chore(uno-q): enforce a single node app in recover.sh

Add a single-app invariant step: set the boot default to the canonical app, stop
any stray *-main-1 container that would collide on :8080/:9999, and ensure the
canonical app is running. Prevents the duplicate-"ZeroClaw Node" collision from
recurring after a reboot/re-plug.

Co-Authored-By: Claude Opus 4.8 <[email protected]>

deploy/uno-q/recover.sh

@@ -6,9 +6,11 @@
 # showing a fresh random claim code the API never received. This makes it all
 # consistent again in one pass:
 #   1. re-forward the adb tunnels (:8080 gateway, :9999 matrix relay)
-#   2. wait for the node daemon (start the App Lab app if it isn't up)
+#   2. assert the single-app invariant (canonical app is the boot default + the
-#   3. re-register the node with the local API (restores its in-memory binding)
+#      only thing on :8080/:9999; stop any stray duplicate)
-#   4. scroll a fixed claim code on the matrix so the board + API agree
+#   3. wait for the node daemon (start the App Lab app if it isn't up)
+#   4. re-register the node with the local API (restores its in-memory binding)
+#   5. scroll a fixed claim code on the matrix so the board + API agree
 #
 # Usage:
 #   ./recover.sh            # one recovery pass, then exit
@@ -27,6 +29,7 @@ KIT_ID="${KIT_ID:-crimson-node}"
 CLAIM_CODE="${CLAIM_CODE:-7777}"
 NODE_URL="${NODE_URL:-http://127.0.0.1:8080}"
 APP="${APP:-/home/arduino/ArduinoApps/apess-onboard}"
+CONTAINER="${APP##*/}-main-1" # App Lab names the container <app>-main-1
 PORTS=(8080 9999)
 
 # Resolve adb even under launchd's minimal PATH.
@@ -61,7 +64,26 @@ recover_once() {
   done
   ok "tunnels forwarded (${PORTS[*]})"
 
-  # 2 · wait for the node daemon (auto-starts on boot; start it if not)
+  # 2 · single-app invariant: the canonical node app owns :8080/:9999. Make it
+  # the boot default, stop any OTHER user app (a stray duplicate would collide on
+  # our ports), and ensure it's the running container.
+  "$ADB" -s "$SERIAL" shell "arduino-app-cli properties set default $APP" >/dev/null 2>&1
+  local strays
+  strays="$("$ADB" -s "$SERIAL" shell \
+    "docker ps --format '{{.Names}}' 2>/dev/null | grep -E '\-main-1$' | grep -v '^${CONTAINER}$'" 2>/dev/null | tr -d '\r')"
+  if [ -n "$strays" ]; then
+    warn "stopping stray app container(s): $strays"
+    for c in $strays; do
+      "$ADB" -s "$SERIAL" shell "docker stop $c" >/dev/null 2>&1 || true
+    done
+  fi
+  if ! "$ADB" -s "$SERIAL" shell "docker ps --format '{{.Names}}'" 2>/dev/null | grep -q "^${CONTAINER}$"; then
+    warn "node app not running — starting ${APP##*/}"
+    "$ADB" -s "$SERIAL" shell "arduino-app-cli app start $APP" >/dev/null 2>&1 || true
+  fi
+  ok "single-app invariant (default + only ${APP##*/} on ${PORTS[*]})"
+
+  # 3 · wait for the node daemon (auto-starts on boot; start it if not)
   local n=0
   until curl -s -m2 "$NODE_URL/health" -o /dev/null 2>/dev/null; do
     n=$((n + 1))
@@ -74,7 +96,7 @@ recover_once() {
   done
   ok "node daemon healthy"
 
