feat(control-station): add rover scene telemetry and guarded keyboard control

2026-09-25 16:37:57 +03:00
parent 63cbb08ea0
commit 6d772b29fe
36 changed files with 3536 additions and 21 deletions
@@ -0,0 +1,39 @@
+{
+  "source": "DCD-006_rover_v020.blend",
+  "source_sha256": "c49a0470974bbe65b4e65b4b5c06cb887730715a1ddfa231b86426fed6de8f79",
+  "model": "DCD-006 v020 complete rover",
+  "source_object_count": 1426,
+  "render_mesh_count": 1,
+  "original_bounds": [
+    [
+      -0.527999997138977,
+      -0.45249998569488525,
+      0.0
+    ],
+    [
+      0.6350000500679016,
+      0.45249998569488525,
+      0.734000027179718
+    ]
+  ],
+  "dimensions_m": [
+    1.1630001068115234,
+    0.9049999713897705,
+    0.734000027179718
+  ],
+  "translation_m": [
+    -0.05350002646446228,
+    -0.0,
+    -0.0
+  ],
+  "glb_bytes": 54960576,
+  "glb_sha256": "15f17f5b5b014e0f65273aa1565b7fb8e46381ca389a3c3d3ca89a32806bfb79",
+  "material_source_sha256": "ac50e29fe9fe7ab4012628c52fce30e262e9e0bba4a4d49abe59a90c84391b2e",
+  "material_rules": {
+    "metal": 1,
+    "rubber": 2,
+    "steel": 6,
+    "paint": 3
+  },
+  "source_saved": false
+}
@@ -822,7 +822,7 @@ export default function App() {
                />
              ) : activeDefinition.kind === "missions" ? (
                <div ref={setWorkspaceHeaderToolsHost} />
-              ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "datasets" ? (
+              ) : activeDefinition.kind === "vehicles" ? <div ref={setWorkspaceHeaderToolsHost} /> : activeDefinition.kind === "datasets" ? (
                <StatusBadge tone="neutral">Offline evaluation</StatusBadge>
              ) : activeDefinition.kind === "lab-archive" ? (
                laboratoryAnnotation.control
@@ -0,0 +1,25 @@
+import type {RoverState} from '../../core/fleet/useRoverControl';
+import {drivePositions} from '../../../../../plugins/vesc/frontend/src/model';
+const number=(v:number|undefined,digits=1)=>typeof v==='number'&&Number.isFinite(v)?v.toLocaleString('ru-RU',{maximumFractionDigits:digits}):'—';
+export function RoverTelemetry({state}:{state:RoverState}){
+ const devices=state.snapshot.devices??[],profile=state.snapshot.profile;
+ const positions=drivePositions(profile?.layout??null);
+ const assigned=Object.entries(profile?.bindings??{}).map(([slot,binding])=>({
+  id:binding.device_id,uuid:binding.uuid,label:positions[slot]??slot,
+  reading:devices.find(d=>d.id===binding.device_id&&d.uuid===binding.uuid),
+ }));
+ const readings=[...assigned,...devices.filter(d=>!assigned.some(a=>a.id===d.id&&a.uuid===d.uuid)).map(d=>({...d,reading:d}))];
+ return <div className="rover-telemetry">
+  {!state.fresh?<p>Нет свежих показаний VESC.</p>:!readings.length?<p>Получение показаний VESC…</p>:readings.map(d=>{
+   const fresh=!!d.reading&&d.reading.age_ms<1000,v=fresh?d.reading?.values:undefined;
+   return <section key={d.uuid}><strong>{d.label}</strong><span>VESC {d.uuid.slice(0,6).toUpperCase()}{!d.reading?' · Нет связи':!fresh?' · Нет свежих данных':''}</span>
+    <dl><div><dt>Ток мотора</dt><dd>{number(v?.motor_current_a)} А</dd></div>
+     <div><dt>Ток батареи</dt><dd>{number(v?.input_current_a)} А</dd></div>
+     <div><dt>Напряжение</dt><dd>{number(v?.input_voltage_v)} В</dd></div>
+     <div><dt>Обороты, ERPM</dt><dd>{number(v?.erpm,0)}</dd></div>
+     <div><dt>Контроллер</dt><dd>{number(v?.mos_temperature_c)} °C</dd></div>
+     <div><dt>Ошибка VESC</dt><dd>{v?v.fault_code===0?'Нет':String(v.fault_code):'—'}</dd></div></dl>
+   </section>;
+  })}
+ </div>;
+}
@@ -0,0 +1,70 @@
+import {lazy,Suspense,useCallback,useEffect,useRef,useState} from 'react';
+import {createPortal} from 'react-dom';
+import {Button,Icon,IconButton,KeyButton,LoadingRegion,Select,StatusBadge,Switch,TextField,ToastStack,Window} from '@nodedc/ui-react';
+import {keysFor,roverSettings,type RoverMode} from '../../core/fleet/roverInput';
+import {bindRoverHoldInput} from '../../core/fleet/roverHoldInput';
+import type {RoverController} from '../../core/fleet/useRoverControl';
+import type {ObservationHeaderTargets} from '../../../../../packages/sensor-ui/src/observation';
+import './rover.css';
+const Scene=lazy(()=>import('./playcanvas/PlayCanvasViewer'));
+const labels:Record<string,string>={observing:'Наблюдение',preparing:'Подготовка управления',ready:'Управление включено',driving:'Команда движения',receiver:'Управление с пульта',stopping:'Остановка',stopped:'Управление выключено',fault:'Управление остановлено'};
+
+export function RoverView({vehicleID,controller:c,header,active}:{vehicleID:string;controller:RoverController;header:ObservationHeaderTargets;active:boolean}){
+ const storage=`missioncore.rover-view.v1:${vehicleID}`;
+ const [settings,setSettings]=useState(()=>{try{return roverSettings(JSON.parse(localStorage.getItem(storage)??'null'));}catch{return roverSettings(null);}});
+ const [open,setOpen]=useState(false),[confirmed,setConfirmed]=useState(false),[held,setHeld]=useState<Set<string>>(new Set());
+ const [modelState,setModelState]=useState<'loading'|'ready'|'error'>('loading');
+ const stage=useRef<HTMLDivElement>(null),input=useRef<ReturnType<typeof bindRoverHoldInput>|null>(null);
+ const stop=useCallback(()=>{input.current?.dispose();input.current=null;c.setInputGuard(null);setHeld(new Set());c.stop();setConfirmed(false);},[c.stop,c.setInputGuard]);
+ useEffect(()=>{try{localStorage.setItem(storage,JSON.stringify(settings));}catch{}},[storage,settings]);
+ useEffect(()=>{if(!active)stop();},[active,stop]);
+ useEffect(()=>{
+  if(!c.ready||!active||open||!stage.current)return;
+  const binding=bindRoverHoldInput(stage.current,settings.mode,{held:setHeld,demand:c.setDemand,pause:c.pauseInput,stop});
+  input.current=binding;c.setInputGuard(binding.valid);
+  return()=>{c.setInputGuard(null);binding.dispose();if(input.current===binding)input.current=null;};
+ },[c.ready,active,open,settings.mode,c.setDemand,c.setInputGuard,c.pauseInput,stop]);
+ const showSettings=()=>{stop();setOpen(true);};
+ const preparing=c.pending||(c.armed&&!c.ready);
+ const availability=c.connecting?'Синхронизация с бортом':!c.state.fresh?'Нет свежих данных с борта':!c.state.snapshot.supported?'Управление на борту недоступно':c.state.controlling&&!c.armed?'Управление уже включено':!c.canArm&&!c.armed?'Завершение предыдущего управления':null;
+ const tone=preparing||availability?'warning':c.ready?'success':c.state.snapshot.state==='fault'?'warning':'neutral';
+ const status=preparing?'Подготовка управления':availability??(labels[c.state.snapshot.state??'']??'Наблюдение');
+ return <>
+  {createPortal(<IconButton label="Настройки управления ровером" onClick={showSettings}><Icon name="settings"/></IconButton>,header.actionsTarget)}
+  {createPortal(<StatusBadge variant="indicator" tone={tone} aria-label={status} title={status}/>,header.statusTarget)}
+  <div className="rover-view" ref={stage} tabIndex={0} aria-label="3D-вид и управление ровером"
+   onBlur={e=>{if(c.armed&&!e.currentTarget.contains(e.relatedTarget as Node|null))c.pauseInput();}}>
+   {settings.model==='dcd006-v020'?<LoadingRegion className="rover-view__scene" loading={modelState==='loading'} label="Загрузка модели ровера">
+    <Suspense fallback={null}><Scene modelUrl="/rover-scene/dcd006-v020.glb" cameraAutoRotate={false} onModelState={setModelState}/></Suspense>
+    {modelState==='error'&&<p className="rover-view__empty">Не удалось загрузить модель ровера.</p>}
+   </LoadingRegion>:<div className="rover-view__empty"><p>Выберите модель аппарата.</p><Button onClick={showSettings}>Настройки вида</Button></div>}
+   <div className="rover-view__status"><StatusBadge tone={tone}>{status}</StatusBadge></div>
+   {c.ready&&<div className="rover-view__controls">
+    <div className={`rover-keys rover-keys--${settings.mode}`} aria-label={settings.mode==='arcade'?'Аркадное управление':'Танковое управление'}>
+     {keysFor(settings.mode).map(code=><KeyButton key={code} className={`rover-key-${code}`} label={settings.mode==='arcade'?({KeyW:'Вперёд · W',KeyS:'Назад · S',KeyA:'Налево · A',KeyD:'Направо · D'}[code]??code):({KeyQ:'Левая сторона вперёд · Q',KeyA:'Левая сторона назад · A',KeyE:'Правая сторона вперёд · E',KeyD:'Правая сторона назад · D'}[code]??code)}
+      disabled={!c.ready||!active} pressed={held.has(code)}
+      onPointerDown={e=>{if(!c.ready||!e.isTrusted||e.button!==0)return;e.preventDefault();e.currentTarget.setPointerCapture(e.pointerId);stage.current?.focus();input.current?.pointerDown(e.pointerId,code);}}
+      onPointerUp={e=>input.current?.pointerUp(e.pointerId)}
+      onPointerCancel={e=>input.current?.pointerCancel(e.pointerId)}
+      onLostPointerCapture={e=>input.current?.pointerCancel(e.pointerId)}>{code.slice(3)}</KeyButton>)}
+    </div>
+    <span>{settings.mode==='arcade'?'Аркадный':'Танковый'} · пробел — стоп</span>
+   </div>}
+   <div className="rover-view__authority">
+    {c.armed||c.pending?<Button onClick={stop}>Остановить управление</Button>:<Button onClick={showSettings}>Управлять</Button>}
+   </div>
+  </div>
+  <Window open={open} onClose={()=>setOpen(false)} title="Управление ровером" size="md"><div className="rover-settings">
+   <Select label="Тип управления" value={settings.mode} options={[{value:'arcade',label:'Аркадный · W A S D'},{value:'tank',label:'Танковый · Q A / E D'}]} onChange={mode=>setSettings(v=>({...v,mode:mode as RoverMode}))}/>
+   <Select label="3D-модель" value={settings.model} options={[{value:'',label:'Не выбрана'},{value:'dcd006-v020',label:'DCD-006 · полный ровер v020'}]} onChange={model=>setSettings(v=>({...v,model}))}/>
+   <TextField label="Предел тока каждого мотора, А" type="number" min={.5} max={30} step={.5} value={settings.currentA} onChange={e=>setSettings(v=>({...v,currentA:Number(e.target.value)}))}/>
+   <TextField label="Скорость, ERPM" hint="300–3000" description="Электрические обороты двигателя. Скорость по земле требует параметров трансмиссии." type="number" min={300} max={3000} step={100} value={settings.maxErpm} onChange={e=>setSettings(v=>({...v,maxErpm:Number(e.target.value)}))}/>
+   <Switch label="Моторы остановлены, движение можно начинать" checked={confirmed} onChange={setConfirmed}/>
+   {availability&&<StatusBadge tone="warning">{availability}</StatusBadge>}
+   <p>Движение — только при удержании клавиш или кнопок. При уходе из окна команда снимается. Команда с пульта прекращает удалённое управление.</p>
+   <Button variant="primary" tone="neutral" disabled={!confirmed||!c.canArm||!(settings.currentA>=.5&&settings.currentA<=30&&settings.maxErpm>=300&&settings.maxErpm<=3000)} loading={c.pending}
+    onClick={async()=>{const acquired=await c.arm(settings.currentA,settings.maxErpm);if(acquired){setOpen(false);if(document.hasFocus())stage.current?.focus();}}}>Включить управление</Button>
+  </div></Window>
+  <ToastStack onDismiss={c.clearError} items={c.error?[{id:'rover-control-error',tone:'error',title:'Управление остановлено',description:c.error}]:[]}/>
+ </>;
+}
@@ -0,0 +1,16 @@
+{
+  "source": "NodeDC ThreeDAssetNode / PlayCanvasViewer",
+  "files": {
+    "PlayCanvasViewer.tsx": "34cd6df2e47a7714288aeb5afb2859b1058eb91dc1819abbf296c6a8937a1533",
+    "playcanvasPostFx.ts": "91cfb7f8ba821fef14681c6c25a61f430ce25aae65b0f181d359f38e37ccd014",
+    "sceneTree.ts": "eead378c2402f69e2c68cd1fc2a5ec9028555dced53858c600c599f613dda516",
+    "environment-map.png": "793f72dce207c1a4d2bdb262610f688bd655a79066298b672b642f228cf7d230"
+  },
+  "adaptations": [
+    "Domain asset URL and error/loading callbacks",
+    "No fallback to a different vehicle",
+    "Removed unused node-editor type helper; rendering settings unchanged",
+    "Observe the host pane on resize; preserve responsive canvas CSS sizing",
+    "Frame the complete rover using the donor 28-degree FOV and current viewport aspect"
+  ]
+}
@@ -0,0 +1,393 @@
+
+export type PostFxSettings = {
+  lighting: {
+    exposure: number
+    skyBoxIntensity: number
+  }
+  envAtlas: {
+    enabled: boolean
+    background: boolean
+    reflection: boolean
+    intensity: number
+    reflectionIntensity: number
+    brightness: number
+    contrast: number
+    saturation: number
+    toneMapping: number
+    mip: number
+    rotation: number
+  }
+  skybox: {
+    enabled: boolean
+    background: boolean
+    reflection: boolean
+    intensity: number
+    reflectionIntensity: number
+    mip: number
+    rotation: number
+    colorA: string
+    colorB: string
+  }
+  rendering: {
+    backgroundColor: string
+    wireframe: boolean
+    renderFormat: number
+    renderFormatFallback0: number
+    renderFormatFallback1: number
+    stencil: boolean
+    renderTargetScale: number
+    samples: number
+    sharpness: number
+    toneMapping: number
+    sceneColorMap: boolean
