feat: implement WebRTC signaling and UDP-based video streaming and control service

hardware/esp32/client/client.ino

@@ -1,6 +1,16 @@
 #include "esp_camera.h"
 #include <WiFi.h>
 #include <WiFiUdp.h>
+#include <ESP32Servo.h>
+
+// === НАСТРОЙКА РЕЖИМА ЗАГЛУШКИ ===
+const bool USE_MOCK_IF_NO_CAMERA = true; // true - слать черный экран, false - ничего не слать
+
+Servo myServo;
+const int servoPin = 13; // ПРИОРИТЕТ: Пин жестко закреплен за сервоприводом
+
+// !!! УНИКАЛЬНЫЙ ID ДЛЯ КАЖДОЙ ПЛАТЫ
+const uint8_t DEVICE_ID = 1;
 
 // Конфигурация пинов (пример для Seeed Studio XIAO ESP32S3 Sense)
 #define PWDN_GPIO_NUM     -1
@@ -10,7 +20,7 @@
 #define SIOC_GPIO_NUM     39
 #define Y9_GPIO_NUM       48
 #define Y8_GPIO_NUM       47
-#define Y7_GPIO_NUM       13
+#define Y7_GPIO_NUM       18 // ИЗМЕНЕНО: Отключаем этот пин для камеры, отдаем под Серво
 #define Y6_GPIO_NUM       14
 #define Y5_GPIO_NUM       12
 #define Y4_GPIO_NUM       11
@@ -20,24 +30,45 @@
 #define HREF_GPIO_NUM     38
 #define PCLK_GPIO_NUM     37
 
-
 const char* ssid = "RT-WiFi-1712";
 const char* password = "yt3xihY2Ci";
 
-const char* serverIP = "192.168.0.11"; 
+const char* serverIP = "192.168.0.10"; 
 const int serverPort = 9999;       
 const int localPort = 8888;        
 
-// !!! УНИКАЛЬНЫЙ ID ДЛЯ КАЖДОЙ ПЛАТЫ (например, 1 для первой, 2 для второй и т.д.)
+
-const uint8_t DEVICE_ID = 1; 
 
 WiFiUDP udpVideo; 
 WiFiUDP udpCmd;   
 camera_config_t config;
 
+// Флаг успешной инициализации камеры
+bool isCameraInitialized = false;
+
+// Моковый минимальный валидный JPEG черного цвета 
+const uint8_t mockBlackJpeg[] = {
+  0xFF, 0xD8, 0xFF, 0xE0, 0x00, 0x10, 0x4A, 0x46, 0x49, 0x46, 0x00, 0x01, 0x01, 0x01, 0x00, 0x60,
+  0x00, 0x60, 0x00, 0x00, 0xFF, 0xDB, 0x00, 0x43, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
+  0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0x00, 0x0B, 0x08, 0x00, 0x08,
+  0x00, 0x08, 0x01, 0x01, 0x11, 0x00, 0xFF, 0xC4, 0x00, 0x14, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x09, 0xFF, 0xC4, 0x00, 0x14,
+  0x10, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0xFF, 0xDA, 0x00, 0x08, 0x01, 0x01, 0x00, 0x00, 0x3F, 0x00, 0x00, 0x3F, 0xFF, 0xD9
+};
+const size_t mockSize = sizeof(mockBlackJpeg);
+
 void setup() {
   Serial.begin(115200);
-  // Настройка камеры (QVGA для стабильности)
+  
+  // Инициализируем сервопривод в первую очередь
+  myServo.attach(servoPin, 500, 2500); 
+  Serial.println("Сервопривод инициализирован на пине 13");
+
+  // Настройка конфигурации камеры
   config.ledc_channel = LEDC_CHANNEL_0;
   config.ledc_timer = LEDC_TIMER_0;
   config.pin_d0 = Y2_GPIO_NUM;
@@ -45,7 +76,7 @@ void setup() {
   config.pin_d2 = Y4_GPIO_NUM;
   config.pin_d3 = Y5_GPIO_NUM;
   config.pin_d4 = Y6_GPIO_NUM;
-  config.pin_d5 = Y7_GPIO_NUM;
+  config.pin_d5 = Y7_GPIO_NUM; // Передаст -1, библиотека не тронет 13 пин
   config.pin_d6 = Y8_GPIO_NUM;
   config.pin_d7 = Y9_GPIO_NUM;
   config.pin_xclk = XCLK_GPIO_NUM;
@@ -62,7 +93,15 @@ void setup() {
   config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;
   config.fb_count = 2;
   
-  esp_camera_init(&config);
+  // Проверяем статус инициализации камеры
+  esp_err_t err = esp_camera_init(&config);
+  if (err == ESP_OK) {
+    isCameraInitialized = true;
+    Serial.println("Камера успешно инициализирована!");
+  } else {
+    isCameraInitialized = false;
+    Serial.printf("Камера не найдена (код 0x%x). Режим мок-данных: %s\n", err, USE_MOCK_IF_NO_CAMERA ? "ВКЛ" : "ВЫКЛ");
+  }
 
   // Подключение к Wi-Fi
   WiFi.begin(ssid, password);
@@ -79,43 +118,58 @@ void setup() {
 
 void checkIncomingCommands() {
   int packetSize = udpCmd.parsePacket();
-  if (packetSize > 0) {
+  if (packetSize == 5) {
-    char packetBuffer[255];
+    uint8_t packetBuffer[5];
-    int len = udpCmd.read(packetBuffer, 255);
+    int len = udpCmd.read(packetBuffer, 5);
-    if (len > 0) { packetBuffer[len] = 0; }
+    if (len == 5) {
+      uint8_t steer = packetBuffer[0];
+      uint8_t throttle = packetBuffer[1];
+      uint8_t brake = packetBuffer[2];
+      uint8_t gear = packetBuffer[3];
+      uint8_t flags = packetBuffer[4];
 
