legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-17 10:00:46 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

roverdometer

Browse Source
This commit is contained in:
legop3
2026-06-19 16:37:47 -04:00
parent 39bb53104e
commit 3bad454e0d
13 changed files with 726 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
server/public/assets/index-THYGwIt0.css → server/public/assets/index-BcP4x_Qk.css
+1 -1
View File
File diff suppressed because one or more lines are too long
server/public/assets/index-BEB1f3bD.js → server/public/assets/index-DXjwvKfx.js
+7 -7
View File
File diff suppressed because one or more lines are too long
server/public/index.html
+2 -2
View File
@@ -78,8 +78,8 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script> <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script> <script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title> <title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-BEB1f3bD.js"></script> <script type="module" crossorigin src="/assets/index-DXjwvKfx.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-THYGwIt0.css"> <link rel="stylesheet" crossorigin href="/assets/index-BcP4x_Qk.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/helpers/sensorDecoder.js
+2 -2
View File
@@ -54,8 +54,8 @@ const GROUP100_LAYOUT = [
{ id: 40, key: 'requestedRadius', bytes: 2, parser: parseInt }, { id: 40, key: 'requestedRadius', bytes: 2, parser: parseInt },
{ id: 41, key: 'requestedRightVelocity', bytes: 2, parser: parseInt }, { id: 41, key: 'requestedRightVelocity', bytes: 2, parser: parseInt },
{ id: 42, key: 'requestedLeftVelocity', bytes: 2, parser: parseInt }, { id: 42, key: 'requestedLeftVelocity', bytes: 2, parser: parseInt },
{ id: 43, key: 'encoderCountsLeft', bytes: 2, parser: parseUInt }, { id: 43, key: 'encoderCountsLeft', bytes: 2, parser: parseInt },
{ id: 44, key: 'encoderCountsRight', bytes: 2, parser: parseUInt }, { id: 44, key: 'encoderCountsRight', bytes: 2, parser: parseInt },
{ id: 45, key: 'lightBumper', bytes: 1, parser: parseLightBumper }, { id: 45, key: 'lightBumper', bytes: 1, parser: parseLightBumper },
{ id: 46, key: 'lightBumpLeftSignal', bytes: 2, parser: parseUInt }, { id: 46, key: 'lightBumpLeftSignal', bytes: 2, parser: parseUInt },
{ id: 47, key: 'lightBumpFrontLeftSignal', bytes: 2, parser: parseUInt }, { id: 47, key: 'lightBumpFrontLeftSignal', bytes: 2, parser: parseUInt },
server/src/services/odometerService/index.js
+420
View File
@@ -0,0 +1,420 @@
// odometer Service
// Purpose: Converts Roomba wheel encoder samples into persistent rover distance totals.
// Scope: Owns encoder rollover handling, sanity filtering, per-rover odometer state, and disk persistence.