+    sceneDepthMap: boolean
+    fog: 'none' | 'linear' | 'exp' | 'exp2'
+    fogColor: string
+    fogRange: [number, number]
+    fogDensity: number
+    fogStart: number
+    fogEnd: number
+  }
+  grid: {
+    enabled: boolean
+    colorX: string
+    colorZ: string
+    colorMain: string
+    alphaX: number
+    alphaZ: number
+    alphaMain: number
+    dotsEnabled: boolean
+    dotsColor: string
+    dotsAlpha: number
+    dotsDiameter: number
+    crossEnabled: boolean
+    crossColor: string
+    crossAlpha: number
+    crossLength: number
+    crossWidth: number
+    fadeStart: number
+    fadeEnd: number
+  }
+  ssao: {
+    type: 'none' | 'lighting' | 'combine'
+    blurEnabled: boolean
+    intensity: number
+    radius: number
+    samples: number
+    power: number
+    minAngle: number
+    scale: number
+  }
+  bloom: {
+    enabled: boolean
+    intensity: number
+    lastMipLevel: number
+  }
+  chromaticAberration: {
+    enabled: boolean
+    intensity: number
+  }
+  taa: {
+    enabled: boolean
+    jitter: number
+  }
+  grading: {
+    enabled: boolean
+    brightness: number
+    contrast: number
+    saturation: number
+    tint: string
+  }
+  lut: {
+    intensity: number
+    textureUrl?: string | null
+  }
+  vignette: {
+    enabled: boolean
+    intensity: number
+    inner: number
+    outer: number
+    curvature: number
+    color: string
+  }
+  directionalLight: {
+    enabled: boolean
+    color: string
+    intensity: number
+    azimuth: number
+    elevation: number
+    castShadows: boolean
+    shadowIntensity: number
+    shadowDistance: number
+    shadowResolution: number
+    shadowBias: number
+    normalOffsetBias: number
+    shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3'
+    vsmBlurSize: number
+  }
+  shadowCatcher: {
+    enabled: boolean
+    size: number
+    yOffset: number
+    lightIntensity: number
+    lightColor: string
+    lightAzimuth: number
+    lightElevation: number
+    shadowIntensity: number
+    shadowDistance: number
+    shadowResolution: number
+    shadowBias: number
+    normalOffsetBias: number
+    shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3'
+    vsmBlurSize: number
+  }
+}
+
+export const DEFAULT_POSTFX: PostFxSettings = {
+  lighting: {
+    exposure: 1.21,
+    skyBoxIntensity: 0.86,
+  },
+  envAtlas: {
+    enabled: true,
+    background: false,
+    reflection: true,
+    intensity: 0.76,
+    reflectionIntensity: 0.6,
+    brightness: 1.65,
+    contrast: 1,
+    saturation: 1,
+    toneMapping: 0,
+    mip: 1,
+    rotation: 247,
+  },
+  skybox: {
+    enabled: false,
+    background: false,
+    reflection: true,
+    intensity: 0.62,
+    reflectionIntensity: 1,
+    mip: 0,
+    rotation: 0,
+    colorA: '#c5bfbf',
+    colorB: '#c7bcbc',
+  },
+  rendering: {
+    backgroundColor: '#111113',
+    wireframe: false,
+    renderFormat: 18,
+    renderFormatFallback0: 12,
+    renderFormatFallback1: 14,
+    stencil: false,
+    renderTargetScale: 1,
+    samples: 4,
+    sharpness: 0,
+    toneMapping: 4,
+    sceneColorMap: false,
+    sceneDepthMap: false,
+    fog: 'exp',
+    fogColor: '#dcc2ff',
+    fogRange: [0, 100],
+    fogDensity: 0.008,
+    fogStart: 0,
+    fogEnd: 100,
+  },
+  grid: {
+    enabled: true,
+    colorX: '#ffffff',
+    colorZ: '#ffffff',
+    colorMain: '#7a3cff',
+    alphaX: 0.18,
+    alphaZ: 0.18,
+    alphaMain: 0.6,
+    dotsEnabled: false,
+    dotsColor: '#ffffff',
+    dotsAlpha: 0.5,
+    dotsDiameter: 0.06,
+    crossEnabled: false,
+    crossColor: '#ffffff',
+    crossAlpha: 0.5,
+    crossLength: 0.5,
+    crossWidth: 0.06,
+    fadeStart: 0,
+    fadeEnd: 0,
+  },
+  ssao: {
+    type: 'none',
+    blurEnabled: true,
+    intensity: 0.5,
+    radius: 30,
+    samples: 12,
+    power: 6,
+    minAngle: 10,
+    scale: 1,
+  },
+  bloom: {
+    enabled: true,
+    intensity: 0.03,
+    lastMipLevel: 4,
+  },
+  chromaticAberration: {
+    enabled: true,
+    intensity: 30,
+  },
+  taa: {
+    enabled: false,
+    jitter: 1,
+  },
+  grading: {
+    enabled: true,
+    brightness: 0.837,
+    contrast: 1.1,
+    saturation: 1.126,
+    tint: '#ffffff',
+  },
+  lut: {
+    intensity: 1,
+    textureUrl: null,
+  },
+  vignette: {
+    enabled: true,
+    intensity: 1,
+    inner: 0.25,
+    outer: 1.52,
+    curvature: 0.78,
+    color: '#000000',
+  },
+  directionalLight: {
+    enabled: true,
+    color: '#ffffff',
+    intensity: 0.4,
+    azimuth: 0,
+    elevation: 0,
+    castShadows: false,
+    shadowIntensity: 0.5,
+    shadowDistance: 16,
+    shadowResolution: 1024,
+    shadowBias: 0,
+    normalOffsetBias: 0,
+    shadowType: 'vsm16',
+    vsmBlurSize: 8,
+  },
+  shadowCatcher: {
+    enabled: true,
+    size: 9,
+    yOffset: 0.001,
+    lightIntensity: 0.3,
+    lightColor: '#ffffff',
+    lightAzimuth: 20,
+    lightElevation: 60,
+    shadowIntensity: 0.29,
+    shadowDistance: 16,
+    shadowResolution: 2048,
+    shadowBias: 0,
+    normalOffsetBias: 0,
+    shadowType: 'vsm16',
+    vsmBlurSize: 8,
+  },
+}
+
+function isObject(value: any): value is Record<string, any> {
+  return !!value && typeof value === 'object' && !Array.isArray(value)
+}
+
+export function mergePostFxDefaults(raw?: Partial<PostFxSettings> | null): PostFxSettings {
+  if (!raw) return JSON.parse(JSON.stringify(DEFAULT_POSTFX)) as PostFxSettings
+
+  const out: any = JSON.parse(JSON.stringify(DEFAULT_POSTFX))
+  const merge = (target: any, source: any) => {
+    if (!isObject(source)) return
+    for (const [key, value] of Object.entries(source)) {
+      if (isObject(value)) {
+        if (!isObject(target[key])) target[key] = {}
+        merge(target[key], value)
+      } else {
+        target[key] = value
+      }
+    }
+  }
+  merge(out, raw)
+
+  const legacy: any = raw as any
+  if (legacy?.hdrLight) {
+    const src = legacy.hdrLight
+    const env = legacy?.envAtlas ?? {}
+    if (env?.enabled === undefined && typeof src.enabled === 'boolean') out.envAtlas.enabled = src.enabled
+    if (env?.background === undefined && typeof src.showSkybox === 'boolean') out.envAtlas.background = src.showSkybox
+    if (env?.intensity === undefined && typeof src.intensity === 'number') out.envAtlas.intensity = src.intensity
+    if (env?.mip === undefined && typeof src.mip === 'number') out.envAtlas.mip = src.mip
+    if (env?.rotation === undefined && typeof src.rotation === 'number') out.envAtlas.rotation = src.rotation
+  }
+  if (legacy?.hdrReflection && (legacy?.envAtlas?.reflection === undefined)) {
+    if (typeof legacy.hdrReflection.enabled === 'boolean') {
+      out.envAtlas.reflection = legacy.hdrReflection.enabled
+    }
+  }
+  if (out.envAtlas && typeof out.envAtlas.reflectionIntensity !== 'number') {
+    out.envAtlas.reflectionIntensity = out.envAtlas.intensity
+  }
+  if (out.envAtlas && typeof out.envAtlas.brightness !== 'number') {
+    out.envAtlas.brightness = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.contrast !== 'number') {
+    out.envAtlas.contrast = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.saturation !== 'number') {
+    out.envAtlas.saturation = 1
+  }
+  if (out.envAtlas && typeof out.envAtlas.toneMapping !== 'number') {
+    out.envAtlas.toneMapping = 0
+  }
+  if (out.skybox && typeof out.skybox.reflectionIntensity !== 'number') {
+    out.skybox.reflectionIntensity = out.skybox.intensity
+  }
+  if (out.grid && typeof out.grid.enabled !== 'boolean') {
+    out.grid.enabled = DEFAULT_POSTFX.grid.enabled
+  }
+  if (out.grid && typeof out.grid.colorX !== 'string') {
+    out.grid.colorX = DEFAULT_POSTFX.grid.colorX
+  }
+  if (out.grid && typeof out.grid.colorZ !== 'string') {
+    out.grid.colorZ = DEFAULT_POSTFX.grid.colorZ
+  }
+  if (out.grid && typeof out.grid.colorMain !== 'string') {
+    out.grid.colorMain = DEFAULT_POSTFX.grid.colorMain
+  }
+  if (out.grid && typeof out.grid.alphaX !== 'number') {
+    out.grid.alphaX = DEFAULT_POSTFX.grid.alphaX
+  }
+  if (out.grid && typeof out.grid.alphaZ !== 'number') {
+    out.grid.alphaZ = DEFAULT_POSTFX.grid.alphaZ
+  }
+  if (out.grid && typeof out.grid.alphaMain !== 'number') {
+    out.grid.alphaMain = DEFAULT_POSTFX.grid.alphaMain
+  }
+  if (out.grid && typeof out.grid.dotsEnabled !== 'boolean') {
+    out.grid.dotsEnabled = DEFAULT_POSTFX.grid.dotsEnabled
+  }
+  if (out.grid && typeof out.grid.dotsColor !== 'string') {
+    out.grid.dotsColor = DEFAULT_POSTFX.grid.dotsColor
+  }
+  if (out.grid && typeof out.grid.dotsAlpha !== 'number') {
+    out.grid.dotsAlpha = DEFAULT_POSTFX.grid.dotsAlpha
+  }
+  if (out.grid && typeof out.grid.dotsDiameter !== 'number') {
+    out.grid.dotsDiameter = DEFAULT_POSTFX.grid.dotsDiameter
+  }
+  if (out.grid && typeof out.grid.crossEnabled !== 'boolean') {
+    out.grid.crossEnabled = DEFAULT_POSTFX.grid.crossEnabled
+  }
+  if (out.grid && typeof out.grid.crossColor !== 'string') {
+    out.grid.crossColor = DEFAULT_POSTFX.grid.crossColor
+  }
+  if (out.grid && typeof out.grid.crossAlpha !== 'number') {
+    out.grid.crossAlpha = DEFAULT_POSTFX.grid.crossAlpha
+  }
+  if (out.grid && typeof out.grid.crossLength !== 'number') {
+    out.grid.crossLength = DEFAULT_POSTFX.grid.crossLength
+  }
+  if (out.grid && typeof out.grid.crossWidth !== 'number') {
+    out.grid.crossWidth = DEFAULT_POSTFX.grid.crossWidth
+  }
+  return out as PostFxSettings
+}
@@ -0,0 +1,20 @@
+import type * as pc from 'playcanvas'
+
+export type SceneTreeNode = {
+  id: string
+  name: string
+  enabled: boolean
+  children: SceneTreeNode[]
+}
+
+export function buildSceneTree(root: pc.GraphNode, map: Map<string, pc.Entity>): SceneTreeNode {
+  const id = String((root as any).getGuid?.() ?? (root as any)._guid ?? root.name)
+  const children = (root.children || []).map((c) => buildSceneTree(c, map))
+  map.set(id, root as pc.Entity)
+  return {
+    id,
+    name: root.name || 'Entity',
+    enabled: root.enabled !== false,
+    children,
+  }
+}
@@ -0,0 +1,20 @@
+.rover-view { position:relative; height:100%; min-height:200px; overflow:hidden; container-type:inline-size; }
+.rover-view:focus-visible { outline:2px solid var(--nodedc-text-secondary); outline-offset:-2px; }
+.rover-view .rover-view__scene { position:absolute; inset:0; }
+.rover-view__empty { display:grid; place-content:center; height:100%; text-align:center; font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-muted); }
+.rover-view__status { position:absolute; top:var(--nodedc-space-3); left:var(--nodedc-space-3); }
+.rover-view__controls { position:absolute; right:var(--nodedc-space-3); bottom:var(--nodedc-space-3); display:flex; flex-direction:column; gap:var(--nodedc-space-2); align-items:center; }
+.rover-view__controls > span { font-size:var(--nodedc-font-size-xs); color:var(--nodedc-text-secondary); }
+.rover-keys { display:grid; gap:var(--nodedc-space-1); grid-template-columns:repeat(3,46px); }
+.rover-key-KeyW { grid-column:2; }.rover-key-KeyA { grid-column:1; grid-row:2; }.rover-key-KeyS { grid-column:2; grid-row:2; }.rover-key-KeyD { grid-column:3; grid-row:2; }
+.rover-key-KeyQ { grid-column:1; }.rover-key-KeyE { grid-column:3; }
+.rover-view__authority { position:absolute; left:var(--nodedc-space-3); bottom:var(--nodedc-space-3); }
+@container (max-width: 380px) {
+ .rover-view__authority { top:48px; bottom:auto; }
+}
+.rover-settings { display:flex; flex-direction:column; gap:var(--nodedc-space-3); }
+.rover-settings p { font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-secondary); }
+.rover-telemetry { height:100%; overflow:auto; padding:var(--nodedc-space-3); display:flex; flex-wrap:wrap; align-content:start; gap:var(--nodedc-space-4); font-size:var(--nodedc-font-size-sm); }
+.rover-telemetry section { flex:1; min-width:170px; }.rover-telemetry section > span { display:block; color:var(--nodedc-text-muted); font-size:var(--nodedc-font-size-xs); margin-top:var(--nodedc-space-1); }
+.rover-telemetry dl { display:grid; gap:var(--nodedc-space-1); margin-bottom:0; }.rover-telemetry dl > div { display:flex; justify-content:space-between; gap:var(--nodedc-space-3); }
+.rover-telemetry dt { color:var(--nodedc-text-secondary); }.rover-telemetry dd { margin:0; font-variant-numeric:tabular-nums; }
@@ -1,3 +1,4 @@
+import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin';
 import type { DeviceUiPlugin } from "../core/device-plugins/contracts";
 import { xgridsK1Plugin } from "@xgrids-k1/frontend/plugin";
 import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin';
@@ -10,4 +11,4 @@ export const installedDevicePlugins: readonly DeviceUiPlugin[] = Object.freeze([

 // Node-executed camera controls use the existing sensor contribution contract;
 // they do not register a desktop capture/AI runtime or a new product workspace.
