slop

2026-09-15 17:12:59 -04:00 · 2026-07-17 00:51:24 -04:00
parent fe64ec7758
commit 0add90714b
11 changed files with 329 additions and 53 deletions
@@ -78,8 +78,8 @@
 <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
 <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>
    <title>Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-CIHlBjmn.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-Dpy8jv9j.css">
+    <script type="module" crossorigin src="/assets/index-ylLtL6Of.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-BzceGRD0.css">
  </head>
  <body>
    <div id="root"></div>
@@ -16,6 +16,7 @@ function createBalanceBoardHardware({ logger, address = '', simulate = false } =
  let worker = null;
  let stdoutBuffer = '';
  let stopped = false;
+  let restarting = false;
  let restartTimer = null;
  let lastStderrLogAt = 0;
  let suppressedStderrLines = 0;
@@ -100,7 +101,11 @@ function createBalanceBoardHardware({ logger, address = '', simulate = false } =
    child.on('close', (code, signal) => {
      if (worker === child) worker = null;
      if (!stopped) {
-        emitProtocolError(`balance board worker exited (${signal || code})`);
+        // Admin unpair deliberately replaces the worker with an empty address.
+        // Do not turn that expected exit into a red hardware-error state while
+        // still using the normal restart scheduler for the replacement.
+        if (!restarting) emitProtocolError(`balance board worker exited (${signal || code})`);
+        restarting = false;
        scheduleRestart();
      }
    });
@@ -108,6 +113,7 @@ function createBalanceBoardHardware({ logger, address = '', simulate = false } =

  function stop() {
    stopped = true;
+    restarting = false;
    if (restartTimer) {
      clearTimeout(restartTimer);
      restartTimer = null;
@@ -129,10 +135,36 @@ function createBalanceBoardHardware({ logger, address = '', simulate = false } =
    }, 1500).unref();
  }

+  function restart() {
+    if (stopped) return;
+    if (!worker) {
+      start();
+      return;
+    }
+
+    const child = worker;
+    restarting = true;
+    try {
+      // An admin forget changes the address used in the child environment. A
+      // controlled restart lets the replacement worker start with that new
+      // value, while the existing close handler remains the single owner of
+      // delayed respawn and avoids overlapping Bluetooth listeners.
+      child.stdin.write(`${JSON.stringify({ command: 'stop' })}\n`);
+    } catch (_err) {
+      // The child may have already closed stdin; SIGTERM below still guarantees
+      // that it cannot keep listening for the address that was just forgotten.
+    }
+    child.kill('SIGTERM');
+    setTimeout(() => {
+      if (child.exitCode == null && child.signalCode == null) child.kill('SIGKILL');
+    }, 1500).unref();
+  }
+
  return {
    events,
    start,
    stop,
+    restart,
    setAddress(nextAddress) {
      // The factory can be created before first commissioning. Preserve the
      // newly paired address for later bridge restarts in the same Node process
@@ -2,12 +2,16 @@
 // Purpose: Exposes one Wii Balance Board as a self-pairing Bluetooth scale.
 // Scope: Stores the paired address, applies a small automatic tare, and publishes simple status plus live weight.
 const fs = require('fs');
+const { execFile } = require('child_process');
+const { promisify } = require('util');
 const EventEmitter = require('events');
 const io = require('../../globals/io');
 const logger = require('../../globals/logger').child('balanceBoardService');
 const { loadConfig } = require('../../helpers/configLoader');
 const { resolveDataDir, resolveDataPath } = require('../../helpers/dataPaths');
 const { isFeatureEnabled } = require('../../helpers/features');
+const { isAdmin } = require('../roleService');
+const { sendAlert } = require('../alertService');
 const { createBalanceBoardHardware } = require('./hardware');

 const events = new EventEmitter();
@@ -18,6 +22,14 @@ const STORE_PATH = resolveDataPath('balance-board.json');
 const FRAME_ROOM = 'balance-board-viewers';
 const TARE_SAMPLE_COUNT = 20;
 const MAX_AUTOMATIC_TARE_KG = 2;
+const execFileAsync = promisify(execFile);
+const ALERT_COLORS = {
+  connected: '#10b981',
+  sleeping: '#64748b',
+  warning: '#f59e0b',
+  error: '#ef4444',
+  info: '#38bdf8',
+};

 function loadStore() {
  try {
@@ -49,6 +61,18 @@ function rawWeightKg(corners = {}) {
    .reduce((total, key) => total + Math.max(0, Number(corners[key]) || 0), 0) / 100;
 }