const fs = require('fs');
const path = require('path');
const EventEmitter = require('events');
const { resolveDataPath } = require('../../helpers/dataPaths');
const logger = require('../../globals/logger').child('odometerService');
const STORE_PATH = resolveDataPath('rover-odometers.json');
const ENCODER_MODULUS = 65536;
const ENCODER_HALF_RANGE = ENCODER_MODULUS / 2;
const DEFAULT_WHEEL_DIAMETER_MM = 72.0;
const DEFAULT_COUNTS_PER_REVOLUTION = 508.8;
const DEFAULT_MM_PER_COUNT = (Math.PI * DEFAULT_WHEEL_DIAMETER_MM) / DEFAULT_COUNTS_PER_REVOLUTION;
const DEFAULT_CALIBRATION_MULTIPLIER = 1;
const MAX_REASONABLE_SPEED_MM_PER_SECOND = 1200;
const MAX_REASONABLE_DELTA_FLOOR_MM = 250;
const SAVE_DEBOUNCE_MS = 2500;
const MIN_SAVE_INTERVAL_MS = 10000;
const EMIT_THROTTLE_MS = 500;
const odometerEvents = new EventEmitter();
const states = new Map();
let saveTimer = null;
let lastSaveAt = 0;
let loaded = false;
function nowMs() {
return Date.now();
}
function safeNumber(value, fallback = 0) {
const numeric = Number(value);
return Number.isFinite(numeric) ? numeric : fallback;
}
function createInitialComparison() {
return {
sampleCount: 0,
missingDistanceSamples: 0,
ignoredSamples: 0,
encoderSessionMm: 0,
distancePacketSessionMm: 0,
signedEncoderSessionMm: 0,
signedDistancePacketSessionMm: 0,
last: null,
};
}
function normalizeStoredEntry(entry = {}) {
const totalMm = Math.max(0, safeNumber(entry.totalMm, 0));
const calibrationMultiplier = Math.max(0.01, safeNumber(entry.calibrationMultiplier, DEFAULT_CALIBRATION_MULTIPLIER));
return {
totalMm,
calibrationMultiplier,
updatedAt: safeNumber(entry.updatedAt, null),
};
}
function ensureLoaded() {
if (loaded) return;
loaded = true;
try {
const raw = JSON.parse(fs.readFileSync(STORE_PATH, 'utf8'));
const rovers = raw && typeof raw === 'object' && raw.rovers && typeof raw.rovers === 'object'
? raw.rovers
: raw;
Object.entries(rovers || {}).forEach(([roverId, entry]) => {
const normalized = normalizeStoredEntry(entry);
states.set(String(roverId), {
roverId: String(roverId),
totalMm: normalized.totalMm,
sessionMm: 0,
calibrationMultiplier: normalized.calibrationMultiplier,
lastLeftCount: null,
lastRightCount: null,
lastSampleAt: null,
lastIntegratedAt: null,
lastDelta: null,
rolloverEvents: 0,
ignoredSamples: 0,
status: 'waiting',
statusReason: 'waiting for encoder sample',
comparison: createInitialComparison(),
lastEmittedAt: 0,
lastEmittedStatus: null,
updatedAt: normalized.updatedAt,
});
});
} catch (err) {
if (err.code !== 'ENOENT') {
logger.warn('Failed to load rover odometers', { path: STORE_PATH, error: err.message });
}
}
}
function ensureState(roverId) {
ensureLoaded();
const id = String(roverId || '').trim();
if (!id) return null;
if (!states.has(id)) {
states.set(id, {
roverId: id,
totalMm: 0,
sessionMm: 0,
calibrationMultiplier: DEFAULT_CALIBRATION_MULTIPLIER,
lastLeftCount: null,
lastRightCount: null,
lastSampleAt: null,
lastIntegratedAt: null,
lastDelta: null,
rolloverEvents: 0,
ignoredSamples: 0,
status: 'waiting',
statusReason: 'waiting for encoder sample',
comparison: createInitialComparison(),
lastEmittedAt: 0,
lastEmittedStatus: null,
updatedAt: null,
});
}
return states.get(id);
}
function signedEncoderDelta(previous, current) {
let delta = current - previous;
if (delta > ENCODER_HALF_RANGE) {
delta -= ENCODER_MODULUS;
} else if (delta < -ENCODER_HALF_RANGE) {
delta += ENCODER_MODULUS;
}
return delta;
}
function crossedRollover(previous, current, delta) {
// The unwrapped delta is intentionally compared with the raw subtraction.
