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legop3
2026-07-16 22:35:07 -04:00
parent 8a9205b5b7
commit 35561495b4
4 changed files with 94 additions and 13 deletions
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server/src/services/balanceBoardService/README.md
+18 -9
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@@ -7,19 +7,28 @@ Balance Board input device.
## Commissioning on the real server
1. Run `sudo ./install_server.sh` from the `server` directory.
2. Set `balanceBoard.enabled: true` in `server/config.yaml` and restart
`multirover.service`.
3. Open the Activities tab. While it says **Pairing setup**, press the red Sync
button under the board's battery cover.
4. Wait for the card to change to **Sleeping** or **Ready**. BlueZ retains the
bond and the service also stores the selected board address in
1. Set `balanceBoard.enabled: true` in `server/config.yaml`.
2. Run `sudo ./install_server.sh` from the `server` directory. The installer
configures BlueZ's Wii-compatible kernel HID mode, loads `hid-wiimote` now
and at boot, and restarts Bluetooth and the rover server automatically.
3. Open the Activities tab. When it says **Waiting for red Sync**, press the red
Sync button under the board's battery cover.
4. Wait for the card to report a paired bond and then **Ready**. BlueZ retains
the bond and the service also stores the selected board address in
`server/data/balance-board.json`.
5. For ordinary use, press only the front power button. The board should connect
to the server without another Sync operation.
The bridge intentionally uses short Bluetooth Classic discovery windows only
while no board is commissioned. It stops scanning after a successful bond.
The bridge keeps Bluetooth Classic discovery active while no board is
commissioned and stops scanning after a successful bond. Once commissioned, it
actively retries the saved address while disconnected so a front-button wake is
caught even when the adapter does not accept the board's incoming reconnect.
Wii-family HID compatibility requires `UserspaceHID=false` and
`ClassicBondedOnly=false` in BlueZ's `input.conf`. The installer applies only
those two keys with an INI-aware tool and preserves unrelated Bluetooth input
settings. The latter relaxes BlueZ's global Classic HID bonding restriction;
this is limited to servers where Balance Board support is explicitly enabled.
## Physical station
server/src/services/balanceBoardService/native/balance_board_worker.cpp
+16
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@@ -418,7 +418,23 @@ std::string command_error_summary(const std::string& raw, const std::string& fal
std::string summary;
summary.reserve(std::min<std::size_t>(raw.size(), 400));
bool previous_was_space = false;
int ansi_state = 0;
for (unsigned char ch : raw) {
// bluetoothctl emits terminal color CSI sequences even when its output is
// captured by a pipe. Drop the entire ESC ... final-byte sequence so the UI
// never exposes fragments such as `[[0;93mCHG[0m]` as hardware diagnostics.
if (ch == 0x1b) {
ansi_state = 1;
continue;
}
if (ansi_state == 1) {
ansi_state = ch == '[' ? 2 : 0;
continue;
}
if (ansi_state == 2) {
if (ch >= 0x40 && ch <= 0x7e) ansi_state = 0;
continue;
}
const bool is_space = ch == ' ' || ch == '\t' || ch == '\n' || ch == '\r';
if (is_space) {
if (!summary.empty() && !previous_was_space) summary.push_back(' ');