+function cornerWeightsKg(corners = {}) {
+  // Preserve all four factory-calibrated load cells in kilograms. Their
+  // relative distribution drives the center-of-pressure dot in the panel,
+  // while the existing tare continues to apply only to the displayed total.
+  return {
+    topRight: roundedWeight((Number(corners.topRight) || 0) / 100),
+    bottomRight: roundedWeight((Number(corners.bottomRight) || 0) / 100),
+    topLeft: roundedWeight((Number(corners.topLeft) || 0) / 100),
+    bottomLeft: roundedWeight((Number(corners.bottomLeft) || 0) / 100),
+  };
+}
+
 let store = enabled ? loadStore() : { address: '' };
 let hardware = null;
 let status = enabled ? (store.address ? 'waiting' : 'starting') : 'disabled';
@@ -60,6 +84,55 @@ let batteryPercent = null;
 let latestFrame = null;
 let tareSamples = [];
 let tareKg = 0;
+let previousWorkerState = '';
+let lastAlertKey = '';
+let unpairing = false;
+
+function sendStatusAlert(workerState, message = '') {
+  let alert = null;
+  if (workerState === 'connected') {
+    alert = {
+      color: ALERT_COLORS.connected,
+      title: 'Balance Board connected',
+      message: 'Live weight is available.',
+    };
+  } else if (workerState === 'sleeping') {
+    alert = {
+      color: ALERT_COLORS.sleeping,
+      title: 'Balance Board sleeping',
+      message: 'Press the front power button when you are ready to use it.',
+    };
+  } else if (workerState === 'waiting' && previousWorkerState === 'connected') {
+    alert = {
+      color: ALERT_COLORS.warning,
+      title: 'Balance Board disconnected',
+      message: message || 'Press the front power button to reconnect it.',
+    };
+  } else if (workerState === 'connection-failed') {
+    alert = {
+      color: ALERT_COLORS.error,
+      title: 'Balance Board connection failed',
+      message: message || 'The Bluetooth connection did not complete.',
+    };
+  } else if (workerState === 'error') {
+    alert = {
+      color: ALERT_COLORS.error,
+      title: 'Balance Board needs attention',
+      message: message || 'The hardware worker stopped.',
+    };
+  }
+
+  previousWorkerState = workerState;
+  if (!alert) return;
+
+  // Native reconnect retries may repeat the same result while hardware is out
+  // of range. Collapse identical status/message pairs so feed alerts remain
+  // meaningful state changes instead of turning into a transport log.
+  const key = `${workerState}:${alert.message}`;
+  if (key === lastAlertKey) return;
+  lastAlertKey = key;
+  sendAlert(alert);
+}

 function getState() {
  return {
@@ -103,6 +176,7 @@ function processFrame(message = {}) {
  );
  latestFrame = {
    totalKg: roundedWeight(rawKg - tareKg),
+    corners: cornerWeightsKg(message.corners),
    batteryPercent,
  };
  io.to(FRAME_ROOM).emit('balanceBoard:frame', latestFrame);
@@ -121,12 +195,19 @@ function handleWorkerMessage(message = {}) {
      persistStore();
    }
    hardware?.setAddress(address);
+    lastAlertKey = 'paired';
+    sendAlert({
+      color: ALERT_COLORS.info,
+      title: 'Balance Board paired',
+      message: 'Bluetooth setup completed.',
+    });
    updateStatus('connecting', 'Paired. Connecting to the board now.');
    return;
  }

  if (message.type !== 'status') return;
  const workerState = String(message.state || 'unknown');
+  sendStatusAlert(workerState, message.error || '');
  if (workerState === 'commissioning') {
    updateStatus('starting', 'Starting Bluetooth discovery.');
  } else if (workerState === 'discovering') {
@@ -169,6 +250,59 @@ io.on('connection', (socket) => {
    cb({ success: true });
  });
  socket.on('balanceBoard:unsubscribe', () => socket.leave(FRAME_ROOM));
+  socket.on('balanceBoard:unpair', async (_payload = {}, cb = () => {}) => {
+    if (!isAdmin(socket)) {
+      cb({ error: 'Admin access required' });
+      return;
+    }
+    if (unpairing) {
+      cb({ error: 'The Balance Board is already being unpaired' });
+      return;
+    }
+
+    unpairing = true;
+    const address = store.address;
+    let bluetoothWarning = '';
+    try {
+      if (address) {
+        try {
+          // A complete forget removes both sources of remembered identity. If
+          // only the JSON address or only the BlueZ bond were removed, the next
+          // red-Sync attempt could inherit half of the previous relationship.
+          await execFileAsync('bluetoothctl', ['remove', address], { timeout: 10000 });
+        } catch (err) {
+          bluetoothWarning = String(
+            err?.stderr || err?.message || 'BlueZ did not remove the bond',
+          ).trim();
+          logger.warn('Balance Board BlueZ bond removal failed', bluetoothWarning);
+        }
+      }
+
+      store.address = '';
+      persistStore();
+      connected = false;
+      batteryPercent = null;
+      latestFrame = null;
+      tareSamples = [];
+      tareKg = 0;
+      previousWorkerState = '';
+      lastAlertKey = 'unpaired';
+      hardware?.setAddress('');
+      hardware?.restart();
+      updateStatus('starting', 'Starting Bluetooth discovery.');
+      sendAlert({
+        color: ALERT_COLORS.warning,
+        title: 'Balance Board unpaired',
+        message: 'Press the red Sync button underneath the board to pair it again.',
+      });
+      cb({ success: true, warning: bluetoothWarning || null });
+    } catch (err) {
+      logger.error('Failed to unpair Balance Board', err);
+      cb({ error: err.message || 'Failed to unpair the Balance Board' });
+    } finally {
+      unpairing = false;
+    }
+  });
 });

