mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-15 17:12:59 -04:00
fixing idle skips no longer happening!
This commit is contained in:
legop3
File diff suppressed because one or more lines are too long
@@ -78,7 +78,7 @@
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<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
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<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
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<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
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<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
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<title>Roomba Rover</title>
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<title>Roomba Rover</title>
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<script type="module" crossorigin src="/assets/index-CTOqrTOu.js"></script>
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<script type="module" crossorigin src="/assets/index-BjmvF4mq.js"></script>
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<link rel="stylesheet" crossorigin href="/assets/index-CdgtactY.css">
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<link rel="stylesheet" crossorigin href="/assets/index-CdgtactY.css">
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</head>
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</head>
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<body>
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<body>
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@@ -76,6 +76,68 @@ function setDriveCooldown(roverId, durationMs) {
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driveCooldowns.set(roverId, Date.now() + durationMs);
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driveCooldowns.set(roverId, Date.now() + durationMs);
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}
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}
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function getCommandMotionMagnitude(type, payload = {}) {
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if (type === 'drive') {
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const driveDirect = payload?.driveDirect || {};
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const left = Math.abs(Number(driveDirect.left) || 0);
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const right = Math.abs(Number(driveDirect.right) || 0);
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return Math.max(left, right);
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}
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if (type === 'motors') {
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const motorPwm = payload?.motorPwm || {};
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const main = Math.abs(Number(motorPwm.main) || 0);
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const side = Math.abs(Number(motorPwm.side) || 0);
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const vacuum = Math.abs(Number(motorPwm.vacuum) || 0);
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return Math.max(main, side, vacuum);
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}
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return 0;
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}
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function shouldRecordTurnActivity(type, payload = {}) {
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/*
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The turn idle-skip timer is a user-intent timer, not a generic command timer.
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Some commands are emitted by the browser as setup/cleanup work while the
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driver is literally doing nothing. Counting those commands as activity lets
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a totally idle client keep a turn forever, because recordActivity disarms
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the idle skip for the rest of that turn.
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*/
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if (type === 'sensorStream') {
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/*
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Sensor streaming is enabled automatically when the UI has a rover
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assignment and can also be resent after harmless React/session churn.
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It is not proof that the driver touched a control.
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*/
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return false;
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}
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if (type === 'drive' || type === 'motors') {
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/*
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Zero drive/motor packets are safety cleanup packets. The keyboard manager,
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gamepad manager, blur handlers, and turn transitions can all send zeros
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without human intent, so only non-zero motion should disarm idle skip.
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*/
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return getCommandMotionMagnitude(type, payload) > 0;
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}
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if (type === 'horn') {
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/*
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Starting the horn is a deliberate action. Stopping it can be automatic
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after a timeout or key release, so the stop packet should not be the event
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that proves the driver is active.
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*/
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return payload?.horn?.action !== 'stop';
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}
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/*
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Other accepted commands are left as activity because they are tied to an
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explicit user control: servo moves, night vision toggles, raw OI commands,
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songs, reboot/update admin actions, and similar commands.
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*/
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return true;
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}
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module.exports = {
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module.exports = {
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issueCommand,
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issueCommand,
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handleAck,
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handleAck,
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@@ -154,11 +216,13 @@ io.on('connection', (socket) => {
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}
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}
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const id = issueCommand(roverId, { type, ...payload });
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const id = issueCommand(roverId, { type, ...payload });
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logger.info('Queued command', socket.id, roverId, type);
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logger.info('Queued command', socket.id, roverId, type);
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try {
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if (shouldRecordTurnActivity(type, payload)) {
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const { recordActivity } = require('../turnService');
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try {
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recordActivity(roverId, socket.id);
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const { recordActivity } = require('../turnService');
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} catch (err) {
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recordActivity(roverId, socket.id);
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// best effort; ignore activity update errors
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} catch (err) {
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// Activity recording is best-effort because command delivery should not fail if turn bookkeeping has a transient issue.
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}
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}
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}
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reply({ id });
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reply({ id });
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} catch (err) {
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} catch (err) {
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@@ -253,7 +253,7 @@ export function ControlSystemProvider({ children }) {
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if (pipeline.roverId) {
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if (pipeline.roverId) {
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pipeline.enableSensorStream();
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pipeline.enableSensorStream();
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}
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}
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}, [pipeline]);
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}, [pipeline.roverId, pipeline.enableSensorStream]);
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const setMode = useCallback(
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const setMode = useCallback(
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(mode) => {
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(mode) => {
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