-    String command = String(packetBuffer);
+      // ИСПРАВЛЕНО: Инвертирован диапазон (180, 0 вместо 0, 180) для исправления направления
-    command.trim();
+      int servoAngle = map(steer, 0, 200, 180, 0);
+      myServo.write(servoAngle);
 
-    Serial.print("Получена команда: ");
+      Serial.printf("Got control packet: Steer=%d (Angle=%d), Throttle=%d%%, Brake=%d%%, Gear=%d, Flags=0x%02X\n",
-    Serial.println(command);
+                    steer, servoAngle, throttle, brake, gear, flags);
-
-    Serial.print("Получена команда: ");
-    Serial.println(command);
-
-    // Логика управления
-    if (command == "left") {
-      // Ваш код поворота налево
-    } else if (command == "right") {
-      // Ваш код поворота направо
-    } else if (command == "start") {
-      // Ваш код запуска моторов / логики
-    } else if (command == "stop") {
-      // Ваш код остановки
     }
+  } else if (packetSize > 0) {
+    char garbage[255];
+    udpCmd.read(garbage, sizeof(garbage));
   }
 }
 
 void loop() {
   checkIncomingCommands();
 
-  camera_fb_t * fb = esp_camera_fb_get();
+  uint8_t * buf = nullptr;
-  if (!fb) return;
+  size_t bufferSize = 0;
+  camera_fb_t * fb = nullptr;
 
-  size_t bufferSize = fb->len;
+  // Пытаемся получить кадр, если камера запущена
-  uint8_t * buf = fb->buf;
+  if (isCameraInitialized) {
+    fb = esp_camera_fb_get();
+    if (fb) {
+      bufferSize = fb->len;
+      buf = fb->buf;
+    }
+  }
 
-  // Размер куска данных уменьшаем до 1023, чтобы вместе с 1 байтом ID пакет был 1024 байта
+  // Если кадра с камеры нет
+  if (!buf) {
+    // Если отправка заглушки отключена — выходим из цикла, продолжая слушать команды
+    if (!USE_MOCK_IF_NO_CAMERA) {
+      delay(10); 
+      return;
+    }
+    // Если включена — подставляем моковый черный кадр
+    bufferSize = mockSize;
+    buf = (uint8_t *)mockBlackJpeg;
+  }
+  
+  // Нарезка и отправка по UDP (оригинальная логика)
   size_t chunkSize = 1023; 
   uint8_t packetBuffer[1024];
 
@@ -125,15 +179,18 @@ void loop() {
       sendSize = bufferSize - i;
     }
     
-    // Формируем пакет: первый байт — ID, дальше — видеоданные
     packetBuffer[0] = DEVICE_ID;
     memcpy(packetBuffer + 1, buf + i, sendSize);
     
     udpVideo.beginPacket(serverIP, serverPort);
-    udpVideo.write(packetBuffer, sendSize + 1); // Отправляем данные вместе с ID
+    udpVideo.write(packetBuffer, sendSize + 1); 
     udpVideo.endPacket();
   }
 
-  esp_camera_fb_return(fb);
+  // Возвращаем буфер только если он реальный
+  if (fb) {
+    esp_camera_fb_return(fb);
+  }
+
   delay(10); 
 }

server/.env.example

@@ -19,7 +19,11 @@ X0GP_LOG_LEVEL=info
 X0GP_TICK_RATE=60
 X0GP_SNAPSHOT_RATE=30
 X0GP_MAX_CLIENTS=100
+X0GP_SEED_RACES=0
+X0GP_SEED_RESET=0
 
+# Optional: override path(s) to dotenv files (colon-separated).
+# X0GP_DOTENV=.env:./configs/local.env
 # PoC: skip auth, allow multiple clients on the same track.
 X0GP_DEV_MODE=true
 

server/cmd/poc-server/main.go

@@ -27,11 +27,13 @@ package main
 import (
 	"bufio"
 	"context"
+	"encoding/hex"
 	"encoding/json"
 	"errors"
 	"flag"
 	"fmt"
 	"log/slog"
+	"math"
 	"net"
 	"net/http"
 	"os"
@@ -685,6 +687,9 @@ func handleInput(c *realtime.Client, e *control.Engine, lobbySvc *lobby.Service,
 	if v, ok := payload["gear"].(float64); ok {
 		in.Gear = int(v)
 	}
+	if v, ok := payload["buttons"].(float64); ok {
+		in.Buttons = uint32(v)
+	}
 	car := e.GetCarByDriver(c.ID)
 	if car == nil {
 		return
@@ -693,21 +698,43 @@ func handleInput(c *realtime.Client, e *control.Engine, lobbySvc *lobby.Service,
 
 	// Forward command transitions to ESP32 physical car if car has a device_id assigned
 	if car.DeviceID != nil {
-		var cmd string
+		var packet [5]byte
-		if in.Throttle > 0.1 {
-			cmd = "start"
-		} else {
-			cmd = "stop"
-		}
-		if in.Steering < -0.2 {
-			cmd = "left"
-		} else if in.Steering > 0.2 {
-			cmd = "right"
-		}
 
