legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-16 09:31:20 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

slop

Browse Source
This commit is contained in:
legop3
2026-07-17 01:22:27 -04:00
parent 557b4b81a2
commit 12090f23be
9 changed files with 310 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
server/src/services/balanceBoardService/native/balance_board_worker.cpp
+27 -14
View File
@@ -82,8 +82,8 @@ constexpr uint16_t kHidInterruptPsm = 0x0013;
constexpr int kCommissioningConnectWindowMs = 15000;
constexpr int kIncomingChannelPairTimeoutMs = 5000;
constexpr int kHandshakeWarningMs = 10000;
constexpr int kEmptyWeightThresholdCentiKg = 200;
constexpr int kEmptySleepDelayMs = 2 * 60 * 1000;
constexpr int kMovementThresholdCentiKg = 50;
constexpr int kStillSleepDelayMs = 2 * 60 * 1000;
std::atomic<bool> running{true};
std::mutex output_mutex;
@@ -981,8 +981,9 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
bool board_ready = false;
bool handshake_warning_sent = false;
bool intentional_sleep = false;
std::optional<uint64_t> empty_since;
std::optional<BoardReadings> activity_reference;
uint64_t connected_at = monotonic_ms();
uint64_t last_movement_at = connected_at;
uint64_t last_frame_at = 0;
while (running.load() && WIIMOTE_IS_CONNECTED(board)) {
wiiuse_poll(boards, 1);
@@ -1005,7 +1006,8 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
if (now - last_frame_at >= kFrameIntervalMs) {
// Wiiuse interpolates each sensor using the board's factory 0/17/34kg
// calibration values. Preserve the existing centi-kilogram wire unit
// so Node's tare and total-weight calculation remain straightforward.
// so Node can apply its persisted installation zero per corner without
// losing the native sensor resolution.
const wii_board_t& weights = board->exp.wb;
BoardReadings readings{
static_cast<int>(std::lround(std::max(0.0F, weights.tr) * 100.0F)),
@@ -1018,16 +1020,27 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
emit_frame(readings, battery);
last_frame_at = now;
const int total_weight = readings.top_right + readings.bottom_right +
readings.top_left + readings.bottom_left;
if (total_weight > kEmptyWeightThresholdCentiKg) {
// A person, rover, or other load immediately restarts the complete
// two-minute idle window. Short empty gaps can never accumulate and
// shut the board down while it is actively being used.
empty_since.reset();
} else if (!empty_since.has_value()) {
empty_since = now;
} else if (now - *empty_since >= kEmptySleepDelayMs) {
if (!activity_reference.has_value()) {
activity_reference = readings;
last_movement_at = now;
} else {
// Compare against the last meaningful activity snapshot rather
// than the immediately previous frame. That lets slow movement
// accumulate past the noise threshold while ordinary sensor jitter
// cannot keep the board awake forever. All four corners matter, so
// shifting a load without changing total weight still counts.
const int movement =
std::abs(readings.top_right - activity_reference->top_right) +
std::abs(readings.bottom_right - activity_reference->bottom_right) +
std::abs(readings.top_left - activity_reference->top_left) +
std::abs(readings.bottom_left - activity_reference->bottom_left);
if (movement >= kMovementThresholdCentiKg) {
activity_reference = readings;
last_movement_at = now;
}
}
if (now - last_movement_at >= kStillSleepDelayMs) {
intentional_sleep = true;
emit_status("sleeping", *address,
"Board is asleep. Press the front power button to wake it.");