From 02a32e252495e951741f325e0daa901b4230c5e3 Mon Sep 17 00:00:00 2001
From: legop3 <minecratfd8@gmail.com>
Date: Sat, 12 Sep 2026 17:04:21 -0400
Subject: [PATCH] fix help while docked lol

---
 .../src/services/roverHelpService/monitor.js  | 22 ++++++++++-
 .../services/roverHelpService/monitor.test.js | 38 +++++++++++++++++++
 2 files changed, 58 insertions(+), 2 deletions(-)

diff --git a/server/src/services/roverHelpService/monitor.js b/server/src/services/roverHelpService/monitor.js
index b8e74f09..22504f35 100644
--- a/server/src/services/roverHelpService/monitor.js
+++ b/server/src/services/roverHelpService/monitor.js
@@ -62,6 +62,25 @@ function createRoverHelpMonitor({ now = () => Date.now(), onChange = () => {} }
     if (!roverId || !sensors) return;
     const state = ensureState(roverId);
     const timestamp = now();
+    const docked = Boolean(sensors?.chargingSources?.homeBase);
+
+    if (docked) {
+      // A 600-series Roomba can legitimately rest on the dock with wheel-drop
+      // or cliff bits held by its physical position and the nearby surface.
+      // Home-base contact is therefore a stronger signal than every monitored
+      // fault here: reset all persistence history and do not let time spent
+      // docked contribute toward a later HELP after it leaves the base.
+      state.wheelDropSince = null;
+      state.cliffPattern = 0;
+      state.cliffPatternSince = null;
+      state.dockGuardSince = null;
+      state.dockGuardSawPassive = false;
+      updateReason(roverId, state, 'wheelDrop', false);
+      updateReason(roverId, state, 'cliff', false);
+      updateReason(roverId, state, 'docking', false);
+      return;
+    }
+
     const wheelDrop = Boolean(
       sensors?.bumpsAndWheelDrops?.wheelDropLeft || sensors?.bumpsAndWheelDrops?.wheelDropRight,
     );
@@ -97,10 +116,9 @@ function createRoverHelpMonitor({ now = () => Date.now(), onChange = () => {} }
     );
 
     if (state.dockGuardSince != null) {
-      const docked = Boolean(sensors?.chargingSources?.homeBase);
       const oiMode = sensors?.oiMode?.label || null;
       if (oiMode === 'passive') state.dockGuardSawPassive = true;
-      if (docked || (state.dockGuardSawPassive && oiMode && oiMode !== 'passive')) {
+      if (state.dockGuardSawPassive && oiMode && oiMode !== 'passive') {
         // Dock guard itself stops as soon as the 600-series wheels begin their
         // autonomous seek motion. Continue timing that seek after the guard
         // interval ends, and clear only on docking or a confirmed exit from the
diff --git a/server/src/services/roverHelpService/monitor.test.js b/server/src/services/roverHelpService/monitor.test.js
index b88aec70..debce9d2 100644
--- a/server/src/services/roverHelpService/monitor.test.js
+++ b/server/src/services/roverHelpService/monitor.test.js
@@ -97,3 +97,41 @@ test('clearing one reason retains help while another reason remains', () => {
   assert.equal(harness.changes.at(-1).needsHelp, true);
   assert.deepEqual(harness.changes.at(-1).reasons, ['cliff']);
 });
+
+test('docked sensor conditions never accumulate help time', () => {
+  const harness = createHarness();
+  const dockedFaults = {
+    chargingSources: { homeBase: true },
+    bumpsAndWheelDrops: { wheelDropLeft: true },
+    cliffLeft: true,
+  };
+  harness.monitor.handleSensor('purple', dockedFaults);
+  harness.advance(WHEEL_DROP_HELP_MS + CLIFF_HELP_MS);
+  harness.monitor.handleSensor('purple', dockedFaults);
+  assert.equal(harness.changes.length, 0);
+
+  // Leaving the dock begins fresh timers instead of inheriting the long period
+  // during which those same physical bits were harmlessly held at home base.
+  harness.monitor.handleSensor('purple', {
+    chargingSources: {},
+    bumpsAndWheelDrops: { wheelDropLeft: true },
+    cliffLeft: true,
+  });
+  assert.equal(harness.changes.length, 0);
+});
+
+test('docking clears every active help reason', () => {
+  const harness = createHarness();
+  const faults = { bumpsAndWheelDrops: { wheelDropRight: true }, cliffRight: true };
+  harness.monitor.handleSensor('silver', faults);
+  harness.advance(WHEEL_DROP_HELP_MS);
+  harness.monitor.handleSensor('silver', faults);
+  assert.equal(harness.changes.at(-1).needsHelp, true);
+
+  harness.monitor.handleSensor('silver', {
+    ...faults,
+    chargingSources: { homeBase: true },
+  });
+  assert.equal(harness.changes.at(-1).needsHelp, false);
+  assert.deepEqual(harness.changes.at(-1).reasons, []);
+});