// If they differ, the encoder crossed the signed 16-bit boundary between
// samples and the modular correction above was required.
return current - previous !== delta;
}
function maxReasonableDeltaMm(elapsedMs) {
const elapsedSeconds = Math.max(0.05, safeNumber(elapsedMs, 0) / 1000);
return Math.max(MAX_REASONABLE_DELTA_FLOOR_MM, elapsedSeconds * MAX_REASONABLE_SPEED_MM_PER_SECOND);
}
function persistSoon() {
const elapsed = nowMs() - lastSaveAt;
if (elapsed >= MIN_SAVE_INTERVAL_MS) {
saveNow();
return;
}
if (saveTimer) return;
saveTimer = setTimeout(() => {
saveTimer = null;
saveNow();
}, Math.max(SAVE_DEBOUNCE_MS, MIN_SAVE_INTERVAL_MS - elapsed));
}
function saveNow() {
ensureLoaded();
const rovers = {};
for (const [roverId, state] of states.entries()) {
rovers[roverId] = {
totalMm: Math.round(state.totalMm * 1000) / 1000,
calibrationMultiplier: state.calibrationMultiplier,
updatedAt: state.updatedAt || null,
};
}
const payload = {
version: 1,
unit: 'millimeters',
source: 'roomba wheel encoders',
mmPerCount: DEFAULT_MM_PER_COUNT,
rovers,
};
try {
fs.mkdirSync(path.dirname(STORE_PATH), { recursive: true });
const tempPath = `${STORE_PATH}.tmp`;
fs.writeFileSync(tempPath, `${JSON.stringify(payload, null, 2)}\n`, 'utf8');
fs.renameSync(tempPath, STORE_PATH);
lastSaveAt = nowMs();
} catch (err) {
logger.warn('Failed to save rover odometers', { path: STORE_PATH, error: err.message });
}
}
function percentDifference(differenceMm, referenceMm) {
const reference = Math.abs(safeNumber(referenceMm, 0));
if (reference < 1) return null;
return Math.round((Math.abs(differenceMm) / reference) * 1000) / 10;
}
function snapshotComparison(comparison = createInitialComparison()) {
const sessionDifferenceMm = comparison.distancePacketSessionMm - comparison.encoderSessionMm;
return {
sampleCount: comparison.sampleCount,
missingDistanceSamples: comparison.missingDistanceSamples,
ignoredSamples: comparison.ignoredSamples,
encoderSessionMm: Math.round(comparison.encoderSessionMm),
distancePacketSessionMm: Math.round(comparison.distancePacketSessionMm),
signedEncoderSessionMm: Math.round(comparison.signedEncoderSessionMm),
signedDistancePacketSessionMm: Math.round(comparison.signedDistancePacketSessionMm),
sessionDifferenceMm: Math.round(sessionDifferenceMm),
sessionDifferencePct: percentDifference(sessionDifferenceMm, comparison.encoderSessionMm),
last: comparison.last,
};
}
function snapshotState(state) {
if (!state) return null;
return {
roverId: state.roverId,
totalMm: Math.round(state.totalMm),
sessionMm: Math.round(state.sessionMm),
calibrationMultiplier: state.calibrationMultiplier,
mmPerCount: DEFAULT_MM_PER_COUNT * state.calibrationMultiplier,
rawMmPerCount: DEFAULT_MM_PER_COUNT,
countsPerRevolution: DEFAULT_COUNTS_PER_REVOLUTION,
wheelDiameterMm: DEFAULT_WHEEL_DIAMETER_MM,
lastLeftCount: state.lastLeftCount,
lastRightCount: state.lastRightCount,
lastSampleAt: state.lastSampleAt,
lastIntegratedAt: state.lastIntegratedAt,
lastDelta: state.lastDelta,
rolloverEvents: state.rolloverEvents,
ignoredSamples: state.ignoredSamples,
comparison: snapshotComparison(state.comparison),
status: state.status,
statusReason: state.statusReason,
updatedAt: state.updatedAt,
};
}
function updateDistancePacketComparison(state, sensors, encoderCenterMm, encoderDistanceMm, options = {}) {
const comparison = state.comparison || createInitialComparison();
state.comparison = comparison;
const packetMm = Number(sensors?.distanceMm);
const ignored = Boolean(options.ignored);
if (!Number.isFinite(packetMm)) {
comparison.missingDistanceSamples += 1;
return;
}
const packetDistanceMm = Math.abs(packetMm);
const signedDifferenceMm = packetMm - encoderCenterMm;
const distanceDifferenceMm = packetDistanceMm - encoderDistanceMm;
comparison.sampleCount += 1;
if (ignored) {
// Ignored encoder deltas are still recorded as a point-in-time diagnostic,
// but they are not folded into the session totals. That keeps reconnect
// edges from making the distance-packet comparison look worse than the
// odometer's own accepted movement stream.
