roverdometer

server/src/services/roverManager/index.js

@@ -5,6 +5,7 @@ const io = require('../../globals/io');
 const logger = require('../../globals/logger').child('roverManager');
 const { sendAlert } = require('../alertService');
 const { parseSensorFrame } = require('../../helpers/sensorDecoder');
+const odometerService = require('../odometerService');
 const { MODES, getMode } = require('../modeManager');
 const { isAdmin, isLockdownAdmin, roleEvents } = require('../roleService');
 const { publishEvent } = require('../eventBus');
@@ -174,6 +175,7 @@ const sensorPipeline = createSensorPipeline({
   ALERT_COLOR,
   sendAlert,
   publishEvent,
+  processOdometerFrame: odometerService.processSensorFrame,
   isPrivateRecord,
   isPrivateOpen,
   getPrivateSafety,
@@ -197,6 +199,11 @@ function canReplayRoverId(roverId, socket = null) {
   return socket ? isRoverVisibleToSocket(record, socket) : false;
 }
 
+function getOdometersForSocket(socket) {
+  const visibleIds = getRosterForSocket(socket).map((entry) => entry.id);
+  return odometerService.getSnapshots(visibleIds);
+}
+
 roleEvents.on('change', ({ socket, role }) => {
   if (role === 'spectator') {
     enableSpectator(socket);
@@ -231,6 +238,16 @@ registerSocketHandlers({
   setPrivateOpen,
   lockRover,
   setPrivateSafety,
+  getOdometersForSocket,
+});
+
+odometerService.odometerEvents.on('update', ({ roverId, odometer }) => {
+  io.sockets.sockets.forEach((socket) => {
+    const record = rovers.get(String(roverId));
+    if (isRoverVisibleToSocket(record, socket)) {
+      socket.volatile.emit('odometer:update', { roverId, odometer });
+    }
+  });
 });
 
 setInterval(tickPrivateAutoClose, PRIVATE_AUTO_CLOSE_TICK_MS);
@@ -262,4 +279,5 @@ module.exports = {
   canRequestControl,
   applyPrivateDriveSafety,
   canReplayRoverId,
+  getOdometersForSocket,
 };

server/src/services/roverManager/sensorPipeline.js

@@ -29,6 +29,7 @@ function createSensorPipeline(deps) {
     ALERT_COLOR,
     sendAlert,
     publishEvent,
+    processOdometerFrame,
     isPrivateRecord,
     isPrivateOpen,
     getPrivateSafety,
@@ -364,6 +365,9 @@ function createSensorPipeline(deps) {
     const decoded = parseSensorFrame(frame.data);
     record.lastSensor = { raw: frame, decoded };
     record.batteryState = computeBatteryState(record, decoded);
+    if (typeof processOdometerFrame === 'function') {
+      processOdometerFrame(roverId, decoded);
+    }
     updateMovement(record, decoded);
     const hasDockInfo = decoded?.chargingSources != null;
     if (hasDockInfo) {

server/src/services/roverManager/socketHandlers.js

@@ -28,6 +28,7 @@ function registerSocketHandlers(deps) {
     setPrivateOpen,
     lockRover,
     setPrivateSafety,
+    getOdometersForSocket,
   } = deps;
 
   io.on('connection', (socket) => {
@@ -177,6 +178,14 @@ function registerSocketHandlers(deps) {
       cb({ success: true });
     }
 
+    function handleOdometerSubscribe(_, cb = () => {}) {
+      try {
+        cb({ success: true, odometers: getOdometersForSocket(socket) });
+      } catch (err) {
+        cb({ error: err.message });
+      }
+    }
+
     socket.on('requestControl', handleRequestControl);
     socket.on('session:requestControl', handleRequestControl);
     socket.on('releaseControl', handleReleaseControl);
@@ -187,6 +196,7 @@ function registerSocketHandlers(deps) {
     socket.on('session:privateSafety:set', handlePrivateSafetySet);
     socket.on('subscribeAll', handleSubscribeAll);
     socket.on('session:subscribeAll', handleSubscribeAll);
+    socket.on('odometer:subscribe', handleOdometerSubscribe);
 
     socket.on('disconnecting', () => {
       logger.info('Socket disconnecting', socket.id);