-export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi]);
+export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi,vescSensorUi]);
@@ -0,0 +1,13 @@
+import {createBoardLayoutStore,type BoardLayoutStore} from '../../../../../packages/sensor-ui/src/boardLayout';
+import {fleetRequest} from './useFleet';
+
+const layouts=new Map<string,BoardLayoutStore>();
+export function boardLayout(vehicleID:string):BoardLayoutStore {
+ let layout=layouts.get(vehicleID);
+ if(!layout){
+  const path=`/${encodeURIComponent(vehicleID)}/board-layout`;
+  layout=createBoardLayoutStore({read:()=>fleetRequest(path),patch:(section,open)=>fleetRequest(path,'PATCH',{section,open})});
+  layouts.set(vehicleID,layout);
+ }
+ return layout;
+}
@@ -0,0 +1,66 @@
+import {keyDemand,keysFor,type Demand,type RoverMode} from './roverInput';
+
+// The network heartbeat is not evidence that a physical key is still held.
+// Allow the initial OS repeat delay, then require continuing keyboard evidence.
+export const firstKeyLeaseMs=1000,repeatKeyLeaseMs=300;
+export function bindRoverHoldInput(scope:HTMLElement,mode:RoverMode,callbacks:{
+ held:(keys:Set<string>)=>void;demand:(value:Demand)=>void;pause:()=>void;stop:()=>void;
+},now:()=>number=()=>performance.now()){
+ const doc=scope.ownerDocument,win=doc.defaultView!;
+ const keyboard=new Set<string>(),pointers=new Map<number,string>();
+ let deadline=0,closed=false,suspended=false;
+ const clear=()=>{keyboard.clear();pointers.clear();deadline=0;callbacks.held(new Set());};
+ const pause=()=>{if(closed||suspended)return;suspended=true;clear();callbacks.pause();};
+ const stop=()=>{if(closed)return;closed=true;clear();callbacks.stop();};
+ const focused=()=>!doc.hidden&&doc.hasFocus()&&scope.contains(doc.activeElement);
+ const valid=()=>{
+  if(closed)return false;
+  if(!focused()||(keyboard.size>0&&now()>=deadline)){pause();return false;}
+  return true;
+ };
+ const publish=()=>{const held=new Set([...keyboard,...pointers.values()]);callbacks.held(held);callbacks.demand(keyDemand(mode,held));};
+ const down=(e:KeyboardEvent)=>{
+  if(!e.isTrusted||closed)return;
+  if(e.code==='Space'||e.code==='Escape'){e.preventDefault();stop();return;}
+  if(e.altKey||e.ctrlKey||e.metaKey){pause();return;}
+  if(!keysFor(mode).includes(e.code)||!valid())return;
+  if((e.target as HTMLElement)?.closest('input,textarea,select,[role=dialog],[role=listbox]')){pause();return;}
+  // A repeat delivered after focus returns cannot become a fresh press.
+  if(e.repeat&&!keyboard.has(e.code))return;
+  e.preventDefault();suspended=false;keyboard.add(e.code);
+  deadline=now()+(e.repeat?repeatKeyLeaseMs:firstKeyLeaseMs);publish();
+ };
+ const up=(e:KeyboardEvent)=>{
+  if(!e.isTrusted||closed||!keyboard.delete(e.code))return;
+  e.preventDefault();if(!keyboard.size)deadline=0;publish();
+ };
+ const blur=(e:Event)=>{if(e.target===win)pause();};
+ const focusOut=(e:FocusEvent)=>{if(scope.contains(e.target as Node)&&!scope.contains(e.relatedTarget as Node|null))pause();};
+ const focusIn=()=>{if(!focused())pause();};
+ const hidden=()=>{if(doc.hidden)pause();};
+ const outside=(e:Event)=>{if(!scope.contains(e.target as Node))pause();};
+ const pointerUp=(e:PointerEvent)=>{if(!closed&&pointers.delete(e.pointerId))publish();};
+ const pointerCancel=(e:PointerEvent)=>{if(pointers.has(e.pointerId))pause();};
+ win.addEventListener('keydown',down,true);win.addEventListener('keyup',up,true);
+ win.addEventListener('blur',blur,true);win.addEventListener('pagehide',stop);
+ doc.addEventListener('focusout',focusOut,true);doc.addEventListener('focusin',focusIn,true);
+ doc.addEventListener('visibilitychange',hidden);doc.addEventListener('pointerdown',outside,true);
+ doc.addEventListener('pointerup',pointerUp,true);doc.addEventListener('pointercancel',pointerCancel,true);
+ doc.addEventListener('contextmenu',pause,true);
+ const timer=win.setInterval(valid,50);
+ return {
+  valid,
+  pointerDown(id:number,code:string){if(valid()){suspended=false;pointers.set(id,code);publish();}},
+  pointerUp(id:number){if(!closed&&pointers.delete(id))publish();},
+  pointerCancel(id:number){if(pointers.has(id))pause();},
+  dispose(){
+   closed=true;clear();callbacks.demand({left:0,right:0});win.clearInterval(timer);
+   win.removeEventListener('keydown',down,true);win.removeEventListener('keyup',up,true);
+   win.removeEventListener('blur',blur,true);win.removeEventListener('pagehide',stop);
+   doc.removeEventListener('focusout',focusOut,true);doc.removeEventListener('focusin',focusIn,true);
+   doc.removeEventListener('visibilitychange',hidden);doc.removeEventListener('pointerdown',outside,true);
+   doc.removeEventListener('pointerup',pointerUp,true);doc.removeEventListener('pointercancel',pointerCancel,true);
+   doc.removeEventListener('contextmenu',pause,true);
+  },
+ };
+}
@@ -0,0 +1,20 @@
+export type RoverMode='arcade'|'tank';
+export type Demand={left:number;right:number};
+export const keysFor=(mode:RoverMode)=>mode==='arcade'?['KeyW','KeyA','KeyS','KeyD']:['KeyQ','KeyE','KeyA','KeyD'];
+export function keyDemand(mode:RoverMode,held:ReadonlySet<string>):Demand {
+ const axis=(positive:string,negative:string)=>Number(held.has(positive))-Number(held.has(negative));
+ if(mode==='tank')return {left:axis('KeyQ','KeyA'),right:axis('KeyE','KeyD')};
+ const forward=axis('KeyW','KeyS'),turn=axis('KeyD','KeyA');
+ const scale=Math.max(1,Math.abs(forward)+Math.abs(turn));
+ return {left:(forward+turn)/scale,right:(forward-turn)/scale};
+}
+export const defaultRoverSettings={version:1,mode:'arcade' as RoverMode,currentA:30,maxErpm:2000,model:''};
+export function roverSettings(value:unknown):typeof defaultRoverSettings {
+ const v=value as Partial<typeof defaultRoverSettings>|null;
+ return {...defaultRoverSettings,...(v?.version===1?{
+  mode:v.mode==='tank'?'tank':'arcade',
+  currentA:typeof v.currentA==='number'&&Number.isFinite(v.currentA)?Math.max(.5,Math.min(30,v.currentA)):30,
+  maxErpm:typeof v.maxErpm==='number'&&Number.isFinite(v.maxErpm)?Math.max(300,Math.min(3000,v.maxErpm)):2000,
+  model:v.model==='dcd006-v020'?v.model:'',
+ }:{} )};
+}
@@ -9,6 +9,7 @@ export function createFleetSensorTransport(vehicleID:string):SensorTransport {
  return {...value.sensor_state,fresh:value.connectivity==='online'&&value.enrollment==='paired'};
 };
 return {
+  configurationArchive:{list:(device,before)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations${before?'?before='+encodeURIComponent(before):''}`),read:(device,version)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations/${encodeURIComponent(version)}`)},
  enrollment:{state:()=>fleetRequest(`${path}/enrollment`),submit:value=>fleetRequest(`${path}/enrollment/operations`,'POST',value),operation:id=>fleetRequest(`${path}/enrollment/operations/${encodeURIComponent(id)}`)},
  inventory:async()=>inventory(await fleetRequest()),
  subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{receive(inventory(JSON.parse(e.data)));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},
@@ -0,0 +1,79 @@
+import {useCallback,useEffect,useRef,useState} from 'react';
+import type {Demand} from './roverInput';
+
+export interface RoverReading {
+ id:string;uuid:string;slot:string|null;label:string;age_ms:number;
+ values:{motor_current_a:number;input_current_a:number;input_voltage_v:number;erpm:number;duty:number;mos_temperature_c:number;fault_code:number};
+}
+export interface RoverState {
+ fresh:boolean;controlling:boolean;
+ snapshot:{supported?:boolean;instance?:string;state?:string;session_id?:string|null;message?:string|null;devices?:RoverReading[];
+  profile?:{layout:null|'1x1'|'2x2';bindings:Record<string,{device_id:string;uuid:string}>}};
+}
+const empty:RoverState={fresh:false,controlling:false,snapshot:{}};
+async function request<T>(url:string,body?:unknown,keepalive=false):Promise<T>{
+ const response=await fetch(url,{method:body?'POST':'GET',headers:body?{'Content-Type':'application/json'}:undefined,
+  body:body?JSON.stringify(body):undefined,cache:'no-store',signal:AbortSignal.timeout(body?350:1000),keepalive});
+ const result=await response.json();
+ if(!response.ok)throw new Error(typeof result.detail==='string'?result.detail:'Канал управления недоступен.');
+ return result;
+}
+export function useRoverControl(vehicleID:string,visible:boolean){
+ const url=`/api/v1/fleet/${encodeURIComponent(vehicleID)}/rover`;
+ const [state,setState]=useState<RoverState>(empty),[armed,setArmed]=useState(false),[pending,setPending]=useState(false),[error,setError]=useState<string|null>(null);
+ const [connecting,setConnecting]=useState(true),armPending=useRef(false);
+ const session=useRef<string|null>(null),seq=useRef(0),demand=useRef<Demand>({left:0,right:0}),sending=useRef(false),generation=useRef(0);
+ const inputGuard=useRef<(()=>boolean)|null>(null);
+ const setInputGuard=useCallback((guard:(()=>boolean)|null)=>{inputGuard.current=guard;},[]);
+ const stop=useCallback(()=>{
+  generation.current++;armPending.current=false;const id=session.current;session.current=null;demand.current={left:0,right:0};setArmed(false);setPending(false);
+  if(id)void request(url+'/command',{session_id:id,sequence:++seq.current,left:0,right:0,stop:true},true).catch(()=>{});
+ },[url]);
+ const send=useCallback(async()=>{
+  const id=session.current;if(!id)return;
+  // Check on every heartbeat, even when a previous request is still pending.
+  const inputValid=(demand.current.left===0&&demand.current.right===0)||inputGuard.current?.();
+  if(document.hidden||!document.hasFocus()||!inputValid)demand.current={left:0,right:0};
+  if(sending.current)return;
+  sending.current=true;
+  try{await request(url+'/command',{session_id:id,sequence:++seq.current,...demand.current,stop:false});}
+  catch(e){if(session.current===id){stop();setError(e instanceof Error?e.message:'Команда не подтверждена.');}}
+  finally{sending.current=false;}
+ },[url,stop]);
+ const setDemand=useCallback((next:Demand)=>{demand.current=next;void send();},[send]);
+ const pauseInput=useCallback(()=>{demand.current={left:0,right:0};void send();},[send]);
+ const arm=useCallback(async(currentA:number,maxErpm:number)=>{
+  if(session.current||armPending.current)return false;const g=++generation.current;armPending.current=true;setError(null);setPending(true);
+  try{
+   const result=await request<{session_id:string}>(url+'/arm',{standstill_confirmed:true,current_a:currentA,max_erpm:maxErpm});
+   if(g!==generation.current){void request(url+'/command',{session_id:result.session_id,sequence:1,left:0,right:0,stop:true},true).catch(()=>{});return false;}
+   // Retire every read started before this acknowledgement, including reads
+   // begun while POST /arm was pending. They describe the previous authority.