comparison.ignoredSamples += 1;
} else {
comparison.encoderSessionMm += encoderDistanceMm;
comparison.distancePacketSessionMm += packetDistanceMm;
comparison.signedEncoderSessionMm += encoderCenterMm;
comparison.signedDistancePacketSessionMm += packetMm;
}
comparison.last = {
encoderCenterMm: Math.round(encoderCenterMm),
encoderDistanceMm: Math.round(encoderDistanceMm),
distancePacketMm: Math.round(packetMm),
distancePacketAbsMm: Math.round(packetDistanceMm),
signedDifferenceMm: Math.round(signedDifferenceMm),
distanceDifferenceMm: Math.round(distanceDifferenceMm),
signedDifferencePct: percentDifference(signedDifferenceMm, encoderCenterMm),
distanceDifferencePct: percentDifference(distanceDifferenceMm, encoderDistanceMm),
ignored,
};
}
function emitSnapshot(state, snapshot, options = {}) {
const force = Boolean(options.force);
const emittedRecently = nowMs() - safeNumber(state.lastEmittedAt, 0) < EMIT_THROTTLE_MS;
const statusChanged = state.lastEmittedStatus !== state.status;
if (!force && emittedRecently && !statusChanged) return;
// Odometer updates are presentation data, not control-loop data. Throttling
// here keeps browser traffic proportional to what humans can read while the
// integration math above still processes every sensor frame.
state.lastEmittedAt = nowMs();
state.lastEmittedStatus = state.status;
odometerEvents.emit('update', { roverId: state.roverId, odometer: snapshot });
}
function getSnapshot(roverId) {
return snapshotState(ensureState(roverId));
}
function getSnapshots(roverIds = null) {
ensureLoaded();
const ids = Array.isArray(roverIds) ? roverIds.map((id) => String(id)) : Array.from(states.keys());
return ids.map((id) => snapshotState(ensureState(id))).filter(Boolean);
}
function processSensorFrame(roverId, sensors = {}) {
const state = ensureState(roverId);
if (!state) return null;
const left = Number(sensors?.encoderCountsLeft);
const right = Number(sensors?.encoderCountsRight);
const sampleAt = nowMs();
if (!Number.isInteger(left) || !Number.isInteger(right)) {
state.status = 'waiting';
state.statusReason = 'encoder counts missing';
return snapshotState(state);
}
if (state.lastLeftCount == null || state.lastRightCount == null) {
// The first valid frame becomes the baseline because encoder packets are
// cumulative counters inside the Roomba, not distance-since-last-poll
// packets. Adding the first absolute value would invent mileage whenever
// the server or rover reconnects.
state.lastLeftCount = left;
state.lastRightCount = right;
state.lastSampleAt = sampleAt;
state.status = 'tracking';
state.statusReason = 'baseline ready';
state.updatedAt = sampleAt;
const snapshot = snapshotState(state);
emitSnapshot(state, snapshot, { force: true });
return snapshot;
}
const leftCounts = signedEncoderDelta(state.lastLeftCount, left);
const rightCounts = signedEncoderDelta(state.lastRightCount, right);
const elapsedMs = state.lastSampleAt ? sampleAt - state.lastSampleAt : 0;
const mmPerCount = DEFAULT_MM_PER_COUNT * state.calibrationMultiplier;
const leftMm = leftCounts * mmPerCount;
const rightMm = rightCounts * mmPerCount;
const centerMm = (leftMm + rightMm) / 2;
const distanceMm = Math.abs(centerMm);
const reasonableLimit = maxReasonableDeltaMm(elapsedMs);
const leftRolled = crossedRollover(state.lastLeftCount, left, leftCounts);
const rightRolled = crossedRollover(state.lastRightCount, right, rightCounts);
state.lastLeftCount = left;
state.lastRightCount = right;
state.lastSampleAt = sampleAt;
if (leftRolled) state.rolloverEvents += 1;
if (rightRolled) state.rolloverEvents += 1;
if (distanceMm > reasonableLimit) {
// A single impossible jump is much more likely to be stale serial data,
// a reconnect edge, or corrupt parsing than real movement. The baseline is
// still advanced so the next good frame can continue from the new counter.
