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https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-17 10:00:46 -04:00
room camera and rover snapshots
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legop3
@@ -1,97 +1,20 @@
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// rover Snapshot Service
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// Purpose: Defines the rover Snapshot Service module and the helpers/state used by this service unit.
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// Scope: Keeps runtime behavior unchanged while isolating responsibilities into a clear module boundary.
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const EventEmitter = require('events');
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const fs = require('fs/promises');
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const path = require('path');
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const logger = require('../../globals/logger').child('roverSnapshot');
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// Rover Snapshot Service
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// Purpose: Composes rover snapshot polling and snapshot socket delivery in one folderized service.
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// Scope: Preserves existing rover snapshot events/state exports and startup side effects.
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const roverManager = require('../roverManager');
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const { createRoverSnapshotPoller } = require('./poller');
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const { registerRoverSnapshotSocketGateway } = require('./socketGateway');
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const SNAPSHOT_DIR = process.env.ROVER_SNAPSHOT_DIR || '/var/lib/rover-snapshots';
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const POLL_INTERVAL_MS = 300;
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const poller = createRoverSnapshotPoller({ roverManager });
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poller.startAll();
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const roverState = new Map(); // id -> { frame, ts, error, failures, fetching, mtimeMs }
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const events = new EventEmitter(); // frame, status
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let pollTimer = null;
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function markState(id, updates = {}) {
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const prev = roverState.get(id) || {};
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const next = { ...prev, ...updates };
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roverState.set(id, next);
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return next;
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}
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function getSnapshotPath(id) {
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return path.join(SNAPSHOT_DIR, `${id}.jpg`);
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}
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async function fetchSnapshot(id) {
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const state = roverState.get(id);
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if (state?.fetching) return;
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markState(id, { fetching: true });
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try {
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const filePath = getSnapshotPath(id);
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const stats = await fs.stat(filePath);
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if (state?.mtimeMs && stats.mtimeMs <= state.mtimeMs) {
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return;
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}
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const buffer = await fs.readFile(filePath);
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const ts = stats.mtimeMs || Date.now();
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markState(id, { frame: buffer, ts, error: null, failures: 0, mtimeMs: stats.mtimeMs });
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events.emit('frame', { id, buffer, ts });
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} catch (err) {
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const failures = (state?.failures || 0) + 1;
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const message = err.code === 'ENOENT' ? 'Snapshot missing' : err.message;
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markState(id, { error: message, failures });
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events.emit('status', { id, error: message });
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if (failures % 20 === 1) {
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logger.warn('Snapshot read failed', { id, err: message });
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}
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} finally {
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markState(id, { fetching: false });
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}
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}
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function cleanupInactive(activeIds) {
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roverState.forEach((_, id) => {
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if (!activeIds.has(id)) {
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roverState.delete(id);
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}
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});
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}
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function stopAll() {
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if (pollTimer) {
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clearInterval(pollTimer);
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pollTimer = null;
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}
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roverState.clear();
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}
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function startAll() {
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stopAll();
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pollTimer = setInterval(() => {
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const roster = roverManager.getRoster();
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const activeIds = new Set(roster.map((entry) => String(entry.id)));
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cleanupInactive(activeIds);
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roster.forEach((entry) => fetchSnapshot(String(entry.id)));
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}, POLL_INTERVAL_MS);
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logger.info('Started rover snapshot polling');
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}
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function getState(id) {
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const state = roverState.get(id);
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if (!state) return null;
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return {
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frame: state.frame || null,
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ts: state.ts || null,
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error: state.error || null,
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};
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}
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startAll();
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registerRoverSnapshotSocketGateway({
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roverManager,
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roverSnapshotEvents: poller.roverSnapshotEvents,
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getRoverSnapshotState: poller.getRoverSnapshotState,
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});
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module.exports = {
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roverSnapshotEvents: events,
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getRoverSnapshotState: getState,
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roverSnapshotEvents: poller.roverSnapshotEvents,
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getRoverSnapshotState: poller.getRoverSnapshotState,
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};
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@@ -0,0 +1,96 @@
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// Rover Snapshot Poller
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// Purpose: Polls on-disk rover snapshot images and emits frame/status updates as rover files change.
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// Scope: Owns snapshot file IO, stale-rover cleanup, and in-memory state tracking.