+   generation.current++;armPending.current=false;setPending(false);
+   seq.current=0;demand.current={left:0,right:0};session.current=result.session_id;setArmed(true);void send();
+   return true;
+  }catch(e){if(g===generation.current)setError(e instanceof Error?e.message:'Не удалось включить управление.');return false;}
+  finally{if(g===generation.current){armPending.current=false;setPending(false);}}
+ },[url,send]);
+ useEffect(()=>{
+  if(!visible){stop();setState(empty);setConnecting(false);return;}
+  let alive=true,busy=false,lastFault='';const started=performance.now();setConnecting(true);
+  const poll=async()=>{
+   if(busy)return;busy=true;const before=generation.current;
+   try{const value=await request<RoverState>(url);if(alive&&before===generation.current){setState(value);
+    setConnecting(!value.fresh&&performance.now()-started<2000);
+    if(session.current&&(!value.fresh||!value.controlling)){stop();}
+    const fault=value.snapshot.state==='fault'?value.snapshot.message??'':'';
+    if(fault&&lastFault!==fault){lastFault=fault;setError(fault);}
+   }}catch{if(alive&&before===generation.current){setState(empty);setConnecting(false);if(session.current)stop();}}finally{busy=false;}
+  };
+  void poll();const timer=setInterval(()=>void poll(),200),heartbeat=setInterval(()=>void send(),100);
+  const blur=()=>pauseInput(),hidden=()=>{if(document.hidden)pauseInput();};
+  window.addEventListener('blur',blur);window.addEventListener('pagehide',stop);document.addEventListener('visibilitychange',hidden);
+  return()=>{alive=false;clearInterval(timer);clearInterval(heartbeat);window.removeEventListener('blur',blur);window.removeEventListener('pagehide',stop);document.removeEventListener('visibilitychange',hidden);stop();};
+ },[url,visible,stop,send,pauseInput]);
+ const ready=armed&&state.fresh&&state.snapshot.session_id===session.current&&['ready','driving'].includes(state.snapshot.state??'');
+ const canArm=state.fresh&&state.snapshot.supported===true&&!state.controlling&&!['preparing','ready','driving','stopping'].includes(state.snapshot.state??'');
+ return {state,armed,pending,error,connecting,canArm,arm,stop,pauseInput,setDemand,setInputGuard,ready,clearError:()=>setError(null)};
+}
+export type RoverController=ReturnType<typeof useRoverControl>;
@@ -431,7 +431,7 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) {
    case "missions":
      return <MissionPlannerWorkspace openView={props.navigation.openView} headerToolsHost={props.headerToolsHost} />;
    case "vehicles":
-      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} />;
+      return <VehiclesWorkspace createRequest={props.fleetCreateRequest} headerToolsHost={props.headerToolsHost} />;
    case "catalog":
      return <CatalogWorkspace {...props} />;
    case "contour-health":
@@ -1,11 +1,13 @@
-import {useMemo} from 'react';
+import {useMemo,type ReactNode} from 'react';
+import {boardLayout} from '../../core/fleet/boardLayout';
 import {useDevicePluginHost} from '../../core/device-plugins/DevicePluginHost';
 import {createIsolatedRerunHost} from '../../components/rerun/isolatedRerunHost';
 import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace';
 import {createFleetSensorTransport} from '../../core/fleet/sensorTransport';
-export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){
+export function VehicleSensors({vehicleID,enabled,computer,description}:{vehicleID:string;enabled:boolean;computer:ReactNode;description:string}){
 const {registry}=useDevicePluginHost();
 const sensorContributions=registry.sensorContributions;
+ const layout=useMemo(()=>boardLayout(vehicleID),[vehicleID]);
 const transport=useMemo(()=>createFleetSensorTransport(vehicleID),[vehicleID]);
- return <SensorWorkspace contributions={sensorContributions} createRerunHost={createIsolatedRerunHost} key={vehicleID} transport={transport} enabled={enabled} onDetailChange={onDetailChange}/>;
+ return <SensorWorkspace contributions={sensorContributions} createRerunHost={createIsolatedRerunHost} key={vehicleID} transport={transport} enabled={enabled} board={{layout,computer,description}}/>;
 }
@@ -10,7 +10,7 @@ const platforms = [{ value: "ugv", label: "Наземный (UGV)" }, { value: "
 const platformLabel = (value: string) => platforms.find(item => item.value === value)?.label ?? value;
 function statusLabel(item: Vehicle) { return item.enrollment === "pending" ? "Подтверждаем привязку" : item.enrollment === "revoked" ? "Доверие отозвано" : item.enrollment === "failed" ? "Привязка не завершена" : item.connectivity === "online" ? "В сети" : "Нет связи"; }

-export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: number }) {
+export function VehiclesWorkspace({ createRequest = 0, headerToolsHost }: { createRequest?: number; headerToolsHost?: HTMLElement|null }) {
  const fleet = useFleet();
  const [adding, setAdding] = useState(false);
  const [code, setCode] = useState("");
@@ -20,7 +20,6 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
  const [pending, setPending] = useState(false);
  const [error, setError] = useState("");
  const [selected, setSelected] = useState<string | null>(null);
-  const [sensorOpen, setSensorOpen] = useState(false);
  const [monitorOpen,setMonitorOpen]=useState(false);
  const [observationOpen,setObservationOpen]=useState(false);
  const [revoking, setRevoking] = useState<Vehicle | null>(null);
@@ -44,25 +43,24 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe
    finally { setPending(false); }
  }
  const detail = fleet.items?.find(item => item.id === selected);
-  if(detail&&observationOpen)return <BoardObservationCenter key={detail.id} vehicleID={detail.id} name={detail.name} enabled={!fleet.error&&detail.enrollment==="paired"&&detail.connectivity==="online"} back={()=>{setObservationOpen(false);setSensorOpen(false);}}/>;
+  if(detail&&observationOpen)return <BoardObservationCenter key={detail.id} vehicleID={detail.id} name={detail.name} enabled={!fleet.error&&detail.enrollment==="paired"&&detail.connectivity==="online"} back={()=>{setObservationOpen(false);setSelected(null);}} configure={()=>setObservationOpen(false)} headerToolsHost={headerToolsHost}/>;
  if(detail&&monitorOpen)return <BoardMonitorView vehicle={detail.id} name={detail.name} back={()=>setMonitorOpen(false)}/>;
  return <div className="fleet-workspace">
    {fleet.error && <p role="alert">{fleet.error}</p>}
    {!adding && error && <p role="alert">{error}</p>}
    {detail ? <>
-      <div><Button onClick={() => {setSelected(null);setSensorOpen(false);}}>К списку аппаратов</Button></div>
-      {!sensorOpen && <SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
+      <div><Button onClick={() => {setSelected(null);}}>К списку аппаратов</Button></div>
+      <VehicleSensors vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} description={detail.name} computer={<SettingsCard title={detail.name} description={`${platformLabel(detail.platform)} · с бортовым компьютером`} actions={<StatusBadge tone={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(detail)}</StatusBadge>}>
        {detail.notice && <p role="status">{detail.notice}</p>}
        <dl className="fleet-facts"><div><dt>Бортовой компьютер</dt><dd>{detail.node_id}</dd></div>
          <div><dt>Последняя связь</dt><dd>{detail.last_seen ? new Date(detail.last_seen * 1000).toLocaleString("ru-RU") : "Соединение ещё не получено"}</dd></div>
          {detail.host && <><div><dt>Имя БК в системе</dt><dd>{detail.host.hostname}</dd></div><div><dt>Операционная система</dt><dd>{detail.host.os}</dd></div><div><dt>Архитектура</dt><dd>{detail.host.architecture}</dd></div><div><dt>Процессоры</dt><dd>{detail.host.cpus}</dd></div><div><dt>Память</dt><dd>{detail.host.memory_kib ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}</dd></div></>}
        </dl>
        <div className="fleet-board-actions"><Button onClick={()=>setMonitorOpen(true)}><Icon name="activity"/>Мониторинг системы БК</Button>
-        <Button onClick={()=>setObservationOpen(true)}><Icon name="eye"/>Центр наблюдения</Button>
+        <Button onClick={()=>setObservationOpen(true)}><Icon name="eye"/>Центр наблюдения и управления</Button>
        {detail.enrollment !== "revoked" && <Button onClick={() => setRevoking(detail)}>Отозвать привязку БК</Button>}</div>
-      </SettingsCard>}
-      <SettingsCard title="Устройства аппарата"><VehicleSensors onDetailChange={setSensorOpen} vehicleID={detail.id} enabled={!fleet.error && detail.enrollment === "paired" && detail.connectivity === "online"} /></SettingsCard>
-    </> : !fleet.items ? <LoadingRegion loading label="Получение аппаратов" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={<StatusBadge tone={!fleet.error && item.enrollment === "paired" && item.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(item)}</StatusBadge>} actions={<><IconButton label={`Конфигурация: ${item.name}`} onClick={() => setSelected(item.id)}><Icon name="sliders" /></IconButton><IconButton label={`Центр наблюдения: ${item.name}`} onClick={() => {setSelected(item.id);setObservationOpen(true);}}><Icon name="eye" /></IconButton></>} /></li>)}</ResourceList>}
+      </SettingsCard>}/>
+    </> : !fleet.items ? <LoadingRegion loading label="Получение аппаратов" /> : fleet.items.length === 0 ? <SettingsCard title="Аппаратов пока нет" description="Добавьте аппарат по приглашению из Mission Core Node на его бортовом компьютере."><Button onClick={() => setAdding(true)}>Добавить аппарат</Button></SettingsCard> : <ResourceList aria-label="Аппараты">{fleet.items.map(item => <li key={item.id}><ResourceRow icon={<Icon name="apps" />} title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={<StatusBadge tone={!fleet.error && item.enrollment === "paired" && item.connectivity === "online" ? "success" : "neutral"}>{fleet.error ? "Нет свежих данных" : statusLabel(item)}</StatusBadge>} actions={<><IconButton label={`Конфигурация: ${item.name}`} onClick={() => setSelected(item.id)}><Icon name="sliders" /></IconButton><IconButton label={`Центр наблюдения и управления: ${item.name}`} onClick={() => {setSelected(item.id);setObservationOpen(true);}}><Icon name="eye" /></IconButton></>} /></li>)}</ResourceList>}
    <Window open={adding} title="Добавить аппарат" subtitle="Подключить бортовой компьютер по приглашению Node" size="md" closeOnBackdrop={false} closeOnEscape={!pending} onClose={close} footer={<WindowFooterActions><Button disabled={pending} onClick={close}>Отмена</Button>{preview ? <Button disabled={pending || !name.trim()} onClick={() => void add()}>{pending ? "Добавление…" : "Добавить аппарат"}</Button> : <Button type="submit" form="fleet-invitation" disabled={pending || !code.trim()}>{pending ? "Проверка БК…" : "Проверить БК"}</Button>}</WindowFooterActions>}>
      <form id="fleet-invitation" className="fleet-form" onSubmit={inspect} aria-busy={pending}>
        <Select label="Способ подключения" value="node" options={[{ value: "node", label: "С бортовым компьютером" }]} onChange={() => undefined} disabled={pending} />
@@ -11,8 +11,11 @@ import {ObservationDeck,ObservationMount} from './ObservationDeck';
 import {ObservationMap} from './ObservationMap';
 import {useObservationInventory} from './useObservationInventory';
 import './observation.css';
+import {RoverView} from '../../../components/rover/RoverView';
+import {RoverTelemetry} from '../../../components/rover/RoverTelemetry';
+import {useRoverControl} from '../../../core/fleet/useRoverControl';

-export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:string;name:string;enabled:boolean;back:()=>void}){
+export function BoardObservationCenter({vehicleID,name,enabled,back,configure,headerToolsHost}:{vehicleID:string;name:string;enabled:boolean;back:()=>void;configure:()=>void;headerToolsHost?:HTMLElement|null}){
 const {registry}=useDevicePluginHost(),transport=useMemo(()=>createFleetSensorTransport(vehicleID),[vehicleID]);
 const inventory=useObservationInventory(transport),storageKey=`missioncore.observation.v1:${vehicleID}`;
 const [layout,setLayout]=useState(()=>{try{return decodeObservationLayout(JSON.parse(localStorage.getItem(storageKey)??'null'));}catch{return emptyObservationLayout();}});
@@ -27,17 +30,20 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
  return views.length?[{device,views,Session:contribution?.Session??CameraObservation}]:[];
 });
 const sources:{key:string;deviceID?:string;view:SensorObservationView}[]=groups.flatMap(group=>group.views.map(view=>({key:observationKey(group.device.id,view.id),deviceID:group.device.id,view})));
- sources.push({key:'map',view:{id:'map',label:'Карта'}});
+ sources.push({key:'map',view:{id:'map',label:'Карта'}},{key:'rover',view:{id:'rover',label:'3D View аппарата'}},{key:'telemetry',view:{id:'telemetry',label:'Телеметрия'}});
 for(const source of sources){if(!mounts.current.has(source.key)){mounts.current.set(source.key,document.createElement('div'));media.current.set(source.key,document.createElement('div'));headers.current.set(source.key,{statusTarget:document.createElement('div'),actionsTarget:document.createElement('div')});mounts.current.get(source.key)!.className='observation-panel-mount';media.current.get(source.key)!.className='observation-media-mount';}}