-		if cmd != "" && cmd != c.LastUDPCommand {
+		// 1. Steer: mapping float64 [-1.0, 1.0] to [0..200] (100 is center)
-			c.LastUDPCommand = cmd
+		steerVal := int(math.Round((in.Steering + 1.0) * 100.0))
-			_ = videoSvc.SendCommand(uint8(*car.DeviceID), cmd)
+		if steerVal < 0 { steerVal = 0 }
+		if steerVal > 200 { steerVal = 200 }
+		packet[0] = uint8(steerVal)
+
+		// 2. Throttle: mapping float64 [0.0, 1.0] to [0..100]
+		throttleVal := int(math.Round(in.Throttle * 100.0))
+		if throttleVal < 0 { throttleVal = 0 }
+		if throttleVal > 100 { throttleVal = 100 }
+		packet[1] = uint8(throttleVal)
+
+		// 3. Brake: mapping float64 [0.0, 1.0] to [0..100]
+		brakeVal := int(math.Round(in.Brake * 100.0))
+		if brakeVal < 0 { brakeVal = 0 }
+		if brakeVal > 100 { brakeVal = 100 }
+		packet[2] = uint8(brakeVal)
+
+		// 4. Gear: map -1 to 0 (R), 0 to 1 (N), >=1 to 2 (D)
+		gearVal := 1 // Neutral by default
+		if in.Gear < 0 {
+			gearVal = 0 // R
+		} else if in.Gear > 0 {
+			gearVal = 2 // D
+		}
+		packet[3] = uint8(gearVal)
+
+		// 5. Flags: bit 0 (DRS), bit 1 (Pit Limiter)
+		packet[4] = uint8(in.Buttons & 0x03)
+
+		// Deduplicate UDP transmissions
+		hexCmd := hex.EncodeToString(packet[:])
+		if hexCmd != c.LastUDPCommand {
+			c.LastUDPCommand = hexCmd
+			_ = videoSvc.SendControlPacket(uint8(*car.DeviceID), packet)
 		}
 	}
 

server/cmd/poc-server/video_udp.go

@@ -3,6 +3,7 @@ package main
 import (
 	"bufio"
 	"context"
+	"encoding/json"
 	"fmt"
 	"log/slog"
 	"net"
@@ -172,7 +173,6 @@ func (s *UDPVideoService) Start(ctx context.Context, wg *sync.WaitGroup) {
 				}
 				s.mu.RUnlock()
 			}
-
 			if !hasDevice {
 				s.logger.Warn("cannot send command: no ESP32 devices discovered yet")
 				continue
@@ -188,13 +188,12 @@ func (s *UDPVideoService) Start(ctx context.Context, wg *sync.WaitGroup) {
 	}()
 }
 
-// SendCommand sends a command string to the ESP32 representing deviceID.
+// SendControlPacket sends a 5-byte binary control packet to the ESP32 representing deviceID.
-func (s *UDPVideoService) SendCommand(deviceID uint8, cmd string) error {
+func (s *UDPVideoService) SendControlPacket(deviceID uint8, packet [5]byte) error {
 	s.mu.RLock()
 	dev, ok := s.devices[deviceID]
 	conn := s.conn
 	s.mu.RUnlock()
-
 	if !ok || dev.addr == nil {
 		return fmt.Errorf("ESP32 device %d address unknown (no video packets received yet)", deviceID)
 	}
@@ -207,10 +206,35 @@ func (s *UDPVideoService) SendCommand(deviceID uint8, cmd string) error {
 		Port: s.espCmdPort,
 	}
 
-	_, err := conn.WriteToUDP([]byte(cmd), cmdAddr)
+	_, err := conn.WriteToUDP(packet[:], cmdAddr)
 	return err
 }
 
+// SendCommand sends a command string to the ESP32 representing deviceID by mapping it to a 5-byte packet.
+func (s *UDPVideoService) SendCommand(deviceID uint8, cmd string) error {
+	var packet [5]byte
+	packet[0] = 100 // Steer: center
+	packet[1] = 0   // Throttle: 0%
+	packet[2] = 0   // Brake: 0%
+	packet[3] = 1   // Gear: Neutral
+	packet[4] = 0   // Flags: 0
+
+	switch cmd {
+	case "start":
+		packet[1] = 100 // Throttle: 100%
+		packet[3] = 2   // Gear: Drive
+	case "stop":
+		packet[2] = 100 // Brake: 100%
+		packet[3] = 1   // Gear: Neutral
+	case "left":
+		packet[0] = 0 // Steer: full left
+	case "right":
+		packet[0] = 200 // Steer: full right
+	}
+
+	return s.SendControlPacket(deviceID, packet)
+}
+
 func (s *UDPVideoService) broadcastFrame(deviceID uint8, frame []byte) {
 	// dev.latestFrame is updated inside the caller's lock (Start loop) to avoid races
 	if dev, ok := s.devices[deviceID]; ok {
@@ -328,13 +352,14 @@ func (s *UDPVideoService) StreamHandler() http.HandlerFunc {
 
 // ControlHandler godoc
 // @Summary      Send command to ESP32
-// @Description  Sends a text command (e.g. start, stop, left, right) to the ESP32 command port (UDP 8888).
+// @Description  Sends a text command or a JSON control packet to the ESP32 command port (UDP 8888).
 // @Tags         video
 // @Param        id query int false "Device ID (0..127)"
-// @Param        cmd query string true "Command text"
+// @Param        cmd query string false "Command text (legacy)"
+// @Param        body body map[string]int false "Control packet JSON (steer, throttle, brake, gear, flags)"
 // @Produce      json
 // @Success      200 {object} map[string]interface{} "Command sent"
-// @Failure      400 {string} string "Missing cmd parameter"
+// @Failure      400 {string} string "Missing parameter or invalid body"
 // @Failure      500 {string} string "Internal error"
 // @Router       /api/video/control [post]
 func (s *UDPVideoService) ControlHandler() http.HandlerFunc {
@@ -343,14 +368,6 @@ func (s *UDPVideoService) ControlHandler() http.HandlerFunc {
 			writeError(w, http.StatusMethodNotAllowed, "method_not_allowed", "Only POST is allowed")
 			return
 		}
-		cmd := r.URL.Query().Get("cmd")
-		if cmd == "" {
-			cmd = r.FormValue("cmd")
-		}
-		if cmd == "" {
-			writeError(w, http.StatusBadRequest, "bad_request", "Missing 'cmd' parameter")
-			return
-		}
 
 		idVal := r.URL.Query().Get("id")
 		if idVal == "" {
@@ -366,7 +383,109 @@ func (s *UDPVideoService) ControlHandler() http.HandlerFunc {
 			}
 		}
 
