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private rover virtual wall changes

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legop3
2026-07-05 21:51:33 -04:00
parent d77ec54bc9
commit 3aea6d4766
1 changed files with 36 additions and 18 deletions
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server/src/services/roverManager/sensorPipeline.js
+36 -18
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@@ -68,6 +68,7 @@ function createSensorPipeline(deps) {
const explicitBackoffDrive = options.backoffDrive && typeof options.backoffDrive === 'object' const explicitBackoffDrive = options.backoffDrive && typeof options.backoffDrive === 'object'
? options.backoffDrive ? options.backoffDrive
: null; : null;
const notify = options.notify !== false;
try { try {
issueCommand(roverId, { type: 'drive', driveDirect: { left: 0, right: 0 } }); issueCommand(roverId, { type: 'drive', driveDirect: { left: 0, right: 0 } });
issueCommand(roverId, { type: 'motors', motorPwm: { main: 0, side: 0, vacuum: 0 } }); issueCommand(roverId, { type: 'motors', motorPwm: { main: 0, side: 0, vacuum: 0 } });
@@ -101,16 +102,18 @@ function createSensorPipeline(deps) {
setDriveCooldown(roverId, Math.max(cooldownMs, backoffMs)); setDriveCooldown(roverId, Math.max(cooldownMs, backoffMs));
const state = getPrivateSafetyState(roverId); const state = getPrivateSafetyState(roverId);
state.blockedUntil = now + Math.max(cooldownMs, backoffMs); state.blockedUntil = now + Math.max(cooldownMs, backoffMs);
sendAlert({ if (notify) {
color: ALERT_COLOR, sendAlert({
title: 'Private Safety', color: ALERT_COLOR,
message: `${roverId} ${mode} safety triggered.`, title: 'Private Safety',
}); message: `${roverId} ${mode} safety triggered.`,
publishEvent({ });
source: 'roverManager', publishEvent({
type: 'rover.privateSafetyTriggered', source: 'roverManager',
payload: { roverId, mode, cooldownMs, backoffMs, backoffSpeed, backoffDrive: explicitBackoffDrive }, type: 'rover.privateSafetyTriggered',
}); payload: { roverId, mode, cooldownMs, backoffMs, backoffSpeed, backoffDrive: explicitBackoffDrive },
});
}
} }
function rememberPrivateDriveDirection(roverId, driveDirect = null) { function rememberPrivateDriveDirection(roverId, driveDirect = null) {
@@ -186,6 +189,29 @@ function createSensorPipeline(deps) {
} }
const safety = getPrivateSafety(record); const safety = getPrivateSafety(record);
const now = Date.now(); const now = Date.now();
if (safety.virtualWallEnabled && currentVirtualWall) {
const wasAlreadyBlocked = now < Number(state.blockedUntil || 0);
/*
Virtual walls are different from bump/cliff edges: staying in the beam
is itself unsafe, so the guard must keep asserting the stop/backoff
command even while the normal private-safety cooldown is active. The
repeated command path is intentional; only duplicate alerts/events are
suppressed during the existing blocked window so a held wall signal does
not flood chat/log surfaces at sensor-frame rate.
*/
triggerSafetyAction(record, 'virtualWall', {
cooldownMs: safety.triggerCooldownMs,
backoffMs: safety.virtualWallBackoffMs,
backoffSpeed: safety.virtualWallBackoffSpeed,
backoffDrive: getOppositePrivateDrive(record, safety.virtualWallBackoffSpeed),
notify: !wasAlreadyBlocked,
});
state.lastOvercurrent = currentOver;
state.lastBump = currentBump;
state.lastCliff = currentCliff;
state.lastVirtualWall = currentVirtualWall;
return;
}
if (now < Number(state.blockedUntil || 0)) { if (now < Number(state.blockedUntil || 0)) {
state.lastOvercurrent = currentOver; state.lastOvercurrent = currentOver;
state.lastBump = currentBump; state.lastBump = currentBump;
@@ -215,14 +241,6 @@ function createSensorPipeline(deps) {
backoffSpeed: safety.cliffBackoffSpeed, backoffSpeed: safety.cliffBackoffSpeed,
}); });
triggered = true; triggered = true;
} else if (safety.virtualWallEnabled && currentVirtualWall && !state.lastVirtualWall) {
triggerSafetyAction(record, 'virtualWall', {
cooldownMs: safety.triggerCooldownMs,
backoffMs: safety.virtualWallBackoffMs,
backoffSpeed: safety.virtualWallBackoffSpeed,
backoffDrive: getOppositePrivateDrive(record, safety.virtualWallBackoffSpeed),
});
triggered = true;
} }
if (!triggered) state.blockedUntil = 0; if (!triggered) state.blockedUntil = 0;
state.lastOvercurrent = currentOver; state.lastOvercurrent = currentOver;