 const ids=orderedObservationIDs(layout,sources.map(source=>source.key)),visible=ids.filter(id=>!layout.hidden.includes(id));
 const effectiveFull=full&&visible.includes(full)?full:null;
+ const rover=useRoverControl(vehicleID,enabled&&(visible.includes('rover')||visible.includes('telemetry')));
+ const drivingVisible=visible.includes('rover')&&(!effectiveFull||effectiveFull==='rover')&&!layersOpen;
+ useEffect(()=>{if(!drivingVisible)rover.stop();},[drivingVisible,rover.stop]);
 const active=sources.find(source=>source.key===focused);
 useEffect(()=>{try{localStorage.setItem(storageKey,JSON.stringify(layout));}catch{/* The workspace remains usable without browser storage. */}},[storageKey,layout]);
 useEffect(()=>{const escape=(event:KeyboardEvent)=>{if(event.key!=='Escape'||layersOpen||document.querySelector('[role=dialog], [role=listbox]'))return;if(effectiveFull){setFull(null);event.stopImmediatePropagation();}else if(expanded){setExpanded(false);event.stopImmediatePropagation();}};window.addEventListener('keydown',escape,true);return()=>window.removeEventListener('keydown',escape,true);},[effectiveFull,expanded,layersOpen]);
 const setVisible=(id:string,show:boolean)=>setLayout(value=>({...value,hidden:show?value.hidden.filter(key=>key!==id):[...new Set([...value.hidden,id])]}));
 const layerFor=(key:string,view:SensorObservationView)=>view.layers?.find(layer=>layer.value===layout.layers[key])?.value??view.layers?.[0]?.value??view.id;
- return <><div ref={frame}/>{createPortal(<section className={`observation-center${expanded?' observation-center--expanded':''}`} aria-label={`Центр наблюдения · ${name}`}>
-  <header className="observation-toolbar"><div><h2>Центр наблюдения</h2><span>{name}</span></div><div className="observation-actions"><Button onClick={back}><Icon name="sliders"/>Конфигуратор</Button><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}><Icon name="grid"/>Доступные слои</Button><IconButton label={expanded?'Восстановить размер центра':'Развернуть центр наблюдения'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton></div></header>
+ return <>{headerToolsHost&&createPortal(<IconButton label="К аппаратам" onClick={back}><Icon name="chevron-left"/></IconButton>,headerToolsHost)}<div ref={frame}/>{createPortal(<section className={`observation-center${expanded?' observation-center--expanded':''}`} aria-label={`Центр наблюдения и управления · ${name}`}>
+  <header className="observation-toolbar"><div><h2>Центр наблюдения и управления</h2><span>{name}</span></div><div className="observation-actions">{(!headerToolsHost||expanded)&&<IconButton label="К аппаратам" onClick={back}><Icon name="chevron-left"/></IconButton>}<Button onClick={configure}><Icon name="sliders"/>Конфигуратор</Button><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}><Icon name="grid"/>Доступные слои</Button><IconButton label={expanded?'Восстановить размер центра':'Развернуть центр наблюдения и управления'} onClick={()=>setExpanded(value=>!value)}><Icon name={expanded?'minimize':'expand'}/></IconButton></div></header>
  <div className="observation-summary"><StatusBadge tone={enabled&&inventory&&inventory.fresh!==false?'success':'neutral'}>{!inventory?'Получение источников':!enabled||inventory.fresh===false?'Нет свежих данных с БК':`Устройства: ${groups.length} · Окна: ${visible.length}`}</StatusBadge>{effectiveFull&&<Button onClick={()=>setFull(null)}>Все окна</Button>}</div>
  <DragDropRoot onDragEnd={({activeId,overId})=>{if(overId)setLayout(value=>moveObservation(value,ids,activeId,overId));}}>
   <div className="observation-deck">{!inventory?<LoadingRegion loading label="Получение визуальных источников"/>:visible.length?<ObservationDeck ids={effectiveFull?[effectiveFull]:visible} mounts={mounts.current} layout={layout} onSplit={(key,value)=>setLayout(current=>({...current,splits:{...current.splits,[key]:value}}))}/>:<div className="observation-empty"><p>Все окна скрыты.</p><Button onClick={()=>{setFocused(null);setLayersOpen(true);}}>Доступные слои</Button></div>}</div>
@@ -51,7 +57,7 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
       <div className="observation-actions">
        {source.view.layers&&<Select className="observation-layer-select" label={`Слой · ${source.view.label}`} value={layerFor(source.key,source.view)} options={source.view.layers} onChange={value=>setLayout(current=>({...current,layers:{...current.layers,[source.key]:value}}))} variant="inline"/>}
        <ObservationMount className="observation-header-slot" element={headers.current.get(source.key)!.actionsTarget}/>
-        {source.key!=='map'&&<IconButton label={`Настройки · ${source.view.label}`} onClick={()=>{setFocused(source.key);setLayersOpen(true);}}><Icon name="settings"/></IconButton>}
+        {source.deviceID&&<IconButton label={`Настройки · ${source.view.label}`} onClick={()=>{setFocused(source.key);setLayersOpen(true);}}><Icon name="settings"/></IconButton>}
        <IconButton label={`${effectiveFull===source.key?'Восстановить':'Развернуть'} · ${source.view.label}`} onClick={()=>setFull(value=>value===source.key?null:source.key)}><Icon name={effectiveFull===source.key?'minimize':'expand'}/></IconButton>
        <IconButton label={`Скрыть · ${source.view.label}`} onClick={()=>setVisible(source.key,false)}><Icon name="close"/></IconButton>
       </div>
@@ -63,6 +69,8 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID:
  </DragDropRoot>
  {groups.map(({device,views,Session})=>visible.some(key=>views.some(view=>key===observationKey(device.id,view.id)))&&<Session key={device.id} device={device} transport={transport} enabled={enabled&&inventory?.fresh!==false&&device.online} createRerunHost={createIsolatedRerunHost} views={views.map(view=>({id:view.id,layer:layerFor(observationKey(device.id,view.id),view),target:media.current.get(observationKey(device.id,view.id))!,...headers.current.get(observationKey(device.id,view.id))!}))}/>)}
  {visible.includes('map')&&createPortal(<ObservationMap vehicleID={vehicleID} header={headers.current.get('map')!}/>,media.current.get('map')!,'map-session')}
+  {visible.includes('rover')&&createPortal(<RoverView vehicleID={vehicleID} controller={rover} header={headers.current.get('rover')!} active={drivingVisible}/>,media.current.get('rover')!,'rover-session')}
+  {visible.includes('telemetry')&&createPortal(<RoverTelemetry state={rover.state}/>,media.current.get('telemetry')!,'telemetry-session')}
  <Window open={layersOpen} onClose={()=>setLayersOpen(false)} title={active?active.view.label:'Доступные слои'} size="md"><div className="observation-settings">
   {!active&&<Select label="Расположение окон" value={layout.arrangement} options={[{value:'auto',label:'Автоматически'},{value:'columns',label:'В ряд'},{value:'rows',label:'Друг под другом'}]} onChange={value=>setLayout(current=>({...current,arrangement:value as typeof layout.arrangement}))}/>}
   {ids.filter(id=>!active||id===active.key).map(id=>{const source=sources.find(item=>item.key===id)!;return <div className="observation-layer" key={id}><Switch label={source.view.label} checked={visible.includes(id)} onChange={value=>setVisible(id,value)}/><Select label={`Позиция · ${source.view.label}`} value={String(ids.indexOf(id))} options={ids.map((_,i)=>({value:String(i),label:`Окно ${i+1}`}))} onChange={value=>setLayout(current=>moveObservation(current,ids,id,ids[Number(value)]))}/></div>;})}
@@ -11,6 +11,8 @@ export function ObservationMount({element,className='observation-mount'}:{elemen
 export function ObservationDeck({ids,mounts,layout,onSplit,depth=0}:{ids:string[];mounts:Map<string,HTMLElement>;layout:ObservationLayout;onSplit:(key:string,value:number)=>void;depth?:number}){
 if(!ids.length)return null;
 if(ids.length===1)return <ObservationMount element={mounts.get(ids[0])!}/>;
- const mid=Math.ceil(ids.length/2),key=JSON.stringify(ids),orientation=layout.arrangement==='rows'?'horizontal':layout.arrangement==='columns'?'vertical':depth%2?'horizontal':'vertical';
+ const defaultColumns=depth===0&&layout.arrangement==='auto'&&!layout.order.some(id=>id==='rover'||id==='telemetry')&&ids.some(id=>!['map','rover','telemetry'].includes(id));
+ const cameraCount=ids.filter(id=>!['map','rover','telemetry'].includes(id)).length;
+ const mid=defaultColumns&&cameraCount<ids.length?cameraCount:layout.arrangement==='auto'&&ids[0]==='map'&&ids.includes('rover')?1:Math.ceil(ids.length/2),key=JSON.stringify(ids),orientation=layout.arrangement==='rows'?'horizontal':layout.arrangement==='columns'?'vertical':depth%2?'horizontal':'vertical';
 return <SplitPane className="observation-split" orientation={orientation} primarySize={layout.splits[key]??50} onPrimarySizeChange={value=>onSplit(key,value)} separatorLabel="Изменить размеры окон" primary={<ObservationDeck ids={ids.slice(0,mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>} secondary={<ObservationDeck ids={ids.slice(mid)} mounts={mounts} layout={layout} onSplit={onSplit} depth={depth+1}/>}/>;
 }
@@ -0,0 +1,57 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {readFileSync} from 'node:fs';
+import ts from 'typescript';
+const code=ts.transpileModule(readFileSync(new URL('../../../packages/sensor-ui/src/boardLayout.ts',import.meta.url),'utf8'),{compilerOptions:{module:ts.ModuleKind.ESNext,target:ts.ScriptTarget.ES2022}}).outputText;
+const {createBoardLayoutStore,defaultBoardLayout}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64'));
+const tick=()=>new Promise(resolve=>setImmediate(resolve));
+function server(){
+ let value=structuredClone(defaultBoardLayout);const calls=[];
+ return {calls,read:async()=>structuredClone(value),patch:async(section,open)=>{
+  calls.push({section,open});await tick();
+  value={...value,revision:value.revision+1,open_sections:defaultBoardLayout.open_sections.filter(id=>id===section?open:value.open_sections.includes(id))};
+  return structuredClone(value);
+ }};
+}
+test('rapid toggles persist after navigation and preserve all-closed state',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ const unsubscribe=store.subscribe(()=>{});
+ store.change(['settings','devices']);store.change(['devices']);store.change([]);
+ unsubscribe();
+ while(store.getSnapshot().saving)await tick();
+ const reopened=createBoardLayoutStore(api);await reopened.load();
+ assert.deepEqual(reopened.getSnapshot().value.open_sections,[]);
+ assert.equal(api.calls.length,3);
+});
+test('a later toggle wins while an older patch is still in flight',async()=>{
+ const api=server();const store=createBoardLayoutStore(api);await store.load();
+ store.change(['settings','devices']);store.change(['computer','settings','devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,defaultBoardLayout.open_sections);
+});
+test('different vehicles and simultaneous section changes do not clobber one another',async()=>{
+ const api=server(),other=server();const a=createBoardLayoutStore(api),b=createBoardLayoutStore(api),c=createBoardLayoutStore(other);
+ await Promise.all([a.load(),b.load(),c.load()]);
+ a.change(['settings','devices']);b.change(['computer','devices']);
+ while(a.getSnapshot().saving||b.getSnapshot().saving)await tick();
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+ assert.deepEqual(c.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+});
+test('failed save reports failure, rolls back, and explicit reload recovers',async()=>{
+ const api=server();let fail=true;
+ const store=createBoardLayoutStore({...api,patch:(...args)=>fail?Promise.reject(new Error('offline')):api.patch(...args)});
+ await store.load();store.change([]);
+ while(store.getSnapshot().saving)await tick();
+ assert.ok(store.getSnapshot().error);
+ assert.deepEqual(store.getSnapshot().value.open_sections,defaultBoardLayout.open_sections);
+ fail=false;await store.load();store.change(['devices']);
+ while(store.getSnapshot().saving)await tick();
+ assert.equal(store.getSnapshot().error,null);
+ assert.deepEqual((await api.read()).open_sections,['devices']);
+});
+test('invalid layout cannot overwrite stored preferences',async()=>{
+ let writes=0;
+ const store=createBoardLayoutStore({read:async()=>({...defaultBoardLayout,open_sections:['motor-start']}),patch:async()=>{writes++;return defaultBoardLayout;}});
+ await store.load();store.change([]);
+ assert.equal(store.getSnapshot().ready,false);assert.ok(store.getSnapshot().error);assert.equal(writes,0);
+});
@@ -0,0 +1,157 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+
+async function moduleAt(path) {
+ const result = await build({entryPoints:[new URL(path,import.meta.url).pathname],bundle:true,write:false,format:'esm',platform:'node'});
+ return import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+}
+const {defaultProfile:base,mix,motorDemands,parseProfile}=await moduleAt('../../../packages/rover-control/src/profile.ts');
+const {AuthorityModel}=await moduleAt('../../../packages/rover-control/src/authority.ts');
+const axes=(leftY=0,rightY=0,leftX=0,rightX=0)=>({leftY,rightY,leftX,rightX});