-		err := s.SendCommand(deviceID, cmd)
+		var packet [5]byte
+		packet[0] = 100 // Steer: center
+		packet[1] = 0   // Throttle: 0%
+		packet[2] = 0   // Brake: 0%
+		packet[3] = 1   // Gear: Neutral
+		packet[4] = 0   // Flags: 0
+
+		isJSON := strings.Contains(r.Header.Get("Content-Type"), "application/json")
+		var cmdUsed string
+
+		if isJSON {
+			var req struct {
+				Steer    *int `json:"steer"`
+				Throttle *int `json:"throttle"`
+				Brake    *int `json:"brake"`
+				Gear     *int `json:"gear"`
+				Flags    *int `json:"flags"`
+			}
+			if err := json.NewDecoder(r.Body).Decode(&req); err != nil {
+				writeError(w, http.StatusBadRequest, "bad_request", "invalid JSON payload")
+				return
+			}
+
+			if req.Steer != nil {
+				val := *req.Steer
+				if val < 0 {
+					val = 0
+				}
+				if val > 200 {
+					val = 200
+				}
+				packet[0] = uint8(val)
+			}
+			if req.Throttle != nil {
+				val := *req.Throttle
+				if val < 0 {
+					val = 0
+				}
+				if val > 100 {
+					val = 100
+				}
+				packet[1] = uint8(val)
+			}
+			if req.Brake != nil {
+				val := *req.Brake
+				if val < 0 {
+					val = 0
+				}
+				if val > 100 {
+					val = 100
+				}
+				packet[2] = uint8(val)
+			}
+			if req.Gear != nil {
+				val := *req.Gear
+				if val < 0 {
+					val = 0
+				}
+				if val > 2 {
+					val = 2
+				}
+				packet[3] = uint8(val)
+			}
+			if req.Flags != nil {
+				val := *req.Flags
+				if val < 0 {
+					val = 0
+				}
+				if val > 255 {
+					val = 255
+				}
+				packet[4] = uint8(val)
+			}
+			cmdUsed = fmt.Sprintf("json(steer=%d,throttle=%d,brake=%d,gear=%d,flags=%d)", packet[0], packet[1], packet[2], packet[3], packet[4])
+		} else {
+			cmd := r.URL.Query().Get("cmd")
+			if cmd == "" {
+				cmd = r.FormValue("cmd")
+			}
+			if cmd == "" {
+				writeError(w, http.StatusBadRequest, "bad_request", "Missing 'cmd' parameter")
+				return
+			}
+			cmdUsed = cmd
+
+			switch cmd {
+			case "start":
+				packet[1] = 100
+				packet[3] = 2
+			case "stop":
+				packet[2] = 100
+				packet[3] = 1
+			case "left":
+				packet[0] = 0
+			case "right":
+				packet[0] = 200
+			default:
+				writeError(w, http.StatusBadRequest, "bad_request", "Unknown command: "+cmd)
+				return
+			}
+		}
+
+		err := s.SendControlPacket(deviceID, packet)
 		if err != nil {
 			writeError(w, http.StatusInternalServerError, "internal_error", err.Error())
 			return
@@ -375,7 +494,8 @@ func (s *UDPVideoService) ControlHandler() http.HandlerFunc {
 		writeJSON(w, http.StatusOK, map[string]any{
 			"status":    "success",
 			"device_id": deviceID,
-			"command":   cmd,
+			"command":   cmdUsed,
+			"packet":    packet[:],
 		})
 	}
 }

server/cmd/poc-server/webrtc.go

@@ -2,8 +2,10 @@ package main
 
 import (
 	"context"
+	"encoding/hex"
 	"encoding/json"
 	"log/slog"
+	"math"
 	"net/http"
 	"sync"
 	"time"
@@ -269,6 +271,10 @@ func (s *WebRTCService) handleDataChannelMessage(session *driverSession, data []
 		in.Gear = int(v)
 		hasInput = true
 	}
+	if v, ok := payload["buttons"].(float64); ok {
+		in.Buttons = uint32(v)
+		hasInput = true
+	}
 
 	if hasInput {
 		s.logger.Debug("received inputs on webrtc data channel", "driver_id", session.driverID, "throttle", in.Throttle, "steering", in.Steering)
@@ -277,19 +283,6 @@ func (s *WebRTCService) handleDataChannelMessage(session *driverSession, data []
 			car.ApplyInput(in, 1.0/60.0)
 		}
 
-		// Send commands to physical car
-		var cmd string
-		if in.Throttle > 0.1 {
-			cmd = "start"
-		} else {
-			cmd = "stop"
-		}
-		if in.Steering < -0.2 {
-			cmd = "left"
-		} else if in.Steering > 0.2 {
-			cmd = "right"
-		}
-
 		// Resolve destination device
 		var destDeviceID *uint8
 		if car != nil && car.DeviceID != nil {
@@ -300,14 +293,49 @@ func (s *WebRTCService) handleDataChannelMessage(session *driverSession, data []
 			destDeviceID = &session.deviceID
 		}
 