state.ignoredSamples += 1;
state.status = 'ignored';
state.statusReason = `ignored ${Math.round(distanceMm)} mm jump`;
state.lastDelta = {
leftCounts,
rightCounts,
leftMm: Math.round(leftMm),
rightMm: Math.round(rightMm),
centerMm: Math.round(centerMm),
distanceMm: 0,
elapsedMs,
ignored: true,
};
updateDistancePacketComparison(state, sensors, centerMm, distanceMm, { ignored: true });
state.updatedAt = sampleAt;
const snapshot = snapshotState(state);
emitSnapshot(state, snapshot);
return snapshot;
}
state.totalMm += distanceMm;
state.sessionMm += distanceMm;
updateDistancePacketComparison(state, sensors, centerMm, distanceMm);
state.lastIntegratedAt = sampleAt;
state.status = 'tracking';
state.statusReason = distanceMm > 0 ? 'integrated encoder delta' : 'no movement';
state.lastDelta = {
leftCounts,
rightCounts,
leftMm: Math.round(leftMm),
rightMm: Math.round(rightMm),
centerMm: Math.round(centerMm),
distanceMm: Math.round(distanceMm),
elapsedMs,
ignored: false,
};
state.updatedAt = sampleAt;
persistSoon();
const snapshot = snapshotState(state);
emitSnapshot(state, snapshot);
return snapshot;
}
function resetSession(roverId) {
const state = ensureState(roverId);
if (!state) return null;
state.sessionMm = 0;
state.comparison = createInitialComparison();
state.updatedAt = nowMs();
const snapshot = snapshotState(state);
emitSnapshot(state, snapshot, { force: true });
return snapshot;
}
process.on('exit', () => {
if (saveTimer) {
clearTimeout(saveTimer);
saveTimer = null;
}
saveNow();
});
module.exports = {
ENCODER_MODULUS,
DEFAULT_MM_PER_COUNT,
odometerEvents,
getSnapshot,
getSnapshots,
processSensorFrame,
resetSession,
saveNow,
};
server/src/services/roverManager/index.js
+18
View File
@@ -5,6 +5,7 @@ const io = require('../../globals/io');
const logger = require('../../globals/logger').child('roverManager'); const logger = require('../../globals/logger').child('roverManager');
const { sendAlert } = require('../alertService'); const { sendAlert } = require('../alertService');
const { parseSensorFrame } = require('../../helpers/sensorDecoder'); const { parseSensorFrame } = require('../../helpers/sensorDecoder');
const odometerService = require('../odometerService');
const { MODES, getMode } = require('../modeManager'); const { MODES, getMode } = require('../modeManager');
const { isAdmin, isLockdownAdmin, roleEvents } = require('../roleService'); const { isAdmin, isLockdownAdmin, roleEvents } = require('../roleService');
const { publishEvent } = require('../eventBus'); const { publishEvent } = require('../eventBus');
@@ -174,6 +175,7 @@ const sensorPipeline = createSensorPipeline({
ALERT_COLOR, ALERT_COLOR,
sendAlert, sendAlert,
publishEvent, publishEvent,
processOdometerFrame: odometerService.processSensorFrame,
isPrivateRecord, isPrivateRecord,
isPrivateOpen, isPrivateOpen,
getPrivateSafety, getPrivateSafety,
@@ -197,6 +199,11 @@ function canReplayRoverId(roverId, socket = null) {
return socket ? isRoverVisibleToSocket(record, socket) : false; 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 }) => { roleEvents.on('change', ({ socket, role }) => {
if (role === 'spectator') { if (role === 'spectator') {
enableSpectator(socket); enableSpectator(socket);
@@ -231,6 +238,16 @@ registerSocketHandlers({
setPrivateOpen, setPrivateOpen,
lockRover, lockRover,
setPrivateSafety, 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); setInterval(tickPrivateAutoClose, PRIVATE_AUTO_CLOSE_TICK_MS);
@@ -262,4 +279,5 @@ module.exports = {
canRequestControl, canRequestControl,