+const profile={...base,deadband:0};
+const arcade={...profile,mode:'arcade'};
+const policy={maxAgeMs:100,neutralMs:200,maxCommandMs:100,monitoredAxes:['leftY','rightY','leftX','rightX']};
+const motors=['a','b','c','d'];
+function frame(now,values=axes(),extra={}) {
+ return {now,link:{state:'live',at:now},
+  axes:Object.fromEntries(Object.entries(values).map(([key,value])=>[key,{value,at:now,sequence:now}])),
+  drives:Object.fromEntries(motors.map(id=>[id,{at:now,healthy:true,stopped:true}])),...extra};
+}
+function ready(p=base) {
+ const model=new AuthorityModel(p,motors,policy,'boot-A');
+ for(let t=0;t<=200;t+=50)model.step(frame(t));
+ return model;
+}
+function core() {
+ const model=ready();
+ const {token}=model.step(frame(250,axes(),{requestCore:{owner:'autonomy',sequence:1,at:250}}));
+ assert.ok(token);return {model,token};
+}
+const command=(token,at,sequence=0)=>({token,at,expires:at+75,sequence,demand:{left:.5,right:.5}});
+
+test('tank keeps the two motor sides independent, including reversal',()=>{
+ assert.deepEqual(mix(profile,axes(.8,-.4)),{left:.8,right:-.4});
+ assert.deepEqual(mix(profile,axes(0,.4)),{left:0,right:.4});
+});
+test('arcade cardinal, diagonal and reverse vectors preserve yaw sign',()=>{
+ for(const [y,x,left,right] of [[0,0,0,0],[1,0,1,1],[-1,0,-1,-1],[0,1,1,-1],[0,-1,-1,1],[1,1,1,0],[1,-1,0,1],[-1,1,0,-1],[-1,-1,-1,0]])
+  assert.deepEqual(mix(arcade,axes(0,y,0,x)),{left,right});
+ assert.deepEqual(mix(arcade,axes(0,.5,0,.5)),{left:.5,right:0});
+});
+test('selected stick defines the axes, not the number or position of motors',()=>{
+ assert.deepEqual(mix({...arcade,stick:'left'},axes(.5,-1,.5,-1)),{left:.5,right:0});
+});
+test('deadband is continuous and rescaled; response and output scale are separate',()=>{
+ assert.deepEqual(mix(base,axes(-.064,.074)),{left:0,right:0});
+ assert.deepEqual(mix({...profile,deadband:.2,response:'squared',outputScale:.5},axes(.6,-1)),{left:.12499999999999997,right:-.5});
+ assert.ok(Math.abs(mix(base,axes(.150001)).left)<.000002);
+});
+test('every point in the input square stays bounded and changes sign symmetrically',()=>{
+ for(let i=-20;i<=20;i++)for(let j=-20;j<=20;j++){
+  const a=mix({...arcade,outputScale:.8},axes(0,i/20,0,j/20));
+  const b=mix({...arcade,outputScale:.8},axes(0,-i/20,0,-j/20));
+  assert.ok(Math.abs(a.left)<=.8+1e-12 && Math.abs(a.right)<=.8+1e-12);
+  assert.ok(Math.abs(a.left+b.left)<1e-12 && Math.abs(a.right+b.right)<1e-12);
+ }
+});
+test('profile JSON rejects unknown fields, malformed numbers and unknown schema',()=>{
+ assert.deepEqual(parseProfile(JSON.parse(JSON.stringify(base))),base);
+ for(const bad of [null,[],{...base,schema:'future'},{...base,revision:1.5},{...base,revision:-1},{...base,deadband:NaN},{...base,outputScale:1.1},{...base,writeVesc:true}])assert.throws(()=>parseProfile(bad));
+ for(const value of [NaN,Infinity,1.01,undefined])assert.throws(()=>mix(profile,{...axes(),leftY:value}));
+});
+test('2, 4 and 10 motors route by identity and explicit direction, never USB position',()=>{
+ for(const n of [2,4,10]){
+  const bindings=Array.from({length:n},(_,i)=>({uuid:i.toString(16).padStart(24,'0'),side:i<n/2?'left':'right',forwardSign:i%2?1:-1}));
+  const result=motorDemands({left:.3,right:-.6},bindings);
+  assert.equal(Object.keys(result).length,n);
+  assert.deepEqual(result,motorDemands({left:.3,right:-.6},bindings.toReversed()));
+ }
+ const b={uuid:'0'.repeat(24),side:'left',forwardSign:1};
+ assert.throws(()=>motorDemands({left:1,right:1},[b]));
+ assert.throws(()=>motorDemands({left:1,right:1},[b,{...b,side:'right'}]));
+});
+test('boot with held stick never permits motion; stable stopped neutral required',()=>{
+ const model=new AuthorityModel(base,motors,policy,'boot');
+ for(let t=0;t<1000;t+=50){const d=model.step(frame(t,axes(1)));assert.equal(d.state,'hold');assert.deepEqual(d.demand,{left:0,right:0});}
+ for(let t=1000;t<1200;t+=50)assert.equal(model.step(frame(t)).state,'hold');
+ assert.equal(model.step(frame(1200)).state,'rc-ready');
+ assert.equal(model.step(frame(1250,axes(1))).state,'rc-manual');
+});
+test('first RC gesture stops Core immediately, held packets never count as second gesture',()=>{
+ const {model,token}=core();
+ assert.equal(model.step(frame(300,axes(),{command:command(token,300)})).state,'core');
+ const first=model.step(frame(350,axes(.5),{command:command(token,350,1)}));
+ assert.equal(first.reason,'rc-takeover');assert.ok(first.stopAll&&first.flushMotionQueue&&first.cancelMotionTasks);
+ for(let t=400;t<1500;t+=50)assert.deepEqual(model.step(frame(t,axes(.5))).demand,{left:0,right:0});
+ for(let t=1500;t<=1700;t+=50)model.step(frame(t));
+ const second=model.step(frame(1750,axes(.5)));
+ assert.equal(second.state,'rc-manual');assert.ok(second.demand.left>0);
+ assert.equal(model.step(frame(1800)).state,'rc-manual');
+ assert.equal(model.step(frame(1850,axes(0,.5),{command:command(token,1850,2)})).state,'rc-manual');
+});
+test('neutral of one channel or a single moving member never completes rearming',()=>{
+ for(const kind of ['axis','drive']){
+  const {model}=core();model.step(frame(300,axes(1)));
+  for(let t=350;t<=1500;t+=50){const f=frame(t,kind==='axis'?axes(0,.2):axes());if(kind==='drive')f.drives.d.stopped=false;assert.equal(model.step(f).state,'hold');}
+ }
+});
+test('loss of any of four controllers stops all sides and invalidates Core',()=>{
+ for(const id of motors){const {model,token}=core();const f=frame(300,axes(),{command:command(token,300)});delete f.drives[id];const d=model.step(f);assert.equal(d.reason,'drive-unverified');assert.ok(d.cancelMotionTasks);assert.deepEqual(d.demand,{left:0,right:0});}
+});
+test('unknown/lost radio cannot be treated as neutral even with fresh zero PWM reads',()=>{
+ for(const state of ['lost','unknown']){const {model,token}=core();const d=model.step(frame(300,axes(),{link:{state,at:300},command:command(token,300)}));assert.equal(d.reason,'receiver-unverified');assert.ok(d.stopAll);}
+});
+test('old decoded PPM, future samples, modified repeats and sequence rollback are rejected',()=>{
+ for(const patch of [{at:0},{at:351},{sequence:249},{value:.4,at:250,sequence:250},{value:NaN}]){
+  const {model}=core();const f=frame(350);Object.assign(f.axes.leftY,patch);assert.equal(model.step(f).reason,'axis-invalid');
+ }
+});
+test('one repeated neutral sample cannot qualify stable neutral',()=>{
+ const model=new AuthorityModel(base,motors,{...policy,neutralMs:50},'boot');
+ model.step(frame(0));const f=frame(50);f.axes.leftY={at:0,sequence:0,value:0};
+ assert.equal(model.step(f).state,'hold');
+});
+test('receiver reconnect while held stays stopped until neutral and a new gesture',()=>{
+ const model=ready();model.step(frame(250,axes(.5)));model.step(frame(300,axes(),{link:{state:'lost',at:300}}));
+ for(let t=350;t<1000;t+=50)assert.equal(model.step(frame(t,axes(.5))).state,'hold');
+ for(let t=1000;t<=1200;t+=50)model.step(frame(t));
+ assert.equal(model.step(frame(1250,axes(.5))).state,'rc-manual');
+});
+test('Core expiry/replay/wrong boot token/missing commands all require rearming',()=>{
+ for(const change of [c=>({...c,expires:300}),c=>({...c,expires:500}),c=>({...c,token:'old-boot:1'}),()=>undefined,c=>({...c,demand:{left:Infinity,right:0}})]){
+  const {model,token}=core();assert.equal(model.step(frame(300,axes(),{command:change(command(token,300))})).reason,'core-command-invalid');
+ }
+ const {model,token}=core();model.step(frame(300,axes(),{command:command(token,300,1)}));
+ assert.equal(model.step(frame(350,axes(),{command:command(token,350,1)})).reason,'core-command-invalid');
+});
+test('clock rewind and missing observation interval cannot bypass the stop gate',()=>{
+ for(const time of [249,500,NaN]){const {model,token}=core();const d=model.step(frame(time,axes(),{command:command(token,time)}));assert.equal(d.state,'hold');assert.ok(d.cancelMotionTasks);}
+});
+test('premature or replayed Core request does not acquire authority after neutral',()=>{
+ const model=new AuthorityModel(base,motors,policy,'boot');
+ for(let t=0;t<=300;t+=50){const d=model.step(frame(t,axes(),{requestCore:{owner:'remote',sequence:1,at:t}}));assert.notEqual(d.state,'core');}
+ assert.equal(model.step(frame(350,axes(),{requestCore:{owner:'remote',sequence:2,at:350}})).state,'core');
+});
+test('reboot cannot restore authority from serialized profile or old grant',()=>{
+ const {token}=core(), model=ready();
+ assert.equal(model.step(frame(250,axes(),{command:command(token,250)})).state,'rc-ready');
+ const next=new AuthorityModel(base,motors,policy,'boot-B');
+ for(let t=0;t<=200;t+=50)next.step(frame(t));
+ const grant=next.step(frame(250,axes(),{requestCore:{owner:'remote',sequence:1,at:250}}));
+ assert.notEqual(grant.token,token);
+ assert.equal(next.step(frame(300,axes(),{command:command(token,300)})).state,'hold');
+});
+test('profile limits do not mask RC takeover intent at zero output scale',()=>{
+ const model=ready({...base,outputScale:0});const grant=model.step(frame(250,axes(),{requestCore:{owner:'remote',sequence:1,at:250}}));
+ assert.ok(grant.token);assert.equal(model.step(frame(300,axes(.5))).reason,'rc-takeover');
+});
+
+test('non-driving stick still takes over in Arcade and every monitored axis must return',()=>{
+ const model=ready({...base,mode:'arcade',stick:'right'});
+ model.step(frame(250,axes(),{requestCore:{owner:'autonomy',sequence:1,at:250}}));
+ assert.equal(model.step(frame(300,axes(.5))).reason,'rc-takeover');
+ for(let t=350;t<800;t+=50)assert.equal(model.step(frame(t,axes(0,0,.5))).state,'hold');
+ const f=frame(800);delete f.axes.leftX;assert.equal(model.step(f).reason,'axis-invalid');
+ assert.throws(()=>new AuthorityModel(base,motors,{...policy,monitoredAxes:['leftY']},'boot'));
+});
@@ -0,0 +1,49 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){
+ b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'}));
+ b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`}));
+}}]});
+const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const flush=()=>new Promise(resolve=>setImmediate(resolve));
+async function fixture(run){
+ const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]]));
+ let focus=true,hidden=false;const calls=[],timers=[];globalThis.roverEffects=[];
+ globalThis.window={addEventListener(){},removeEventListener(){}};
+ globalThis.document={get hidden(){return hidden;},hasFocus:()=>focus,addEventListener(){},removeEventListener(){}};
+ globalThis.setInterval=(f,ms)=>{const timer={f,ms};timers.push(timer);return timer;};globalThis.clearInterval=()=>{};
+ globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body});return {ok:true,json:async()=>url.endsWith('/arm')?{session_id:'fixture-session'}:{fresh:true,controlling:true,snapshot:{state:'ready'}}};};
+ const c=useRoverControl('fixture',true);const cleanup=globalThis.roverEffects.map(f=>f());
+ try{await flush();await c.arm(30,2000);await flush();await run({c,calls,timers,blur:()=>{focus=false;},focus:()=>{focus=true;},hide:()=>{hidden=true;}});}
+ finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}}
+}
+test('command heartbeat sends neutral on lost blur, keeps session, and accepts new focused input',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush();
+ assert.equal(f.calls.at(-1).body.left,1);f.blur();f.timers.find(t=>t.ms===100).f();await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,0);
+ f.focus();f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1);
+ assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1);
+}));
+test('expired physical input prevents heartbeat from renewing remembered demand',async()=>fixture(async f=>{
+ let valid=true;f.c.setInputGuard(()=>valid);f.c.setDemand({left:1,right:-1});await flush();valid=false;
+ f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.stop,false);
+}));
+test('no registered input scope cannot issue motion',async()=>fixture(async f=>{
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.stop,false);
+ assert.equal(f.calls.some(x=>x.body?.left===1),false);
+}));
+test('hidden document sends only neutral without a visibility event',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.hide();f.c.setDemand({left:1,right:1});await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.some(x=>x.body?.left===1),false);
+}));
+
+test('explicit pause clears demand without revoking session; explicit stop still revokes it',async()=>fixture(async f=>{
+ f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush();f.c.pauseInput();await flush();
+ assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0);
+ f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1);
+ f.c.stop();await flush();assert.equal(f.calls.at(-1).body.stop,true);
+ const count=f.calls.length;f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.length,count);
+}));
@@ -0,0 +1,49 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){
+ b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'}));
+ b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`}));
+}}]});