-		if destDeviceID != nil && cmd != "" && cmd != session.lastCommand {
+		if destDeviceID != nil {
-			s.logger.Info("webrtc control state transition", "driver_id", session.driverID, "old_cmd", session.lastCommand, "new_cmd", cmd)
+			var packet [5]byte
-			session.lastCommand = cmd
+
-			err := s.videoSvc.SendCommand(*destDeviceID, cmd)
+			// 1. Steer: mapping float64 [-1.0, 1.0] to [0..200] (100 is center)
-			if err != nil {
+			steerVal := int(math.Round((in.Steering + 1.0) * 100.0))
-				s.logger.Error("failed to forward command to ESP32", "device_id", *destDeviceID, "cmd", cmd, "err", err)
+			if steerVal < 0 { steerVal = 0 }
-			} else {
+			if steerVal > 200 { steerVal = 200 }
-				s.logger.Info("forwarded command to ESP32 via UDP", "device_id", *destDeviceID, "cmd", cmd)
+			packet[0] = uint8(steerVal)
+
+			// 2. Throttle: mapping float64 [0.0, 1.0] to [0..100]
+			throttleVal := int(math.Round(in.Throttle * 100.0))
+			if throttleVal < 0 { throttleVal = 0 }
+			if throttleVal > 100 { throttleVal = 100 }
+			packet[1] = uint8(throttleVal)
+
+			// 3. Brake: mapping float64 [0.0, 1.0] to [0..100]
+			brakeVal := int(math.Round(in.Brake * 100.0))
+			if brakeVal < 0 { brakeVal = 0 }
+			if brakeVal > 100 { brakeVal = 100 }
+			packet[2] = uint8(brakeVal)
+
+			// 4. Gear: map -1 to 0 (R), 0 to 1 (N), >=1 to 2 (D)
+			gearVal := 1 // Neutral by default
+			if in.Gear < 0 {
+				gearVal = 0 // R
+			} else if in.Gear > 0 {
+				gearVal = 2 // D
+			}
+			packet[3] = uint8(gearVal)
+
+			// 5. Flags: bit 0 (DRS), bit 1 (Pit Limiter)
+			packet[4] = uint8(in.Buttons & 0x03)
+
+			hexCmd := hex.EncodeToString(packet[:])
+			if hexCmd != session.lastCommand {
+				s.logger.Info("webrtc control state transition", "driver_id", session.driverID, "old_hex", session.lastCommand, "new_hex", hexCmd)
+				session.lastCommand = hexCmd
+				err := s.videoSvc.SendControlPacket(*destDeviceID, packet)
+				if err != nil {
+					s.logger.Error("failed to forward control packet to ESP32", "device_id", *destDeviceID, "packet", packet, "err", err)
+				} else {
+					s.logger.Info("forwarded control packet to ESP32 via UDP", "device_id", *destDeviceID, "packet", packet)
+				}
 			}
 		}
 	}

server/docs/docs.go

@@ -2003,7 +2003,7 @@ const docTemplate = `{
         },
         "/api/video/control": {
             "post": {
-                "description": "Sends a text command (e.g. start, stop, left, right) to the ESP32 command port (UDP 8888).",
+                "description": "Sends a text command or a JSON control packet to the ESP32 command port (UDP 8888).",
                 "produces": [
                     "application/json"
                 ],
@@ -2020,10 +2020,20 @@ const docTemplate = `{
                     },
                     {
                         "type": "string",
-                        "description": "Command text",
+                        "description": "Command text (legacy)",
                         "name": "cmd",
-                        "in": "query",
+                        "in": "query"
-                        "required": true
+                    },
+                    {
+                        "description": "Control packet JSON (steer, throttle, brake, gear, flags)",
+                        "name": "body",
+                        "in": "body",
+                        "schema": {
+                            "type": "object",
+                            "additionalProperties": {
+                                "type": "integer"
+                            }
+                        }
                     }
                 ],
                 "responses": {
@@ -2035,7 +2045,7 @@ const docTemplate = `{
                         }
                     },
                     "400": {
-                        "description": "Missing cmd parameter",
+                        "description": "Missing parameter or invalid body",
                         "schema": {
                             "type": "string"
                         }

server/docs/swagger.json

@@ -2001,7 +2001,7 @@
         },
         "/api/video/control": {
             "post": {
-                "description": "Sends a text command (e.g. start, stop, left, right) to the ESP32 command port (UDP 8888).",
+                "description": "Sends a text command or a JSON control packet to the ESP32 command port (UDP 8888).",
                 "produces": [
                     "application/json"
                 ],
@@ -2018,10 +2018,20 @@
                     },
                     {
                         "type": "string",
-                        "description": "Command text",
+                        "description": "Command text (legacy)",
                         "name": "cmd",
-                        "in": "query",
+                        "in": "query"
-                        "required": true
+                    },
+                    {
+                        "description": "Control packet JSON (steer, throttle, brake, gear, flags)",
+                        "name": "body",
+                        "in": "body",
+                        "schema": {
+                            "type": "object",
+                            "additionalProperties": {
+                                "type": "integer"
+                            }
+                        }
                     }
                 ],
                 "responses": {
@@ -2033,7 +2043,7 @@
                         }
                     },
                     "400": {
-                        "description": "Missing cmd parameter",
+                        "description": "Missing parameter or invalid body",
                         "schema": {
                             "type": "string"
                         }

server/docs/swagger.yaml

@@ -2219,18 +2219,24 @@ paths:
       - system
   /api/video/control:
     post:
-      description: Sends a text command (e.g. start, stop, left, right) to the ESP32
+      description: Sends a text command or a JSON control packet to the ESP32 command
-        command port (UDP 8888).
+        port (UDP 8888).
       parameters:
       - description: Device ID (0..127)
         in: query
         name: id
         type: integer
-      - description: Command text
+      - description: Command text (legacy)
         in: query
         name: cmd
-        required: true
         type: string
+      - description: Control packet JSON (steer, throttle, brake, gear, flags)
+        in: body
+        name: body
+        schema:
+          additionalProperties:
+            type: integer
+          type: object
       produces:
       - application/json
       responses:
@@ -2240,7 +2246,7 @@ paths:
             additionalProperties: true
             type: object
         "400":
-          description: Missing cmd parameter
+          description: Missing parameter or invalid body
           schema:
             type: string
         "500":