-  # 3 · re-register with the local API (restores the in-memory node binding)
+  # 4 · re-register with the local API (restores the in-memory node binding)
   local r
   r="$(curl -s -m5 -X POST "$API/nodes/self-register" \
         -H "x-fleet-secret: $FLEET_SECRET" -H 'content-type: application/json' \
@@ -82,7 +104,7 @@ recover_once() {
   if echo "$r" | grep -q '"url"'; then ok "re-registered with API (code $CLAIM_CODE)"
   else warn "API self-register failed — is the API up at $API? ($r)"; return 1; fi
 
-  # 4 · sync the claim code onto the matrix so board + API agree
+  # 5 · sync the claim code onto the matrix so board + API agree
   matrix_code && ok "matrix showing $CLAIM_CODE" || warn "could not set matrix code (relay :9999)"
   log "recovered — bind in the UI with code $CLAIM_CODE"
 }

src/components/cockpit/CockpitRail.tsx

@@ -158,7 +158,7 @@ export function CockpitRail() {
         {tel.live ? (
           <WaveformCanvas wave={tel.wave} impact={tel.event === 'impact'} />
         ) : (
-          <div className="flex h-[78px] items-center justify-center rounded-[10px] border border-rail-line bg-rail-inset font-mono text-[10px] text-rail-dim3">
+          <div className="flex h-[100px] items-center justify-center rounded-[10px] border border-rail-line bg-rail-inset font-mono text-[10px] text-rail-dim3">
             adxl355_stream — awaiting board
           </div>
         )}

src/components/cockpit/WaveformCanvas.tsx

@@ -3,7 +3,9 @@ import { useEffect, useRef } from 'react'
 /**
  * The live-acceleration waveform. Reads the magnitude history from a ref and
  * redraws via requestAnimationFrame — independent of React renders, so it stays
- * smooth. Line turns to the spike colour during an impact event.
+ * smooth. A ResizeObserver keeps the drawing buffer exactly matched to the
+ * element's pixel size (so the trace is always centered and peaks never clip),
+ * and the line turns to the spike colour during an impact event.
  */
 export function WaveformCanvas({
   wave,
@@ -21,16 +23,23 @@ export function WaveformCanvas({
     if (!cv) return
     const ctx = cv.getContext('2d')
     if (!ctx) return
-    const dpr = window.devicePixelRatio || 1
+    const dpr = Math.max(1, window.devicePixelRatio || 1)
-    const resize = () => {
+
-      cv.width = cv.clientWidth * dpr
+    // Keep the drawing buffer matched to the element's actual size. Setting
-      cv.height = cv.clientHeight * dpr
+    // width/height clears the canvas, so only assign when it actually changed.
+    const sync = () => {
+      const w = Math.round(cv.clientWidth * dpr)
+      const h = Math.round(cv.clientHeight * dpr)
+      if (w && cv.width !== w) cv.width = w
+      if (h && cv.height !== h) cv.height = h
     }
-    resize()
+    sync()
-    window.addEventListener('resize', resize)
+    const ro = new ResizeObserver(sync)
+    ro.observe(cv)
 
     let raf = 0
     const draw = () => {
+      sync()
       const w = cv.width
       const h = cv.height
       ctx.clearRect(0, 0, w, h)
@@ -41,26 +50,30 @@ export function WaveformCanvas({
       ctx.moveTo(0, h / 2)
       ctx.lineTo(w, h / 2)
       ctx.stroke()
-      // waveform
+      // waveform — centered, clamped to ±45% of height so peaks never clip
       const buf = wave.current
       const n = buf.length
-      ctx.strokeStyle = impactRef.current ? '#ff8a5c' : '#7fa8ff'
+      if (n > 1) {
-      ctx.lineWidth = 1.5 * dpr
+        ctx.strokeStyle = impactRef.current ? '#ff8a5c' : '#7fa8ff'
-      ctx.beginPath()
+        ctx.lineWidth = 1.6 * dpr
-      for (let i = 0; i < n; i++) {
+        ctx.lineJoin = 'round'
-        const x = (i / (n - 1)) * w
+        ctx.beginPath()
-        const y = h / 2 - buf[i] * (h * 0.42)
+        for (let i = 0; i < n; i++) {
-        i === 0 ? ctx.moveTo(x, y) : ctx.lineTo(x, y)
+          const x = (i / (n - 1)) * w
+          const v = Math.max(-1, Math.min(1, buf[i]))
+          const y = h / 2 - v * (h * 0.45)
+          i === 0 ? ctx.moveTo(x, y) : ctx.lineTo(x, y)
+        }
+        ctx.stroke()
       }
-      ctx.stroke()
       raf = requestAnimationFrame(draw)
     }
     raf = requestAnimationFrame(draw)
     return () => {
       cancelAnimationFrame(raf)
-      window.removeEventListener('resize', resize)
+      ro.disconnect()
     }
   }, [wave])
 