 if (enabled) {
@@ -172,11 +172,11 @@ function MobileFeatureTabs({
            <div className={`flex flex-col ${themeGapClass}`}>
              <NeatoCard />
              <LiftCard />
+              <BalanceBoardPanel />
              <BarcodeGamesPanel />
              <OdometerPanel />
              <ButtonBoxPanel />
              <KinectPanel />
-              <BalanceBoardPanel />
            </div>
          </TabPanel>
          <TabPanel id="vip" keepMounted>
@@ -7,25 +7,53 @@ import { useSessionSelector } from '../../context/SessionContext.jsx';
 import { isFeatureEnabled } from '../../lib/features.js';
 import CardFrame from '../CardFrame/index.jsx';

-const EMPTY_FRAME = { totalKg: 0, batteryPercent: null };
+const EMPTY_CORNERS = {
+  topLeft: 0,
+  topRight: 0,
+  bottomLeft: 0,
+  bottomRight: 0,
+};
+const EMPTY_FRAME = { totalKg: 0, batteryPercent: null, corners: EMPTY_CORNERS };

 function formatWeight(value) {
  const weight = Number(value);
  return Number.isFinite(weight) ? `${weight.toFixed(2)} kg` : '0.00 kg';
 }

-function statusPresentation(value) {
-  const status = String(value || 'starting');
-  if (status === 'connected') return { label: 'Connected', tone: 'border-emerald-600 bg-emerald-950 text-emerald-200' };
-  if (status === 'zeroing') return { label: 'Zeroing', tone: 'border-violet-600 bg-violet-950 text-violet-200' };
-  if (status === 'pairing') return { label: 'Pairing', tone: 'border-sky-600 bg-sky-950 text-sky-200' };
-  if (status === 'waiting-for-sync') return { label: 'Waiting for red Sync', tone: 'border-amber-600 bg-amber-950 text-amber-200' };
-  if (status === 'waiting') return { label: 'Waiting for front button', tone: 'border-amber-600 bg-amber-950 text-amber-200' };
-  if (status === 'sleeping') return { label: 'Sleeping', tone: 'border-slate-600 bg-slate-900 text-slate-200' };
-  if (status === 'connecting') return { label: 'Connecting', tone: 'border-sky-600 bg-sky-950 text-sky-200' };
-  if (status === 'connection-failed') return { label: 'Connection failed', tone: 'border-red-600 bg-red-950 text-red-200' };
-  if (status === 'error') return { label: 'Error', tone: 'border-red-600 bg-red-950 text-red-200' };
-  return { label: 'Starting', tone: 'border-slate-600 bg-slate-900 text-slate-200' };
+function finiteNumber(value) {
+  if (value == null || value === '') return null;
+  const number = Number(value);
+  return Number.isFinite(number) ? number : null;
+}
+
+function centerOfPressure(corners) {
+  const topLeft = Math.max(0, finiteNumber(corners.topLeft) || 0);
+  const topRight = Math.max(0, finiteNumber(corners.topRight) || 0);
+  const bottomLeft = Math.max(0, finiteNumber(corners.bottomLeft) || 0);
+  const bottomRight = Math.max(0, finiteNumber(corners.bottomRight) || 0);
+  const total = topLeft + topRight + bottomLeft + bottomRight;
+
+  // An empty board naturally has tiny load-cell noise. Keep the marker centered
+  // and subdued until there is enough weight for its position to mean anything;
+  // once loaded, map the normalized left/right and top/bottom balance into the
+  // safe interior of the illustrated board.
+  if (total < 0.5) return { left: 50, top: 50, active: false };
+  const horizontal = ((topRight + bottomRight) - (topLeft + bottomLeft)) / total;
+  const vertical = ((bottomLeft + bottomRight) - (topLeft + topRight)) / total;
+  return {
+    left: 50 + Math.max(-1, Math.min(1, horizontal)) * 37,
+    top: 50 + Math.max(-1, Math.min(1, vertical)) * 37,
+    active: true,
+  };
+}
+
+function CornerReading({ className, label, value }) {
+  return (
+    <div className={`absolute rounded bg-slate-950/80 px-1 py-0.5 text-center shadow ${className}`}>
+      <div className="text-[0.62rem] text-slate-400">{label}</div>
+      <div className="font-mono text-sm font-semibold text-slate-100">{formatWeight(value)}</div>
+    </div>
+  );
 }