server/web/index.html

@@ -79,6 +79,35 @@
         <div class="wheel">
           <div class="wheel-disc" id="wheelDisc"></div>
         </div>
+
+        <div class="control-extra" style="display: flex; gap: 10px; margin-top: 15px; justify-content: space-around; border-top: 1px solid #333; padding-top: 12px;">
+          <div class="gear-indicator" style="text-align: center;">
+            <div style="font-size: 0.8rem; color: #aaa;">GEAR</div>
+            <div style="display: flex; align-items: center; gap: 5px; margin-top: 4px;">
+              <button id="btnGearDown" class="btn" style="padding: 2px 8px; font-size: 0.8rem;">-</button>
+              <b id="lblGear" style="font-size: 1.3rem; min-width: 15px; display: inline-block;">N</b>
+              <button id="btnGearUp" class="btn" style="padding: 2px 8px; font-size: 0.8rem;">+</button>
+            </div>
+            <div style="font-size: 0.7rem; color: #888; margin-top: 2px;">(Z / X)</div>
+          </div>
+          <div class="sys-toggle" style="text-align: center;">
+            <div style="font-size: 0.8rem; color: #aaa;">DRS</div>
+            <button id="btnDrs" class="btn" style="padding: 2px 6px; font-size: 0.8rem; margin-top: 4px;">Toggle</button>
+            <div id="lblDrs" class="val" style="font-weight: bold; font-size: 0.95rem; margin-top: 4px; color: #ff3b30;">OFF</div>
+            <div style="font-size: 0.7rem; color: #888; margin-top: 2px;">(Q)</div>
+          </div>
+          <div class="sys-toggle" style="text-align: center;">
+            <div style="font-size: 0.8rem; color: #aaa;">PIT LIMIT</div>
+            <button id="btnPit" class="btn" style="padding: 2px 6px; font-size: 0.8rem; margin-top: 4px;">Toggle</button>
+            <div id="lblPit" class="val" style="font-weight: bold; font-size: 0.95rem; margin-top: 4px; color: #ff3b30;">OFF</div>
+            <div style="font-size: 0.7rem; color: #888; margin-top: 2px;">(E)</div>
+          </div>
+        </div>
+
+        <div style="margin-top: 15px; border-top: 1px solid #333; padding-top: 12px;">
+          <span style="font-size: 0.8rem; color: #aaa;">Пакет управления (JSON):</span>
+          <pre id="ctrlJson" style="font-family: monospace; font-size: 0.75rem; background: #111; border: 1px solid #222; padding: 8px; border-radius: 4px; color: #00ff66; margin: 6px 0 0 0; overflow-x: auto; max-height: 250px; text-align: left; line-height: 1.2;">{}</pre>
+        </div>
       </div>
 
       <div class="card">

server/web/main.js

@@ -35,6 +35,14 @@
     tPos: $('tPos'),
     tTsm: $('tTsm'),
     tCars: $('tCars'),
+    lblGear: $('lblGear'),
+    lblDrs: $('lblDrs'),
+    lblPit: $('lblPit'),
+    btnDrs: $('btnDrs'),
+    btnPit: $('btnPit'),
+    btnGearUp: $('btnGearUp'),
+    btnGearDown: $('btnGearDown'),
+    ctrlJson: $('ctrlJson'),
   };
 
   // -------- State --------
@@ -53,7 +61,7 @@
     snapshotCount: 0,
     snapshotWindow: [],
     keys: new Set(),
-    input: { throttle: 0, brake: 0, steer: 0, handbrake: false, buttons: 0 },
+    input: { throttle: 0, brake: 0, steer: 0, handbrake: false, buttons: 0, gear: 0, drs: false, pitLimiter: false },
     pingTimer: null,
     inputTimer: null,
     slotHint: 0, // сервер выдаёт слот; 0 по умолчанию
@@ -113,6 +121,12 @@
     state.input.steer = steer;
     state.input.handbrake = handbrake;
 
+    // Calculate buttons bitmask: bit 0 (DRS), bit 1 (Pit Limiter)
+    let buttons = 0;
+    if (state.input.drs) buttons |= 1;
+    if (state.input.pitLimiter) buttons |= 2;
+    state.input.buttons = buttons;
+
     // Update UI bars
     ui.lblThrottle.textContent = throttle.toFixed(2);
     ui.lblBrake.textContent = brake.toFixed(2);
@@ -129,6 +143,48 @@
     ui.barSteer.style.width = '2%';
 
     ui.wheelDisc.style.transform = `rotate(${steer * 90}deg)`;
+
+    // Update Gear, DRS, Pit Limiter UI text & class if elements exist
+    if (ui.lblGear) {
+      let gName = 'N';
+      if (state.input.gear === -1) gName = 'R';
+      if (state.input.gear === 1) gName = 'D';
+      ui.lblGear.textContent = gName;
+    }
+    if (ui.lblDrs) {
+      ui.lblDrs.textContent = state.input.drs ? 'ON' : 'OFF';
+      ui.lblDrs.className = state.input.drs ? 'val active' : 'val';
+    }
+    if (ui.lblPit) {
+      ui.lblPit.textContent = state.input.pitLimiter ? 'ON' : 'OFF';
+      ui.lblPit.className = state.input.pitLimiter ? 'val active' : 'val';
+    }
+
+    // Format control packet as JSON and show in UI
+    if (ui.ctrlJson) {
+      const steerByte = Math.round((steer + 1.0) * 100);
+      const throttleByte = Math.round(throttle * 100);
+      const brakeByte = Math.round(brake * 100);
+      const gearByte = state.input.gear === -1 ? 0 : (state.input.gear === 1 ? 2 : 1);
+      
+      const jsonStr = JSON.stringify({
+        sent_json: {
+          steering: steer,
+          throttle: throttle,
+          brake: brake,
+          gear: state.input.gear,
+          buttons: buttons
+        },
+        binary_packet_bytes: {
+          byte0_steer: `0x${steerByte.toString(16).toUpperCase().padStart(2, '0')} (${steerByte})`,
+          byte1_throttle: `0x${throttleByte.toString(16).toUpperCase().padStart(2, '0')} (${throttleByte}%)`,
+          byte2_brake: `0x${brakeByte.toString(16).toUpperCase().padStart(2, '0')} (${brakeByte}%)`,
+          byte3_gear: `0x${gearByte.toString(16).toUpperCase().padStart(2, '0')} (${gearByte === 0 ? 'R' : (gearByte === 2 ? 'D' : 'N')})`,
+          byte4_flags: `0x${buttons.toString(16).toUpperCase().padStart(2, '0')} (DRS=${state.input.drs ? 1 : 0}, Pit=${state.input.pitLimiter ? 1 : 0})`
+        }
+      }, null, 2);
+      ui.ctrlJson.textContent = jsonStr;
+    }
   }
 