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const EventEmitter = require('events');
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const fs = require('fs/promises');
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const path = require('path');
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const logger = require('../../globals/logger').child('roverSnapshot');
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const SNAPSHOT_DIR = process.env.ROVER_SNAPSHOT_DIR || '/var/lib/rover-snapshots';
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const POLL_INTERVAL_MS = 300;
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const roverState = new Map();
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const events = new EventEmitter();
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let pollTimer = null;
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function markState(id, updates = {}) {
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const prev = roverState.get(id) || {};
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const next = { ...prev, ...updates };
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roverState.set(id, next);
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return next;
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}
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function getSnapshotPath(id) {
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return path.join(SNAPSHOT_DIR, `${id}.jpg`);
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}
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function createRoverSnapshotPoller({ roverManager }) {
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async function fetchSnapshot(id) {
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const state = roverState.get(id);
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if (state?.fetching) return;
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markState(id, { fetching: true });
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try {
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const filePath = getSnapshotPath(id);
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const stats = await fs.stat(filePath);
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if (state?.mtimeMs && stats.mtimeMs <= state.mtimeMs) return;
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const buffer = await fs.readFile(filePath);
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const ts = stats.mtimeMs || Date.now();
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markState(id, { frame: buffer, ts, error: null, failures: 0, mtimeMs: stats.mtimeMs });
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events.emit('frame', { id, buffer, ts });
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} catch (err) {
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const failures = (state?.failures || 0) + 1;
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const message = err.code === 'ENOENT' ? 'Snapshot missing' : err.message;
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markState(id, { error: message, failures });
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events.emit('status', { id, error: message });
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if (failures % 20 === 1) logger.warn('Snapshot read failed', { id, err: message });
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} finally {
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markState(id, { fetching: false });
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}
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}
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function cleanupInactive(activeIds) {
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roverState.forEach((_, id) => {
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if (!activeIds.has(id)) roverState.delete(id);
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});
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}
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function stopAll() {
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if (pollTimer) {
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clearInterval(pollTimer);
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pollTimer = null;
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}
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roverState.clear();
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}
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function startAll() {
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stopAll();
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pollTimer = setInterval(() => {
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const roster = roverManager.getRoster();
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const activeIds = new Set(roster.map((entry) => String(entry.id)));
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cleanupInactive(activeIds);
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roster.forEach((entry) => fetchSnapshot(String(entry.id)));
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}, POLL_INTERVAL_MS);
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logger.info('Started rover snapshot polling');
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}
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function getRoverSnapshotState(id) {
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const state = roverState.get(id);
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if (!state) return null;
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return {
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frame: state.frame || null,
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ts: state.ts || null,
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error: state.error || null,
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};
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}
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return {
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startAll,
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stopAll,
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roverSnapshotEvents: events,
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getRoverSnapshotState,
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};
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}
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module.exports = {
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createRoverSnapshotPoller,
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};
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@@ -0,0 +1,148 @@
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// Rover Snapshot Socket Gateway
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// Purpose: Handles rover snapshot socket subscriptions and streams rover frame/status updates to clients.
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// Scope: Owns auth/rate-limit checks and per-socket subscription fan-out for rover snapshot events.
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const io = require('../../globals/io');
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const logger = require('../../globals/logger').child('roverSnapshotSocket');
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const { getMode, MODES } = require('../modeManager');
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const { isAdmin, isLockdownAdmin, getRole } = require('../roleService');
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const SUBSCRIBE_LIMIT = 50;
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const SUBSCRIBE_WINDOW_MS = 10000;
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const STREAM_INTERVAL_MS = 333;
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function passesMode(socket) {
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const mode = getMode();
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if (mode === MODES.LOCKDOWN) return isLockdownAdmin(socket);
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if (mode === MODES.ADMIN) {
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const role = getRole(socket);
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return role === 'spectator' || isAdmin(socket);
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}
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return true;
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}
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function registerRoverSnapshotSocketGateway({ roverManager, roverSnapshotEvents, getRoverSnapshotState }) {
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const roverSubscribers = new Map();
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const socketSubscriptions = new Map();
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const subscribeBuckets = new Map();
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const lastSentBySocket = new Map();
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function addSubscription(socket, roverId) {
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if (!roverSubscribers.has(roverId)) roverSubscribers.set(roverId, new Set());
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roverSubscribers.get(roverId).add(socket.id);