applyPrivateDriveSafety, applyPrivateDriveSafety,
canReplayRoverId, canReplayRoverId,
getOdometersForSocket,
}; };
server/src/services/roverManager/sensorPipeline.js
+4
View File
@@ -29,6 +29,7 @@ function createSensorPipeline(deps) {
ALERT_COLOR, ALERT_COLOR,
sendAlert, sendAlert,
publishEvent, publishEvent,
processOdometerFrame,
isPrivateRecord, isPrivateRecord,
isPrivateOpen, isPrivateOpen,
getPrivateSafety, getPrivateSafety,
@@ -364,6 +365,9 @@ function createSensorPipeline(deps) {
const decoded = parseSensorFrame(frame.data); const decoded = parseSensorFrame(frame.data);
record.lastSensor = { raw: frame, decoded }; record.lastSensor = { raw: frame, decoded };
record.batteryState = computeBatteryState(record, decoded); record.batteryState = computeBatteryState(record, decoded);
if (typeof processOdometerFrame === 'function') {
processOdometerFrame(roverId, decoded);
}
updateMovement(record, decoded); updateMovement(record, decoded);
const hasDockInfo = decoded?.chargingSources != null; const hasDockInfo = decoded?.chargingSources != null;
if (hasDockInfo) { if (hasDockInfo) {
server/src/services/roverManager/socketHandlers.js
+10
View File
@@ -28,6 +28,7 @@ function registerSocketHandlers(deps) {
setPrivateOpen, setPrivateOpen,
lockRover, lockRover,
setPrivateSafety, setPrivateSafety,
getOdometersForSocket,
} = deps; } = deps;
io.on('connection', (socket) => { io.on('connection', (socket) => {
@@ -177,6 +178,14 @@ function registerSocketHandlers(deps) {
cb({ success: true }); 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('requestControl', handleRequestControl);
socket.on('session:requestControl', handleRequestControl); socket.on('session:requestControl', handleRequestControl);
socket.on('releaseControl', handleReleaseControl); socket.on('releaseControl', handleReleaseControl);
@@ -187,6 +196,7 @@ function registerSocketHandlers(deps) {
socket.on('session:privateSafety:set', handlePrivateSafetySet); socket.on('session:privateSafety:set', handlePrivateSafetySet);
socket.on('subscribeAll', handleSubscribeAll); socket.on('subscribeAll', handleSubscribeAll);
socket.on('session:subscribeAll', handleSubscribeAll); socket.on('session:subscribeAll', handleSubscribeAll);
socket.on('odometer:subscribe', handleOdometerSubscribe);
socket.on('disconnecting', () => { socket.on('disconnecting', () => {
logger.info('Socket disconnecting', socket.id); logger.info('Socket disconnecting', socket.id);
server/src/services/sessionService/index.js
+1
View File
@@ -94,6 +94,7 @@ function buildSession(socket) {
mode: getMode(), mode: getMode(),
isLocalNetwork: isLocalNetwork(getSocketIp(socket)), isLocalNetwork: isLocalNetwork(getSocketIp(socket)),
roster, roster,
odometers: roverManager.getOdometersForSocket(socket),
assignment: { assignment: {
...assignment, ...assignment,
roverId: assignmentRoverId, roverId: assignmentRoverId,
to-do.md
+8 -20
View File
@@ -1,34 +1,22 @@
5. barcode wiki links 5. barcode wiki links
6. implement multitabbing prevention using the identity system 6. implement multitabbing prevention using the identity system
7. overseer improvements 7. roomba odometer
1. make it able to see more stuff
1. mark a stat as CHANGED FROM (oldstata) if it changed since the last cycle
2. when rovers are docked / undocked
3. whos driving rovers
4. rover battery levels / low
5. the button box rewards and counts
6. barcode whatever stuff
7. odometers
8. basically every stat possible
2. make the overseer panel better
1. show status of generation if possible, tokens or percentage. possibly stream from ollama unless i cant with tools