   // -------- Send helpers --------
@@ -450,6 +506,24 @@
     if (tag === 'INPUT' || tag === 'TEXTAREA') return;
     if (['arrowup','arrowdown','arrowleft','arrowright',' '].includes(k)) e.preventDefault();
     state.keys.add(k);
+
+    // Toggle DRS, Pit Limiter, and shift gears
+    if (k === 'q') {
+      state.input.drs = !state.input.drs;
+      pollInput();
+    }
+    if (k === 'e') {
+      state.input.pitLimiter = !state.input.pitLimiter;
+      pollInput();
+    }
+    if (k === 'z') {
+      state.input.gear = Math.max(-1, state.input.gear - 1);
+      pollInput();
+    }
+    if (k === 'x') {
+      state.input.gear = Math.min(1, state.input.gear + 1);
+      pollInput();
+    }
   });
   window.addEventListener('keyup', (e) => {
     state.keys.delete(keyName(e));
@@ -462,6 +536,31 @@
   ui.btnJoin.addEventListener('click', joinRace);
   ui.btnLeave.addEventListener('click', leaveRace);
 
+  if (ui.btnDrs) {
+    ui.btnDrs.addEventListener('click', () => {
+      state.input.drs = !state.input.drs;
+      pollInput();
+    });
+  }
+  if (ui.btnPit) {
+    ui.btnPit.addEventListener('click', () => {
+      state.input.pitLimiter = !state.input.pitLimiter;
+      pollInput();
+    });
+  }
+  if (ui.btnGearUp) {
+    ui.btnGearUp.addEventListener('click', () => {
+      state.input.gear = Math.min(1, state.input.gear + 1);
+      pollInput();
+    });
+  }
+  if (ui.btnGearDown) {
+    ui.btnGearDown.addEventListener('click', () => {
+      state.input.gear = Math.max(-1, state.input.gear - 1);
+      pollInput();
+    });
+  }
+
   // -------- Boot --------
   setConn('disconnected', '');
   log('x0gp PoC client ready. Press Connect.', 'meta');

server/web/webrtc_demo.html

@@ -408,6 +408,35 @@
                     <div id="keyS" class="key-btn">S</div>
                     <div id="keyD" class="key-btn">D</div>
                 </div>
+
+                <div class="control-extra" style="display: flex; gap: 10px; margin-top: 15px; justify-content: space-around; border-top: 1px solid rgba(255,255,255,0.1); padding-top: 12px; width: 100%;">
+                  <div class="gear-indicator" style="text-align: center;">
+                    <div style="font-size: 0.8rem; color: #8a8d9a;">GEAR</div>
+                    <div style="display: flex; align-items: center; gap: 5px; margin-top: 4px;">
+                      <button id="btnGearDown" class="btn" style="padding: 2px 8px; font-size: 0.8rem; background: rgba(255,255,255,0.1); border: 1px solid rgba(255,255,255,0.2); color: white; border-radius: 4px; cursor: pointer;">-</button>
+                      <b id="lblGear" style="font-size: 1.3rem; min-width: 15px; display: inline-block;">N</b>
+                      <button id="btnGearUp" class="btn" style="padding: 2px 8px; font-size: 0.8rem; background: rgba(255,255,255,0.1); border: 1px solid rgba(255,255,255,0.2); color: white; border-radius: 4px; cursor: pointer;">+</button>
+                    </div>
+                    <div style="font-size: 0.7rem; color: #6b7280; margin-top: 2px;">(Z / X)</div>
+                  </div>
+                  <div class="sys-toggle" style="text-align: center;">
+                    <div style="font-size: 0.8rem; color: #8a8d9a;">DRS</div>
+                    <button id="btnDrs" class="btn" style="padding: 2px 6px; font-size: 0.8rem; margin-top: 4px; background: rgba(255,255,255,0.1); border: 1px solid rgba(255,255,255,0.2); color: white; border-radius: 4px; cursor: pointer;">Toggle</button>
+                    <div id="lblDrs" class="val" style="font-weight: bold; font-size: 0.95rem; margin-top: 4px; color: #ef4444;">OFF</div>
+                    <div style="font-size: 0.7rem; color: #6b7280; margin-top: 2px;">(Q)</div>
+                  </div>
+                  <div class="sys-toggle" style="text-align: center;">
+                    <div style="font-size: 0.8rem; color: #8a8d9a;">PIT LIMIT</div>
+                    <button id="btnPit" class="btn" style="padding: 2px 6px; font-size: 0.8rem; margin-top: 4px; background: rgba(255,255,255,0.1); border: 1px solid rgba(255,255,255,0.2); color: white; border-radius: 4px; cursor: pointer;">Toggle</button>
+                    <div id="lblPit" class="val" style="font-weight: bold; font-size: 0.95rem; margin-top: 4px; color: #ef4444;">OFF</div>
+                    <div style="font-size: 0.7rem; color: #6b7280; margin-top: 2px;">(E)</div>
+                  </div>
+                </div>
+
+                <div style="margin-top: 15px; border-top: 1px solid rgba(255,255,255,0.1); padding-top: 12px; width: 100%;">
+                  <span style="font-size: 0.8rem; color: #8a8d9a;">Пакет управления (JSON):</span>
+                  <pre id="ctrlJson" style="font-family: monospace; font-size: 0.75rem; background: rgba(0,0,0,0.5); border: 1px solid rgba(255,255,255,0.05); padding: 8px; border-radius: 4px; color: #00ff66; margin: 6px 0 0 0; overflow-x: auto; max-height: 250px; text-align: left; line-height: 1.2;">{}</pre>
+                </div>
             </div>
         </div>
 