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if (!socketSubscriptions.has(socket.id)) socketSubscriptions.set(socket.id, new Set());
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socketSubscriptions.get(socket.id).add(roverId);
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}
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function removeSubscription(socketId, roverId) {
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const bucket = roverSubscribers.get(roverId);
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if (bucket) {
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bucket.delete(socketId);
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if (bucket.size === 0) roverSubscribers.delete(roverId);
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}
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const socketBucket = socketSubscriptions.get(socketId);
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if (socketBucket) {
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socketBucket.delete(roverId);
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if (socketBucket.size === 0) socketSubscriptions.delete(socketId);
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}
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}
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function removeAllSubscriptions(socketId) {
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const bucket = socketSubscriptions.get(socketId);
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if (!bucket) return;
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bucket.forEach((roverId) => removeSubscription(socketId, roverId));
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}
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function allowSubscribe(socketId) {
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const now = Date.now();
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let bucket = subscribeBuckets.get(socketId);
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if (!bucket || now - bucket.start >= SUBSCRIBE_WINDOW_MS) bucket = { start: now, count: 0 };
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bucket.count += 1;
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subscribeBuckets.set(socketId, bucket);
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return bucket.count <= SUBSCRIBE_LIMIT;
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}
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function sendFrame(socket, roverId, payload, buffer) {
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socket.emit('roverSnapshot:frame', { id: roverId, ...payload }, buffer);
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}
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function sendStatus(socket, roverId, status) {
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socket.emit('roverSnapshot:status', { id: roverId, ...status });
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}
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roverSnapshotEvents.on('frame', ({ id, buffer, ts }) => {
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const bucket = roverSubscribers.get(id);
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if (!bucket || !buffer) return;
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bucket.forEach((socketId) => {
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const socket = io.sockets.sockets.get(socketId);
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if (!socket) return;
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let lastMap = lastSentBySocket.get(socketId);
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if (!lastMap) {
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lastMap = new Map();
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lastSentBySocket.set(socketId, lastMap);
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}
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const lastSent = lastMap.get(id) || 0;
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const now = ts || Date.now();
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if (now - lastSent < STREAM_INTERVAL_MS) return;
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lastMap.set(id, now);
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sendFrame(socket, id, { ts }, buffer);
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});
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});
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roverSnapshotEvents.on('status', ({ id, error }) => {
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const bucket = roverSubscribers.get(id);
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if (!bucket) return;
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bucket.forEach((socketId) => {
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const socket = io.sockets.sockets.get(socketId);
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if (!socket) return;
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sendStatus(socket, id, { error: error || null });
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});
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});
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io.on('connection', (socket) => {
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socket.on('roverSnapshot:subscribe', (payload = {}, cb = () => {}) => {
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const visibleRoster = roverManager.getRosterForSocket(socket);
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const visibleIds = visibleRoster.map((rover) => String(rover.id));
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const list = Array.isArray(payload?.ids)
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? payload.ids.map(String)
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: payload?.roverId || payload?.id
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? [String(payload.roverId || payload.id)]
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: visibleIds;
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const uniqueIds = Array.from(new Set(list));
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try {
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if (!allowSubscribe(socket.id)) return cb({ error: 'Rate limited' });
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if (!passesMode(socket)) throw new Error('Not authorized for rover snapshots');
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const rosterIds = new Set(visibleIds);
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const validIds = uniqueIds.filter((id) => rosterIds.has(String(id)));
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validIds.forEach((roverId) => addSubscription(socket, roverId));
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validIds.forEach((roverId) => {
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const state = getRoverSnapshotState(roverId);
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if (state?.frame) sendFrame(socket, roverId, { ts: state.ts }, state.frame);
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sendStatus(socket, roverId, { ts: state?.ts || null, error: state?.error || null });
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});
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cb({ ok: true, subscribed: validIds });
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} catch (err) {
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logger.warn('Rover snapshot subscribe failed', { socketId: socket.id, err: err.message });
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cb({ error: err.message });
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}
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});
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socket.on('roverSnapshot:unsubscribe', (payload = {}) => {
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const list = Array.isArray(payload?.ids)
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? payload.ids.map(String)
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: payload?.roverId || payload?.id
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? [String(payload.roverId || payload.id)]
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: [];
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list.forEach((roverId) => removeSubscription(socket.id, roverId));
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});
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socket.on('disconnect', () => {
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removeAllSubscriptions(socket.id);
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subscribeBuckets.delete(socket.id);
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lastSentBySocket.delete(socket.id);
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});
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});
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}
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module.exports = {
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registerRoverSnapshotSocketGateway,
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};
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