8. roomba odometer
1. in activities tab 1. in activities tab
2. use wheel encoders 2. use wheel encoders
3. run averages, like 2 meters and how many encoder counts, 20 times 3. run averages, like 2 meters and how many encoder counts, 20 times
4. have global odometers for each rover, tagged based on name 4. have global odometers for each rover, tagged based on name
9. make google tts the default everywhere but roverd 8. make google tts the default everywhere but roverd
10. fix rover request spam queue cheat 9. fix rover request spam queue cheat
11. fix up ALL discord admin commands 10. fix up ALL discord admin commands
1. make sure all permissions are correct 1. make sure all permissions are correct
2. fuzzy search all the things 2. fuzzy search all the things
3. dont break on multi word nicknames 3. dont break on multi word nicknames
4. make all rs commands work form both the site chat and discord 4. make all rs commands work form both the site chat and discord
1. make sure all the permissions are correct 1. make sure all the permissions are correct
12. make alert feed.jsx show more alerts at once 11. make alert feed.jsx show more alerts at once
13. unify typing row and chat row, should be simple 12. unify typing row and chat row, should be simple
14. fix google TTS speeds 13. fix google TTS speeds
15. fix this: 14. fix this:
`Jun 18 15:14:18 roombaserver.local node[216731]: /home/daniel/MultiRoombaRover/server/src/services/roverManager/socketHandlers.js:92 `Jun 18 15:14:18 roombaserver.local node[216731]: /home/daniel/MultiRoombaRover/server/src/services/roverManager/socketHandlers.js:92
Jun 18 15:14:18 roombaserver.local node[216731]: cb({ error: err.message }); Jun 18 15:14:18 roombaserver.local node[216731]: cb({ error: err.message });
Jun 18 15:14:18 roombaserver.local node[216731]: ^ Jun 18 15:14:18 roombaserver.local node[216731]: ^
webui/src/App.jsx
+2
View File
@@ -42,6 +42,7 @@ import { useSessionSelector } from './context/SessionContext.jsx';
import { useTelemetryVisualPolicy } from './context/TelemetryContext.jsx'; import { useTelemetryVisualPolicy } from './context/TelemetryContext.jsx';
import ButtonBoxPanel from './components/ButtonBoxPanel/index.jsx'; import ButtonBoxPanel from './components/ButtonBoxPanel/index.jsx';
import BarcodeGamesPanel from './components/BarcodeGamesPanel/index.jsx'; import BarcodeGamesPanel from './components/BarcodeGamesPanel/index.jsx';
import OdometerPanel from './components/OdometerPanel/index.jsx';
import RewardRunOverlay from './components/RewardRunOverlay/index.jsx'; import RewardRunOverlay from './components/RewardRunOverlay/index.jsx';
import SocketConnectionPill from './components/SocketConnectionPill/index.jsx'; import SocketConnectionPill from './components/SocketConnectionPill/index.jsx';
import { pageBackgroundClass, themeGapClass, themeStackClass } from './themeFlags.js'; import { pageBackgroundClass, themeGapClass, themeStackClass } from './themeFlags.js';
@@ -192,6 +193,7 @@ function MobileFeatureTabs({
{/* activities tab */} {/* activities tab */}
<TabPanel id="activities"> <TabPanel id="activities">
<div className={`flex flex-col ${themeGapClass}`}> <div className={`flex flex-col ${themeGapClass}`}>
<OdometerPanel />
<BarcodeGamesPanel /> <BarcodeGamesPanel />
<ButtonBoxPanel /> <ButtonBoxPanel />
<KinectPanel /> <KinectPanel />
webui/src/components/OdometerPanel/index.jsx
+249
View File
@@ -0,0 +1,249 @@
// Odometer Panel
// Purpose: Renders persistent rover distance totals derived from Roomba wheel encoders.
