slop

2026-11-14 18:58:49 -05:00 · 2026-09-28 00:29:21 -04:00
parent 73a78eef20
commit 0ff03a74a5
20 changed files with 1752 additions and 170 deletions
@@ -0,0 +1,111 @@
+// One complete card snapshot per subscriber; no telemetry-frequency UI events.
+const io = require('../../globals/io');
+const roverManager = require('../roverManager');
+const { isVerified } = require('../verificationService');
+const { listModels } = require('./models');
+const { compatible } = require('./capabilities');
+
+function createGateway({ root, driving, getSystemState, activity }) {
+  const bindings = new Map();
+  const viewers = new Map();
+  let models = [];
+  let modelError = null;
+  let lastCatalog = 0;
+  let closed = false;
+  let refreshing = false;
+
+  function stateFor(socket, roverId) {
+    if (!isVerified(socket)) return { available: false };
+    const visible = roverId && roverManager.canSeeRover(roverId, socket);
+    const id = visible ? roverId : null;
+    const session = id ? driving.getState(id) : null;
+    const canControl = Boolean(id && driving.canControl(socket, id));
+    const system = getSystemState();
+    return {
+      available: true, roverId: id, updatedAt: Date.now(),
+      control: { canStart: canControl && !session, canStop: Boolean(session && (canControl || session.socketId === socket.id)),
+        reason: !id ? 'Select a rover first' : !canControl ? 'You do not currently have control of this rover' : null },
+      session,
+      models: models.filter((model) => model.trainedRovers?.some((rover) => roverManager.canSeeRover(rover, socket)))
+        .map((model) => ({ id: model.id, name: model.name, createdAt: model.createdAt,
+          trainingSteps: model.trainingSteps, examplesProcessed: model.examplesProcessed,
+          weightBytes: model.weightBytes, parameters: model.parameters, trainingLoss: model.trainingLoss,
+          evaluation: model.evaluation, controls: model.specification?.commands?.length || 0,
+          compatible: Boolean(id && compatible(model, roverManager.rovers.get(id))) })),
+      catalogError: modelError,
+      recording: { ...system.recording, sessions: system.recording.sessions.filter((s) => roverManager.canSeeRover(s.roverId, socket)) },
+      training: { ...system.training, sessions: undefined },
+      limits: system.limits,
+      activity: system.activity.filter((entry) => !entry.roverId || roverManager.canSeeRover(entry.roverId, socket)),
+    };
+  }
+
+  async function refresh() {
+    if (closed || refreshing) return;
+    refreshing = true;
+    try {
+      if (Date.now() - lastCatalog >= 15000) {
+        lastCatalog = Date.now();
+        try { models = await listModels(root); modelError = null; }
+        catch (error) { modelError = error.message; }
+      }
+      if (closed) return;
+      for (const [socket, roverId] of viewers) socket.emit('roverLearning:state', stateFor(socket, roverId));
+    } finally { refreshing = false; }
+  }
+
+  function connect(socket) {
+    const subscribe = (payload = {}, reply) => {
+      const respond = typeof reply === 'function' ? reply : () => {};
+      if (!isVerified(socket)) { respond({ error: 'Verification required' }); return; }
+      const roverId = typeof payload?.roverId === 'string' ? payload.roverId : null;
+      viewers.set(socket, roverId);
+      respond({ state: stateFor(socket, roverId) });
+      refresh().catch((error) => activity('Card update failed', { error: error.message }));
+    };
+    const action = async (payload = {}, reply) => {
+      const respond = typeof reply === 'function' ? reply : () => {};
+      try {
+        if (!isVerified(socket)) throw new Error('Verification required');
+        const roverId = String(payload.roverId || '');
+        if (payload.action === 'start') await driving.start(socket, roverId, String(payload.modelId || ''));
+        else if (payload.action === 'stop') {
+          const session = driving.getState(roverId);
+          if (!session || !(driving.canControl(socket, roverId) || session.socketId === socket.id)) throw new Error('You cannot stop this controller');
+          await driving.stop(roverId);
+        } else throw new Error('Unknown action');
+        viewers.set(socket, roverId);
+        respond({ state: stateFor(socket, roverId) });
+      } catch (error) { respond({ error: error.message }); }
+      refresh().catch((error) => activity('Card update failed', { error: error.message }));
+    };
+    const unsubscribe = () => viewers.delete(socket);
+    const disconnect = () => { unsubscribe(); detach(socket); };
+    const handlers = { 'roverLearning:subscribe': subscribe, 'roverLearning:action': action,
+      'roverLearning:unsubscribe': unsubscribe, disconnect };
+    for (const [name, handler] of Object.entries(handlers)) socket.on(name, handler);
+    bindings.set(socket, handlers);
+  }
+
+  function detach(socket) {
+    for (const [name, handler] of Object.entries(bindings.get(socket) || {})) socket.off(name, handler);
+    bindings.delete(socket);
+  }
+
+  io.on('connection', connect);
+  for (const socket of io.sockets.sockets.values()) connect(socket);
+  const timer = setInterval(() => { refresh().catch((error) => activity('Card update failed', { error: error.message })); }, 1000);
+  refresh().catch((error) => activity('Catalog unavailable', { error: error.message }));
+  return {
+    close() {
+      closed = true;
+      clearInterval(timer);
+      io.off('connection', connect);
+      for (const socket of viewers.keys()) socket.emit('roverLearning:state', { available: false });
+      viewers.clear();
+      for (const socket of bindings.keys()) detach(socket);
+    },
+  };
+}
+
+module.exports = { createGateway };