-  return <canvas ref={ref} className="block h-[78px] w-full rounded-[10px] border border-rail-line bg-rail-inset" />
+  return <canvas ref={ref} className="block h-[100px] w-full rounded-[10px] border border-rail-line bg-rail-inset" />
 }

src/lib/useMatrixMirror.ts

@@ -2,11 +2,17 @@ import { useEffect, useRef, useState } from 'react'
 import { getNodeMatrix } from './api'
 
 /**
- * Poll the board's real LED-matrix framebuffer (~8 fps) for a pixel-perfect
+ * Poll the board's real LED-matrix framebuffer for a pixel-perfect mirror.
- * mirror. Returns the 104 on/off dots, or null until a frame is read. Skips a
+ * Returns the 104 on/off dots, or null until a frame is read. Skips a poll while
- * poll while the previous one is in flight so a slow board can't stack requests.
+ * the previous one is in flight so a slow board can't stack requests.
+ *
+ * Default 15 fps: the board renders its animations at ~12 fps (the sketch's 80 ms
+ * loop), and a matrix_get round-trip is only ~15 ms, so 15 fps slightly
+ * oversamples the source — smooth, with no dropped frames — while staying far
+ * under the ~68 fps round-trip ceiling. Going higher mostly re-reads identical
+ * frames (the board isn't rendering faster), so it's wasted requests.
  */
-export function useMatrixMirror(teamId: string, enabled: boolean, fps = 8): boolean[] | null {
+export function useMatrixMirror(teamId: string, enabled: boolean, fps = 15): boolean[] | null {
   const [dots, setDots] = useState<boolean[] | null>(null)
   const inflight = useRef(false)
 

src/lib/useTelemetry.ts

@@ -65,6 +65,7 @@ export function useTelemetry(enabled: boolean): Telemetry {
   useEffect(() => {
     if (!enabled) return
     let phase = 0
+    let k = 0
     let impactUntil = 0
     const jog = (base: number, amp: number) => base + (rand() - 0.5) * amp
 
@@ -79,10 +80,15 @@ export function useTelemetry(enabled: boolean): Telemetry {
       setAcc1({ x: jog(0, a), y: jog(0, a), z: jog(1, z) })
       setAcc2({ x: jog(0, a * 0.9), y: jog(0, a * 0.9), z: jog(1, z) })
 
-      // magnitude for the waveform
+      // Signed oscilloscope sample: a gentle idle wave at rest, a big decaying
-      const m = impact ? 0.55 + rand() * 0.85 : 0.04 + rand() * 0.06
+      // ring on impact. Bounded to ±0.95 so it never leaves the canvas.
+      k += 1
+      const env = impact ? Math.max(0, (impactUntil - now) / 1400) : 0
+      const s = impact
+        ? Math.sin(k * 1.05) * env * 0.9 + (rand() - 0.5) * 0.12
+        : Math.sin(k * 0.4) * 0.16 + (rand() - 0.5) * 0.06
       const buf = wave.current
-      buf.push(m)
+      buf.push(Math.max(-0.95, Math.min(0.95, s)))
       if (buf.length > WAVE_LEN) buf.shift()
 
       setEvent(impact ? 'impact' : 'nominal')