+const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const flush=()=>new Promise(resolve=>setImmediate(resolve));
+const deferred=()=>{let resolve;const promise=new Promise(r=>resolve=r);return {promise,resolve};};
+const response=value=>({ok:true,json:async()=>value});
+const idle={fresh:true,controlling:false,snapshot:{supported:true,state:'observing'}};
+async function fixture(run){
+ const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]]));
+ const calls=[],timers=[];globalThis.roverEffects=[];
+ globalThis.window={addEventListener(){},removeEventListener(){}};globalThis.document={hidden:false,hasFocus:()=>true,addEventListener(){},removeEventListener(){}};
+ globalThis.setInterval=(f,ms)=>{timers.push({f,ms});return timers.length;};globalThis.clearInterval=()=>{};
+ let armResponse=null,nextPoll=null;
+ globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body});
+  if(url.endsWith('/arm'))return armResponse?armResponse.promise:response({session_id:'new-session'});
+  if(!body)return nextPoll?nextPoll.promise:response(idle);
+  return response({accepted_sequence:body.sequence});
+ };
+ const c=useRoverControl('fixture',true),cleanup=globalThis.roverEffects.map(f=>f());
+ try{await flush();await run({c,calls,poll:()=>timers.find(t=>t.ms===200).f(),heartbeat:()=>timers.find(t=>t.ms===100).f(),delayArm:()=>armResponse=deferred(),delayPoll:()=>nextPoll=deferred()});}
+ finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}}
+}
+test('idle poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{
+ const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll();
+ a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush();
+ p.resolve(response(idle));await flush();f.heartbeat();await flush();
+ assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old idle poll revoked the new session');
+ assert.equal(f.calls.at(-1).body.session_id,'new-session');
+}));
+test('failed poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{
+ const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll();
+ a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush();
+ p.resolve({ok:false,json:async()=>({detail:'stale read failure'})});await flush();
+ assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old failed poll revoked the new session');
+}));
+test('a current poll still revokes control when server reports lease lost',async()=>fixture(async f=>{
+ assert.equal(await f.c.arm(30,2000),true);await flush();f.poll();await flush();
+ assert.equal(f.calls.at(-1).body.stop,true);
+}));
+test('duplicate arm clicks while request pending create exactly one lease request',async()=>fixture(async f=>{
+ const a=f.delayArm();const first=f.c.arm(30,2000),second=f.c.arm(30,2000);
+ a.resolve(response({session_id:'new-session'}));await Promise.all([first,second]);await flush();
+ assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1);
+}));
@@ -0,0 +1,85 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/roverHoldInput.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm'});
+const {bindRoverHoldInput}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+class Events {
+ listeners=new Map();timers=new Map();next=0;
+ addEventListener(type,fn){if(!this.listeners.has(type))this.listeners.set(type,new Set());this.listeners.get(type).add(fn);}
+ removeEventListener(type,fn){this.listeners.get(type)?.delete(fn);}
+ emit(type,detail={}){const e={target:this,isTrusted:true,preventDefault(){},...detail};for(const fn of [...(this.listeners.get(type)??[])])fn(e);}
+ setInterval(fn){const id=++this.next;this.timers.set(id,fn);return id;}
+ clearInterval(id){this.timers.delete(id);}
+ tick(){for(const fn of this.timers.values())fn();}
+}
+function fixture(mode='arcade'){
+ let time=0,focus=true;const win=new Events(),doc=new Events();doc.defaultView=win;doc.hidden=false;doc.hasFocus=()=>focus;
+ const scope={ownerDocument:doc,closest:()=>null},child={closest:()=>null};scope.contains=x=>x===scope||x===child;doc.activeElement=scope;
+ const states=[],demands=[];let stops=0,pauses=0;
+ const binding=bindRoverHoldInput(scope,mode,{held:k=>states.push([...k]),demand:d=>demands.push(d),stop:()=>stops++,pause:()=>{pauses++;demands.push({left:0,right:0});}},()=>time);
+ const key=(code,repeat=false)=>win.emit('keydown',{code,repeat,target:scope});
+ return {win,doc,scope,child,binding,states,demands,key,stops:()=>stops,pauses:()=>pauses,advance:ms=>{time+=ms;win.tick();},loseFocus:()=>{focus=false;},restoreFocus:()=>{focus=true;},up:code=>win.emit('keyup',{code,target:scope})};
+}
+test('blur clears D, ignores a late repeat, but accepts a fresh press without rearming',()=>{
+ const f=fixture();f.key('KeyD');assert.deepEqual(f.demands.at(-1),{left:1,right:-1});
+ f.win.emit('blur');assert.equal(f.pauses(),1);assert.equal(f.stops(),0);assert.deepEqual(f.states.at(-1),[]);
+ assert.deepEqual(f.demands.at(-1),{left:0,right:0});const count=f.demands.length;
+ f.key('KeyD',true);assert.equal(f.demands.length,count);
+ f.key('KeyW');assert.deepEqual(f.demands.at(-1),{left:1,right:1});assert.equal(f.binding.valid(),true);f.binding.dispose();
+});
+test('heartbeat validity catches missing blur event using document focus',()=>{
+ const f=fixture();f.key('KeyD');f.loseFocus();assert.equal(f.binding.valid(),false);assert.equal(f.pauses(),1);
+ f.restoreFocus();assert.equal(f.binding.valid(),true);f.binding.dispose();
+});
+test('focus polling catches missing event or moving to another control',()=>{
+ const f=fixture();f.key('KeyW');f.doc.activeElement={};f.advance(50);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('lost keyup AND missing focus notifications still expire repeated D',()=>{
+ const f=fixture();f.key('KeyD');f.advance(500);f.key('KeyD',true);f.advance(299);assert.equal(f.pauses(),0);
+ f.advance(1);assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.key('KeyD',true);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('first press allows OS repeat delay but never an indefinite hold',()=>{
+ const f=fixture();f.key('KeyW');f.advance(999);assert.equal(f.pauses(),0);f.advance(1);assert.equal(f.pauses(),1);f.binding.dispose();
+});
+test('continuous repeat renews hold; keyup immediately sends neutral',()=>{
+ const f=fixture();f.key('KeyW');f.advance(600);
+ for(let i=0;i<30;i++){f.key('KeyW',true);f.advance(100);}
+ assert.equal(f.pauses(),0);f.up('KeyW');assert.deepEqual(f.demands.at(-1),{left:0,right:0});f.advance(1200);assert.equal(f.pauses(),0);f.binding.dispose();
+});
+test('diagonal input survives single-key OS repeat; release recomputes demand',()=>{
+ const f=fixture();f.key('KeyW');f.key('KeyA');
+ for(let i=0;i<20;i++){f.key('KeyA',true);f.advance(100);}
+ assert.equal(f.pauses(),0);assert.deepEqual(f.demands.at(-1),{left:0,right:1});
+ f.up('KeyA');assert.deepEqual(f.demands.at(-1),{left:1,right:1});f.up('KeyW');f.binding.dispose();
+});
+test('repeat without a fresh press and untrusted events never command motion',()=>{
+ const f=fixture();f.key('KeyD',true);f.win.emit('keydown',{code:'KeyW',isTrusted:false,target:f.scope});assert.equal(f.demands.length,0);f.binding.dispose();
+});
+test('focus inside the view is allowed; leaving or hiding it stops',()=>{
+ for(const event of ['focusout','visibilitychange','pagehide','outside']){
+  const f=fixture();f.key('KeyW');f.doc.emit('focusout',{target:f.scope,relatedTarget:f.child});assert.equal(f.pauses(),0);
+  if(event==='focusout')f.doc.emit(event,{target:f.scope,relatedTarget:null});
+  else if(event==='visibilitychange'){f.doc.hidden=true;f.doc.emit(event);}
+  else if(event==='pagehide')f.win.emit(event);
+  else f.doc.emit('pointerdown',{target:{}});
+  assert.equal(event==='pagehide'?f.stops():f.pauses(),1,event);f.binding.dispose();
+ }
+});
+test('pointer capture lost or cancelled releases every input',()=>{
+ for(const mode of ['arcade','tank']){
+  const f=fixture(mode);f.binding.pointerDown(1,mode==='arcade'?'KeyW':'KeyQ');f.binding.pointerCancel(1);
+  assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.binding.dispose();
+ }
+});
+test('document pointerup releases even if button handler does not receive it',()=>{
+ const f=fixture();f.binding.pointerDown(1,'KeyD');f.doc.emit('pointerup',{pointerId:1});assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.pauses(),0);f.binding.dispose();
+});
+test('modifier shortcuts pause; cleanup removes listeners, timer and held demand',()=>{
+ const f=fixture();f.key('KeyD');f.win.emit('keydown',{code:'Tab',metaKey:true,target:f.scope});assert.equal(f.pauses(),1);f.binding.dispose();
+ assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.win.timers.size,0);
+ assert.equal([...f.win.listeners.values(),...f.doc.listeners.values()].reduce((sum,x)=>sum+x.size,0),0);
+});
+
+test('Space and Escape remain explicit session stops',()=>{
+ for(const code of ['Space','Escape']){const f=fixture();f.key('KeyW');f.key(code);assert.equal(f.stops(),1);assert.equal(f.binding.valid(),false);f.binding.dispose();}
+});
@@ -0,0 +1,23 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {build} from 'esbuild';
+const result=await build({entryPoints:[new URL('../src/core/fleet/roverInput.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm'});
+const {keyDemand,roverSettings}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64'));
+const keys=(...k)=>new Set(k.map(v=>'Key'+v));
+test('arcade mixes directions and opposite keys cancel',()=>{
+ assert.deepEqual(keyDemand('arcade',keys('W')),{left:1,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('A')),{left:-1,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('W','A')),{left:0,right:1});
+ assert.deepEqual(keyDemand('arcade',keys('W','S','A','D')),{left:0,right:0});
+});
+test('tank sides and backwards remain independent',()=>{
+ assert.deepEqual(keyDemand('tank',keys('Q','D')),{left:1,right:-1});
+ assert.deepEqual(keyDemand('tank',keys('A','D')),{left:-1,right:-1});
+ assert.deepEqual(keyDemand('tank',keys('Q','A')),{left:0,right:0});
+});
+test('invalid stored settings never grant motion or invalid limits',()=>{
+ assert.equal(roverSettings({version:1,currentA:Infinity}).currentA,30);
+ assert.equal(roverSettings({version:1,maxErpm:999999}).maxErpm,3000);
+ assert.equal(roverSettings({version:1,model:'https://other/model.glb'}).model,'');
+ assert.deepEqual(keyDemand('arcade',new Set()),{left:0,right:0});
+});
@@ -0,0 +1,70 @@
+import test from 'node:test';
+import assert from 'node:assert/strict';
+import {readFileSync} from 'node:fs';
+import ts from 'typescript';
+
+const source=readFileSync(new URL('../../../plugins/vesc/frontend/src/model.ts',import.meta.url),'utf8');
+const code=ts.transpileModule(source,{compilerOptions:{module:ts.ModuleKind.ESNext}}).outputText;
+const {vescLabel,testInput,speedInput,rotationResult,driveTestIds}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64'));
+const controller={online:true,prepared:true,verified:true,vesc_status:{identity:{uuid:'synthetic'},readable:true}};
+
+test('speed mode requires board capability and reports measured rotation time',()=>{
+ assert.ok(speedInput('1200',undefined).error);
+ const bounds={min_erpm:300,max_erpm:3000,duration_basis:'measured_speed'};
+ assert.equal(speedInput('1200',bounds).error,null);
+ for(const value of ['', 'NaN','299','3001'])assert.ok(speedInput(value,bounds).error);
+ const text=rotationResult({outcome:'stopped',rotation_s:2.5,release_confirmed:true,limits_restored:true});
+ assert.match(text,/2,5 с/);
+ assert.match(text,/Проверка остановлена/);
+ assert.doesNotMatch(text,/время вращения набрано/);
+});
+
+test('USB discovery and model preparation never claim a verified VESC',()=>{
+ assert.equal(vescLabel({...controller,prepared:false},true).label,'Требуется подготовка');
+ assert.equal(vescLabel({...controller,vesc_status:{identity:null,readable:false}},true).tone,'warning');
+});
+test('fresh read capability is distinct from unsupported firmware and offline state',()=>{
+ assert.equal(vescLabel(controller,true).label,'Готов к чтению');
+ assert.equal(vescLabel(controller,false).label,'Нет связи');
+ assert.equal(vescLabel({...controller,online:false},true).label,'Нет связи');
+ assert.equal(vescLabel({...controller,vesc_status:{identity:{uuid:'synthetic'},readable:false}},true).label,'Прошивка не поддерживается');
+});
+
+test('test fields accept entered values only inside the board capability bounds',()=>{
+ const bounds={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10};
+ assert.equal(testInput('3.7','7.2',bounds).valid,true);
+ assert.equal(testInput('5','10',bounds).valid,true);
+ for(const [amps,seconds] of [['','5'],['5',''],['60','10'],['5','11'],['NaN','1'],['Infinity','1']])assert.equal(testInput(amps,seconds,bounds).valid,false);
+ assert.equal(testInput('2','1.5',undefined).valid,false);
+ const overlong=testInput('5','15',bounds);
+ assert.equal(overlong.valid,false);
+ assert.equal(overlong.currentError,null);
+ assert.equal(overlong.durationError,'Длительность должна быть от 0,5 до 10 с.');
+ assert.equal(testInput('5','10',bounds).durationError,null);
+});
+
+// Capabilities come from the installed board: a newer Core must retain old bounds.