 export default function BalanceBoardPanel() {
@@ -39,15 +67,35 @@ export default function BalanceBoardPanel() {
 function BalanceBoardPanelContent() {
  const socket = useSocket();
  const board = useSessionSelector((state) => state.session?.balanceBoard || null);
+  const role = useSessionSelector((state) => state.session?.role || null);
  const [frame, setFrame] = useState(EMPTY_FRAME);
+  const [unpairing, setUnpairing] = useState(false);
+  const [adminMessage, setAdminMessage] = useState('');

  useEffect(() => {
    if (!socket) return undefined;
    const handleFrame = (next = {}) => setFrame({ ...EMPTY_FRAME, ...next });
+
+    // Socket.IO room membership belongs to one server-side connection, not to
+    // the long-lived browser socket object. A brief network interruption gives
+    // the browser a new server-side socket while React keeps this component and
+    // this effect mounted, so subscribing only here would silently lose all
+    // later weight frames. Rejoin after every connection as well as immediately
+    // for the already-connected case.
+    const subscribe = () => {
+      socket.emit('balanceBoard:subscribe', {}, () => {});
+    };
+
    socket.on('balanceBoard:frame', handleFrame);
-    socket.emit('balanceBoard:subscribe', {}, () => {});
+    socket.on('connect', subscribe);
+    subscribe();
+
    return () => {
      socket.off('balanceBoard:frame', handleFrame);
+      socket.off('connect', subscribe);
+      // The panel is the only consumer represented by this component. Leaving
+      // the room on unmount prevents an inactive route or tab from continuing
+      // to receive the board's continuous measurement stream.
      socket.emit('balanceBoard:unsubscribe');
    };
  }, [socket]);
@@ -55,33 +103,95 @@ function BalanceBoardPanelContent() {
  // Mask the previous reading immediately when disconnected. Keeping the last
  // socket frame in state avoids effect-driven state resets and stale flashes.
  const liveFrame = board?.connected ? frame : EMPTY_FRAME;
-  const battery = Number.isFinite(Number(liveFrame.batteryPercent))
-    ? Number(liveFrame.batteryPercent)
-    : Number.isFinite(Number(board?.batteryPercent))
-      ? Number(board.batteryPercent)
-      : null;
-  const presentation = statusPresentation(board?.status);
-  const actions = (
-    <span className={`rounded border px-1.5 py-0.5 text-xs font-semibold ${presentation.tone}`}>
-      {presentation.label}
-    </span>
-  );
+  const corners = { ...EMPTY_CORNERS, ...(liveFrame.corners || {}) };
+  const center = centerOfPressure(corners);
+  const liveBattery = finiteNumber(liveFrame.batteryPercent);
+  const sessionBattery = finiteNumber(board?.batteryPercent);
+  const battery = liveBattery ?? sessionBattery;
+  const sleeping = board?.status === 'sleeping';
+  const isAdmin = role === 'admin' || role === 'lockdown';
+
+  const unpair = () => {
+    if (unpairing || !board?.paired) return;
+    if (!window.confirm('Unpair this Balance Board and require the red Sync button to pair it again?')) return;
+    setUnpairing(true);
+    setAdminMessage('');
+    socket.emit('balanceBoard:unpair', {}, (response = {}) => {
+      setUnpairing(false);
+      if (response.error) {
+        setAdminMessage(response.error);
+      } else if (response.warning) {
+        setAdminMessage('Board forgotten locally, but BlueZ reported a bond-removal warning.');
+      } else {
+        setAdminMessage('Board unpaired. Press the red Sync button to pair it again.');
+      }
+    });
+  };

