Add Simulation tab for controlling the simulated mower

openrpc.json

@@ -261,6 +261,166 @@
           "description": "Keys are relative file paths, values are YAML file contents as strings"
         }
       }
+    },
+    {
+      "name": "sim.emergency.set",
+      "summary": "Trigger or clear a latched emergency in the simulator.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "active",
+          "description": "true triggers a latched emergency, false clears it.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.movement.set",
+      "summary": "Allow or block physical movement to simulate a stuck robot.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "allowed",
+          "description": "true = robot moves normally, false = robot is stuck.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.battery.set",
+      "summary": "Set the simulated battery pack voltage.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "voltage",
+          "description": "Exact pack voltage to set (V).",
+          "required": true,
+          "schema": {
+            "type": "number"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.gps.set",
+      "summary": "Set the simulated GPS quality.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "good",
+          "description": "true = RTK fix (~2 cm), false = no RTK fix (~1 m).",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.joy_override.set",
+      "summary": "Enable or disable joystick (manual drive) override in the simulator.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "enabled",
+          "description": "true = joystick override active (manual drive), false = normal autonomous operation.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.dock.move",
+      "summary": "Drive the simulated robot onto the dock and start charging.",
+      "params": [],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.displace",
+      "summary": "Teleport the robot by (dx, dy) meters and dheading radians to simulate a GPS jump.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "dx",
+          "description": "X offset in meters (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        },
+        {
+          "name": "dy",
+          "description": "Y offset in meters (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        },
+        {
+          "name": "dheading",
+          "description": "Heading offset in radians (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
     }
   ]
 }

src/components/map/MowerMap.tsx

@@ -33,6 +33,7 @@ import LayersButton from './LayersButton';
 import MapDialog from './MapDialog';
 import {mapStyles} from './mapStyles';
 import MowerMarker from './MowerMarker';
+import SimulatorButton from './SimulatorButton';
 import TeleopControls from './teleop/TeleopControls';
 import TrackLayer from './TrackLayer';
 
@@ -61,7 +62,9 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
   const currentState = useSelectedMower((s) => s?.state.current_state);
   const isDocked = useSelectedMower((s) => s?.state.is_charging ?? false);
   const mowerPosition = useSelectedMower((s) => s?.position ?? s?.state.pose);
-  const showTeleop = currentState === 'AREA_RECORDING' && !editMode;
+  const simAvailable = useSelectedMower((s) => s?.simState != null);
+  const manualDrive = useSelectedMower((s) => s?.simState?.joy_override ?? false);
+  const showTeleop = (currentState === 'AREA_RECORDING' || manualDrive) && !editMode;
   const areas = useMemo(
     () => features.features.filter((feature) => feature.geometry.type === 'Polygon') as Feature<Polygon, AreaProps>[],
     [features],
@@ -246,6 +249,7 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
           onClick={() => fitToBounds(false, padding)}
         />
         <LayersButton datum={datum} trackLoading={trackLoading} editMode={editMode} />
+        {simAvailable && <SimulatorButton />}
         <ControlButton
           position="top-right"
           icon={LayoutListIcon}
@@ -295,7 +299,7 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
         ))}
         {mowerPosition && !isDocked && <MowerMarker position={mowerPosition} datum={datumOrFallback} />}
         <TrackLayer visible={showTrackLayer && !editMode} pastTrack={pastTrack} loading={trackLoading} />
-        {showTeleop && <TeleopControls />}
+        {showTeleop && <TeleopControls simulatorMode={manualDrive} />}
         <DialogOutlet />
       </RMap>
     </Box>