+test('extended board accepts 30 A / 30 s without changing older board bounds',()=>{
+ const old={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10};
+ const expanded={...old,max_current_a:30,max_duration_s:30,continuous_current:true};
+ assert.equal(testInput('30','30',expanded).valid,true);
+ assert.equal(testInput('30.1','30',expanded).valid,false);
+ assert.equal(testInput('30','30.1',expanded).valid,false);
+ assert.equal(testInput('30','30',old).valid,false);
+});
+
+
+test('group spin requires a complete unique profile containing the selected controller',()=>{
+ const profile={layout:'1x1',revision:3,bindings:{'left.1':{device_id:'left',uuid:'a'},'right.1':{device_id:'right',uuid:'b'}}};
+ assert.deepEqual(driveTestIds(profile,'left'),['left','right']);
+ assert.deepEqual(driveTestIds(profile,'unassigned'),[]);
+ assert.deepEqual(driveTestIds({...profile,bindings:{'left.1':profile.bindings['left.1']}},'left'),[]);
+ assert.deepEqual(driveTestIds({...profile,bindings:{...profile.bindings,'right.1':profile.bindings['left.1']}},'left'),[]);
+ assert.deepEqual(driveTestIds(undefined,'left'),[]);
+});
+
+test('four-wheel profile preserves front and rear membership for common testing',()=>{
+ const ids=['lf','lr','rf','rr'];
+ const bindings=Object.fromEntries(['left.1','left.2','right.1','right.2'].map((slot,i)=>[slot,{device_id:ids[i],uuid:ids[i]}]));
+ assert.deepEqual(driveTestIds({layout:'2x2',revision:4,bindings},'rf'),ids);
+});
@@ -0,0 +1,18 @@
+import {build} from 'esbuild';
+import {mkdir,writeFile} from 'node:fs/promises';
+import {fileURLToPath} from 'node:url';
+import {resolve,join} from 'node:path';
+
+const root=fileURLToPath(new URL('.',import.meta.url));
+const destination=process.argv[2];
+if(!destination)throw Error('Pass an artifact output directory; no server is started.');
+const result=await build({entryPoints:[join(root,'main.tsx')],bundle:true,write:false,minify:true,
+ format:'iife',platform:'browser',jsx:'automatic',outfile:'preview.js',define:{'process.env.NODE_ENV':'"production"'},
+ alias:{'@nodedc/ui-react':resolve(root,'../../node_modules/@nodedc/ui-react/dist/index.js')},
+ nodePaths:[resolve(root,'../../node_modules')],logLevel:'warning'});
+const js=result.outputFiles.find(f=>f.path.endsWith('.js')).text.replaceAll('</script','<\\/script');
+const css=result.outputFiles.find(f=>f.path.endsWith('.css')).text.replaceAll('</style','<\\/style');
+await mkdir(destination,{recursive:true});
+const html=`<!doctype html><html lang="ru" data-nodedc-theme="dark"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width,initial-scale=1"><meta http-equiv="Content-Security-Policy" content="default-src 'none'; connect-src 'none'; script-src 'unsafe-inline'; style-src 'unsafe-inline'; img-src data:; font-src data:"><title>Mission Core · Профили управления · Прототип</title><style>${css}</style></head><body data-nodedc-ui><div id="root"></div><script>${js}</script></body></html>`;
+await writeFile(join(destination,'rover-control-preview.html'),html);
+console.log(JSON.stringify({artifact:join(destination,'rover-control-preview.html'),bytes:Buffer.byteLength(html),network:'disabled by CSP',hardware:'no adapter'}));
@@ -0,0 +1,69 @@
+import {useState} from 'react';
+import {createRoot} from 'react-dom/client';
+import {Button,Inspector,InspectorSelectField,RangeControl,SettingsCard,StatusBadge} from '@nodedc/ui-react';
+import '@nodedc/ui-core/styles.css';
+import {defaultProfile,mix,parseProfile,type Axes,type ControlProfile} from '../../../../packages/rover-control/src/profile';
+import {trace} from './trace';
+import './preview.css';
+
+const emptyAxes:Axes={leftY:0,rightY:0,leftX:0,rightX:0};
+const percent=(n:number)=>`${Math.round(n*100)}%`;
+const states={'hold':'Остановка / ожидание нейтрали','rc-ready':'Пульт готов','rc-manual':'Ручное управление','core':'Mission Core'};
+const storageKey='missioncore.rover-control-preview.v1';
+function load():ControlProfile {
+ try{const raw=localStorage.getItem(storageKey);return raw?parseProfile(JSON.parse(raw)):{...defaultProfile};}
+ catch{return {...defaultProfile};}
+}
+function App(){
+ const [profile,setProfile]=useState(load);
+ const [axes,setAxes]=useState<Axes>(emptyAxes);
+ const [open,setOpen]=useState(['settings','preview']);
+ const [saved,setSaved]=useState('');
+ const [light,setLight]=useState(false);
+ const change=(patch:Partial<ControlProfile>)=>{
+  setProfile(parseProfile({...profile,...patch,revision:profile.revision+1}));setAxes(emptyAxes);setSaved('');
+ };
+ const result=mix(profile,axes);
+ const y=profile.mode==='tank'?'leftY':profile.stick==='right'?'rightY':'leftY';
+ const x=profile.mode==='tank'?'rightY':profile.stick==='right'?'rightX':'leftX';
+ const field=(key:keyof Axes,label:string)=><RangeControl label={label} value={axes[key]} min={-1} max={1} step={.01} exactValueBounds={{min:-1,max:1}} formatValue={percent} onChange={value=>setAxes({...axes,[key]:value})}/>;
+ function save(){
+  try{localStorage.setItem(storageKey,JSON.stringify(profile));setSaved('Черновик сохранён в этом браузере.');}
+  catch{setSaved('Браузер не сохранил черновик. Используйте скачивание JSON.');}
+ }
+ function download(){
+  const url=URL.createObjectURL(new Blob([JSON.stringify(profile,null,2)+'\n'],{type:'application/json'}));
+  const a=document.createElement('a');a.href=url;a.download='rover-control-draft.json';a.click();
+  setTimeout(()=>URL.revokeObjectURL(url),1000);
+ }
+ return <main data-nodedc-ui>
+  <header><div><p>MISSION CORE · ПРОТОТИП</p><h1>Настройки управления ровером</h1></div><Button onClick={()=>{setLight(!light);document.documentElement.dataset.nodedcTheme=light?'dark':'light';}}>Тема</Button></header>
+  <p className="notice">Интерактивный макет без подключения к роверу. Все значения ниже — расчёт на экране; кнопки не обращаются к борту и VESC.</p>
+  <Inspector variant="panel" openSections={open} onOpenSectionsChange={setOpen} sections={[
+   {id:'settings',label:'Профиль управления',content:<SettingsCard title="Рычаги и отклик" description="Схема 1×1 / 2×2 и назначения моторов остаются отдельными настройками привода.">
+    <InspectorSelectField label="Управление" value={profile.mode} options={[{value:'tank',label:'Два рычага · Tank'},{value:'arcade',label:'Один рычаг · Arcade'}]} onChange={mode=>change({mode})}/>
+    {profile.mode==='arcade'&&<InspectorSelectField label="Управляющий рычаг" value={profile.stick} options={[{value:'right',label:'Правый'},{value:'left',label:'Левый'}]} onChange={stick=>change({stick})}/>}
+    <p>{profile.mode==='tank'?'Левый рычаг управляет левой стороной, правый — правой.':'Вперёд/назад задаёт движение; влево/вправо — поворот, включая разворот на месте. При движении назад знак поворота корпуса сохраняется.'}</p>
+    <InspectorSelectField label="Отклик рычага" value={profile.response} options={[{value:'linear',label:'Линейный'},{value:'squared',label:'Плавный у центра'}]} onChange={response=>change({response})}/>
+    <RangeControl label="Зона нейтрали" value={profile.deadband} min={0} max={.5} step={.01} exactValueBounds={{min:0,max:.5}} formatValue={percent} onChange={deadband=>change({deadband})}/>
+    <RangeControl label="Масштаб команды" value={profile.outputScale} min={0} max={1} step={.01} exactValueBounds={{min:0,max:1}} formatValue={percent} onChange={outputScale=>change({outputScale})}/>
+    <p>Масштаб команды — относительный отклик рычага. Он не задаёт амперы, ватты или паспортный предел двигателя.</p>
+    <div className="actions"><Button onClick={save}>Сохранить черновик</Button><Button onClick={download}>Скачать JSON</Button></div>
+    {saved&&<p role="status">{saved}</p>}
+   </SettingsCard>},
+   {id:'preview',label:'Проверка профиля на экране',content:<SettingsCard title="Команды сторонам" description="Нормализованная команда от −100% до +100%. Плюс — вперёд по корпусу, минус — назад.">
+    {field(y,profile.mode==='tank'?'Левый рычаг · вперёд / назад':'Движение · вперёд / назад')}
+    {field(x,profile.mode==='tank'?'Правый рычаг · вперёд / назад':'Поворот · влево / вправо')}
+    <div className="actions"><Button onClick={()=>setAxes(emptyAxes)}>Нейтраль</Button><Button onClick={()=>setAxes({...emptyAxes,[y]:1,[x]:profile.mode==='tank'?1:0})}>Вперёд</Button><Button onClick={()=>setAxes({...emptyAxes,[y]:-1,[x]:profile.mode==='tank'?-1:0})}>Назад</Button><Button onClick={()=>setAxes({...emptyAxes,[y]:profile.mode==='tank'?-1:0,[x]:profile.mode==='tank'?1:-1})}>Разворот влево</Button></div>
+    <div className="demands" aria-live="polite">{(['left','right'] as const).map(side=><div key={side}><span>{side==='left'?'Левая сторона':'Правая сторона'}</span><strong>{percent(result[side])}</strong><span>{result[side]===0?'Нейтраль':result[side]>0?'Вперёд':'Назад'}</span></div>)}</div>
+    <p>Команда стороны распространяется на все назначенные ей моторы: два, четыре, шесть и более. Связь — по UUID, а направление проверяется отдельно для каждого мотора.</p>
+   </SettingsCard>},
+   {id:'takeover',label:'Перехват пультом · проверка сценария',content:<SettingsCard title="Стоп → нейтраль → ручное управление" description="Расчётная модель. Существующая прошивка и проводка пока не обеспечивают этот сценарий при отказе Mini.">
+    <div className="trace">{trace(profile).map(({label,decision},i)=><div className="trace-row" key={label}><span>{i+1}. {label}</span><StatusBadge tone={decision.stopAll?'warning':'neutral'}>{states[decision.state]}</StatusBadge><span>{percent(decision.demand.left)} / {percent(decision.demand.right)}</span></div>)}</div>
+    <p>Первый жест отменяет допуск и очередь Mission Core. Новый допуск требует явного действия: нейтраль и восстановление связи не возобновляют автономную задачу.</p>
+   </SettingsCard>},
+  ]}/>
+ </main>;
+}
+document.documentElement.dataset.nodedcTheme='dark';
+createRoot(document.getElementById('root')!).render(<App/>);
@@ -0,0 +1,16 @@
+/* Domain composition only; all controls come from the Design Guideline. */
+body { margin:0; background:var(--nodedc-canvas); color:var(--nodedc-text-primary); font-family:var(--nodedc-font-family); font-size:var(--nodedc-font-size-md); }
+main { max-width:960px; margin:0 auto; padding:32px 24px 64px; }
+main>header { display:flex; align-items:center; justify-content:space-between; gap:24px; margin-bottom:24px; }
+h1 { font-size:var(--nodedc-font-size-title); font-weight:600; margin:8px 0; }
+p { font-size:var(--nodedc-font-size-sm); line-height:1.6; color:var(--nodedc-text-secondary); }
+main>header p { font-size:var(--nodedc-font-size-xs); }
+.notice { margin-bottom:24px; }
+.actions { display:flex; flex-wrap:wrap; gap:12px; margin:16px 0; }
+.demands { display:grid; grid-template-columns:repeat(2,minmax(0,1fr)); gap:24px; margin:24px 0; }
+.demands>div { display:flex; flex-direction:column; gap:8px; }
+.demands strong { font-size:var(--nodedc-font-size-lg); font-variant-numeric:tabular-nums; }
+.demands span { font-size:var(--nodedc-font-size-sm); }
+.trace { display:grid; gap:20px; }
+.trace-row { display:grid; grid-template-columns:minmax(0,1fr) 250px 100px; align-items:center; gap:16px; font-size:var(--nodedc-font-size-sm); }
+@media (max-width:720px) { main {padding:20px 12px 40px;} .trace-row {grid-template-columns:1fr;} }
@@ -0,0 +1,38 @@
+import {AuthorityModel, type Decision} from '../../../../packages/rover-control/src/authority';
+import {type ControlProfile} from '../../../../packages/rover-control/src/profile';
+
+/** Synthetic event replay, with no wall clock, I/O, timers or hardware adapter. */
+export function trace(profile: ControlProfile): {label: string; decision: Decision}[] {
+ const model = new AuthorityModel(profile, ['left', 'right'], {
+  maxAgeMs:100, neutralMs:200, maxCommandMs:100, monitoredAxes:['leftY','rightY','leftX','rightX'],
+ }, 'preview');
+ const rows: {label:string;decision:Decision}[] = [];
+ let now = -50, token = '';
+ function step(value=0, link: 'live'|'lost'='live', core=false, request=false) {
+  now+=50;
+  const axes = {leftY:0,rightY:0,leftX:0,rightX:0};
+  axes[profile.mode==='tank'?'leftY':profile.stick==='left'?'leftY':'rightY']=value;
+  return model.step({now, link:{state:link,at:now},
+   axes:Object.fromEntries(Object.entries(axes).map(([key,v])=>[key,{value:v,at:now,sequence:now}])),
+   drives:{left:{healthy:true,stopped:value===0,at:now},right:{healthy:true,stopped:value===0,at:now}},
+   requestCore:request?{owner:'autonomy',at:now,sequence:1}:undefined,
+   command:core?{token,at:now,expires:now+75,sequence:now,demand:{left:.4,right:.4}}:undefined,
+  });
+ }
+ const add=(label:string,decision:Decision)=>rows.push({label,decision});
+ for(let i=0;i<5;i++)step();
+ const grant=step(0,'live',false,true);token=grant.token??'';
+ add('Mission Core получил явный допуск',grant);
+ add('Автономная команда движения',step(0,'live',true));
+ add('Первое отклонение рычага',step(.8,'live',true));
+ for(let i=0;i<20;i++)step(.8);
+ add('Тот же рычаг удерживается',step(.8));
+ add('Остановка подтверждена, оба рычага отпущены',step());
+ for(let i=0;i<3;i++)step();
+ add('Непрерывная нейтраль подтверждена',step());
+ add('Второе отклонение — ручное движение',step(.8));
+ add('Запоздавшая команда прежней задачи',step(.8,'live',true));
+ add('Радиосвязь потеряна',step(0,'lost'));
+ add('Связь вернулась с отклонённым рычагом',step(.8));
+ return rows;
+}
@@ -0,0 +1,5 @@
+{
+ "extends":"../../tsconfig.app.json",
+ "compilerOptions":{"incremental":false,"tsBuildInfoFile":null},
+ "include":["*.tsx","*.ts","../../../../packages/rover-control/src/*.ts"]
+}