  return (
-    <CardFrame title="Balance Board" actions={actions} bodyClassName="p-2">
-      <div className="flex min-w-0 items-center justify-between gap-4 rounded border border-slate-700 bg-slate-950/50 p-2">
-        <div className="min-w-0">
-          <div className="font-mono text-4xl font-bold leading-none text-white">
-            {formatWeight(liveFrame.totalKg)}
+    <CardFrame
+      title="Balance Board"
+      className="relative w-full"
+      bodyClassName="text-sm text-slate-200"
+      actions={battery != null ? (
+        <span className="font-mono text-xs text-slate-300">{Math.round(battery)}% battery</span>
+      ) : null}
+    >
+      {sleeping ? (
+        <div className="absolute inset-0 z-20 flex items-center justify-center rounded-md bg-slate-950/85 px-2 text-center">
+          <div className="space-y-0.5">
+            <p className="text-lg font-semibold text-slate-100">Balance Board is asleep</p>
+            <p className="text-sm text-slate-300">Press the front power button on the board to wake it.</p>
          </div>
-          <p className="mt-2 break-words text-sm text-slate-300">{board?.detail || 'Starting Balance Board support.'}</p>
-          {board?.address ? <p className="mt-1 font-mono text-[0.65rem] text-slate-600">{board.address}</p> : null}
        </div>
-        {battery != null ? (
-          <div className="shrink-0 text-right text-xs text-slate-400">
-            Battery<br /><span className="font-mono text-base text-slate-200">{Math.round(battery)}%</span>
+      ) : null}
+
+      <div className="grid gap-0.5 md:grid-cols-[minmax(0,1.25fr)_minmax(9rem,0.75fr)]">
+        <section className="surface-muted p-1">
+          <div className="relative mx-auto aspect-[1.35/1] w-full max-w-md overflow-hidden rounded-[1.5rem] border-2 border-slate-500 bg-gradient-to-b from-slate-700 to-slate-800 shadow-inner">
+            <div className="absolute inset-[12%] rounded-[1rem] border border-slate-500/70 bg-slate-900/35" />
+            <CornerReading className="left-1 top-1" label="Top left" value={corners.topLeft} />
+            <CornerReading className="right-1 top-1" label="Top right" value={corners.topRight} />
+            <CornerReading className="bottom-1 left-1" label="Bottom left" value={corners.bottomLeft} />
+            <CornerReading className="bottom-1 right-1" label="Bottom right" value={corners.bottomRight} />
+            <div
+              aria-label="Center of pressure"
+              className={`absolute h-4 w-4 -translate-x-1/2 -translate-y-1/2 rounded-full border-2 shadow-lg transition-all duration-100 ${
+                center.active
+                  ? 'border-cyan-100 bg-cyan-400 shadow-cyan-400/50'
+                  : 'border-slate-400 bg-slate-600 opacity-50'
+              }`}
+              style={{ left: `${center.left}%`, top: `${center.top}%` }}
+            />
+            <div className="absolute bottom-0.5 left-1/2 h-1.5 w-8 -translate-x-1/2 rounded-full bg-sky-400/70" />
          </div>
-        ) : null}
+        </section>
+
+        <div className="grid content-start gap-0.5">
+          <section className="surface-muted px-1 py-1.5 text-center">
+            <div className="text-xs text-slate-400">Total weight</div>
+            <div className="mt-0.5 font-mono text-4xl font-bold leading-none text-white">
+              {formatWeight(liveFrame.totalKg)}
+            </div>
+          </section>
+
+          {isAdmin ? (
+            <section className="surface-muted grid gap-0.5 p-0.5">
+              {board?.address ? (
+                <div className="truncate text-center font-mono text-[0.65rem] text-slate-500">{board.address}</div>
+              ) : null}
+              <button
+                type="button"
+                className="button-dark w-full text-xs disabled:opacity-50"
+                disabled={!board?.paired || unpairing}
+                onClick={unpair}
+              >
+                {unpairing ? 'Unpairing…' : 'Unpair board'}
+              </button>
+              {adminMessage ? <p className="text-center text-xs text-slate-400">{adminMessage}</p> : null}
+            </section>
+          ) : null}
+        </div>
      </div>
    </CardFrame>
  );
@@ -421,11 +421,11 @@ export default function RightPaneTabs({ layout, onOpenHelpOverlay }) {
            <div className={`flex flex-col ${themeGapClass}`}>
              <NeatoCard />
              <LiftCard />
+              <BalanceBoardPanel />
              <BarcodeGamesPanel />
              <OdometerPanel />
              <ButtonBoxPanel />
              <KinectPanel />
-              <BalanceBoardPanel />
            </div>
          </TabPanel>