legop3/MultiRoombaRover
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fix help while docked lol

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legop3
2026-09-12 17:04:21 -04:00
parent eb1fab50e4
commit 02a32e2524
2 changed files with 58 additions and 2 deletions
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server/src/services/roverHelpService/monitor.js
+20 -2
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@@ -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