@@ -489,6 +518,10 @@
         let currentSteer = 0; // -1 to 1
         let currentThrottle = 0; // 0 to 1
         let currentBrake = 0; // 0 to 1
+        let currentGear = 0; // 0: N, -1: R, 1: D
+        let drs = false;
+        let pitLimiter = false;
+        let buttons = 0;
         let pingsReceived = 0;
         let latencyStart = 0;
 
@@ -513,6 +546,22 @@
                 activeKeys[key] = true;
                 updateKeyVisuals();
             }
+            if (key === 'q') {
+                drs = !drs;
+                updateKeyVisuals();
+            }
+            if (key === 'e') {
+                pitLimiter = !pitLimiter;
+                updateKeyVisuals();
+            }
+            if (key === 'z') {
+                currentGear = Math.max(-1, currentGear - 1);
+                updateKeyVisuals();
+            }
+            if (key === 'x') {
+                currentGear = Math.min(1, currentGear + 1);
+                updateKeyVisuals();
+            }
         });
 
         window.addEventListener('keyup', (e) => {
@@ -542,10 +591,76 @@
             if (activeKeys.a) currentSteer = -1.0;
             if (activeKeys.d) currentSteer = 1.0;
 
+            buttons = 0;
+            if (drs) buttons |= 1;
+            if (pitLimiter) buttons |= 2;
+
+            // Update UI Gear/DRS/Pit if elements exist
+            const lblGear = document.getElementById('lblGear');
+            if (lblGear) {
+                let gName = 'N';
+                if (currentGear === -1) gName = 'R';
+                if (currentGear === 1) gName = 'D';
+                lblGear.innerText = gName;
+            }
+            const lblDrs = document.getElementById('lblDrs');
+            if (lblDrs) {
+                lblDrs.innerText = drs ? 'ON' : 'OFF';
+                lblDrs.style.color = drs ? '#00ff66' : '#ef4444';
+            }
+            const lblPit = document.getElementById('lblPit');
+            if (lblPit) {
+                lblPit.innerText = pitLimiter ? 'ON' : 'OFF';
+                lblPit.style.color = pitLimiter ? '#00ff66' : '#ef4444';
+            }
+
+            const ctrlJson = document.getElementById('ctrlJson');
+            if (ctrlJson) {
+                const steerByte = Math.round((currentSteer + 1.0) * 100);
+                const throttleByte = Math.round(currentThrottle * 100);
+                const brakeByte = Math.round(currentBrake * 100);
+                const gearByte = currentGear === -1 ? 0 : (currentGear === 1 ? 2 : 1);
+                
+                ctrlJson.innerText = JSON.stringify({
+                    sent_json: {
+                        steering: currentSteer,
+                        throttle: currentThrottle,
+                        brake: currentBrake,
+                        gear: currentGear,
+                        buttons: buttons
+                    },
+                    binary_packet_bytes: {
+                        byte0_steer: `0x${steerByte.toString(16).toUpperCase().padStart(2, '0')} (${steerByte})`,
+                        byte1_throttle: `0x${throttleByte.toString(16).toUpperCase().padStart(2, '0')} (${throttleByte}%)`,
+                        byte2_brake: `0x${brakeByte.toString(16).toUpperCase().padStart(2, '0')} (${brakeByte}%)`,
+                        byte3_gear: `0x${gearByte.toString(16).toUpperCase().padStart(2, '0')} (${gearByte === 0 ? 'R' : (gearByte === 2 ? 'D' : 'N')})`,
+                        byte4_flags: `0x${buttons.toString(16).toUpperCase().padStart(2, '0')} (DRS=${drs ? 1 : 0}, Pit=${pitLimiter ? 1 : 0})`
+                    }
+                }, null, 2);
+            }
+
             // Log control changes to UI console
-            log(`Controls updated: throttle=${currentThrottle}, steering=${currentSteer}, brake=${currentBrake}`, 'out');
+            log(`Controls updated: throttle=${currentThrottle}, steering=${currentSteer}, brake=${currentBrake}, gear=${currentGear}, buttons=${buttons}`, 'out');
         }
 
+        // Click listeners for the custom controls
+        document.getElementById('btnGearDown').addEventListener('click', () => {
+            currentGear = Math.max(-1, currentGear - 1);
+            updateKeyVisuals();
+        });
+        document.getElementById('btnGearUp').addEventListener('click', () => {
+            currentGear = Math.min(1, currentGear + 1);
+            updateKeyVisuals();
+        });
+        document.getElementById('btnDrs').addEventListener('click', () => {
+            drs = !drs;
+            updateKeyVisuals();
+        });
+        document.getElementById('btnPit').addEventListener('click', () => {
+            pitLimiter = !pitLimiter;
+            updateKeyVisuals();
+        });
+
         connectBtn.addEventListener('click', () => {
             if (pc) {
                 disconnectCockpit();
@@ -742,7 +857,8 @@
                     throttle: currentThrottle,
                     steering: currentSteer,
                     brake: currentBrake,
-                    gear: 1,
+                    gear: currentGear,
+                    buttons: buttons,
                     timestamp: Date.now()
                 };
                 dataChannel.send(JSON.stringify(payload));