRefreshTimer=setInterval(async()=>{
if(appState==='disconnected'||demoActive){
try{populatePorts(await withTimeout(api('refresh_ports'),1500))}
catch(error){recordActivity(`Port scan failed: ${error.message}`)}
}
},2000);
}catch(e){
booted=false;bridgeReady=false;
recordActivity(`Desktop startup failed; retrying: ${e.message}`);
toast(`Python bridge: ${e.message}`,true);
bootRetry=setTimeout(boot,1000);
}finally{
booting=false;
}
}
function waitForBridge(){
if(window.pywebview?.api)boot();
else setTimeout(waitForBridge,50);
if(booted)return;
if(hasDesktopApi())boot();
setTimeout(waitForBridge,250);
}
addEventListener('pywebviewready',boot);
render(vehicleSnapshot);
if(document.readyState==='loading'){
addEventListener('DOMContentLoaded',()=>{loadDefaultModel();waitForBridge()});
}else{