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legop3
2026-09-30 21:03:06 -04:00
parent ea4af2ebb3
commit 1bdca60648
13 changed files with 486 additions and 173 deletions
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server/src/services/roverLearningService/capabilities.js
+5 -3
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@@ -1,16 +1,18 @@
// Match actuator configuration, not a rover's display name or changing telemetry.
const { isDeepStrictEqual } = require('node:util');
const POLICY_VERSION = 4;
const POLICY_VERSION = 5;
function controlProfile(meta = {}) {
return Object.fromEntries(['cameraServo', 'headlight', 'laser', 'roomba', 'platform']
return Object.fromEntries(['cameraServo', 'headlight', 'roomba', 'platform']
.map((key) => [key, meta?.[key] ?? null]));
}
function compatible(model, record) {
if (model?.specification?.version !== POLICY_VERSION || !record) return false;
const profile = controlProfile(record.meta);
return Array.isArray(model.controlProfiles) && model.controlProfiles.some((saved) => isDeepStrictEqual(saved, profile));
// Retained recordings may include removed actuator fields. Compare only
// controls this policy actually uses, on both sides of the boundary.
return Array.isArray(model.controlProfiles) && model.controlProfiles.some((saved) => isDeepStrictEqual(controlProfile(saved), profile));
}
module.exports = { POLICY_VERSION, controlProfile, compatible };