// Scope: Keeps odometer display and socket subscription logic isolated from the raw sensor panel.
import { useEffect, useMemo, useState } from 'react';
import { useSessionSelector } from '../../context/SessionContext.jsx';
import { useSocket } from '../../context/SocketContext.jsx';
import CardFrame from '../CardFrame/index.jsx';
function mapByRoverId(entries = []) {
const next = {};
entries.forEach((entry) => {
if (!entry?.roverId) return;
next[String(entry.roverId)] = entry;
});
return next;
}
function mergeOdometerMap(previous, entries = []) {
const next = { ...previous };
entries.forEach((entry) => {
if (!entry?.roverId) return;
next[String(entry.roverId)] = entry;
});
return next;
}
function formatDistance(mm) {
const value = Number(mm);
if (!Number.isFinite(value)) return '--';
if (value >= 1000 * 1000) return `${(value / (1000 * 1000)).toFixed(2)} km`;
if (value >= 1000) return `${(value / 1000).toFixed(1)} m`;
return `${Math.round(value)} mm`;
}
function formatCount(value) {
return Number.isFinite(Number(value)) ? String(Math.round(Number(value))) : '--';
}
function formatSignedDistance(mm) {
const value = Number(mm);
if (!Number.isFinite(value)) return '--';
const sign = value > 0 ? '+' : '';
return `${sign}${value < 0 ? '-' : ''}${formatDistance(Math.abs(value))}`;
}
function formatPercent(value) {
return Number.isFinite(Number(value)) ? `${Number(value).toFixed(1)}%` : '--';
}
function formatAge(timestamp, now) {
const value = Number(timestamp);
if (!Number.isFinite(value)) return '--';
const ageMs = Math.max(0, now - value);
if (ageMs < 1500) return 'now';
if (ageMs < 60 * 1000) return `${Math.round(ageMs / 1000)}s ago`;
return `${Math.round(ageMs / (60 * 1000))}m ago`;
}
function roverLabel(rover) {
return rover?.name || rover?.id || 'Unknown rover';
}
export default function OdometerPanel() {
const socket = useSocket();
const assignedRoverId = useSessionSelector((state) => state.session?.assignment?.roverId ?? null);
const roster = useSessionSelector((state) => state.session?.roster ?? []);
const sessionOdometers = useSessionSelector((state) => state.session?.odometers ?? []);
const sessionOdometerMap = useMemo(() => mapByRoverId(sessionOdometers), [sessionOdometers]);
const [liveOdometerMap, setLiveOdometerMap] = useState({});
const [now, setNow] = useState(() => Date.now());
useEffect(() => {
function handleUpdate({ roverId, odometer } = {}) {
if (!roverId || !odometer) return;
setLiveOdometerMap((previous) => ({
...previous,
[String(roverId)]: odometer,
}));
}
socket.on('odometer:update', handleUpdate);
socket.emit('odometer:subscribe', {}, (response = {}) => {
if (Array.isArray(response.odometers)) {
setLiveOdometerMap((previous) => mergeOdometerMap(previous, response.odometers));
}
});
return () => {
socket.off('odometer:update', handleUpdate);
};
}, [socket]);
useEffect(() => {
const timer = window.setInterval(() => {
setNow(Date.now());
}, 1000);
return () => window.clearInterval(timer);
}, []);
const odometerMap = useMemo(
() => ({
...sessionOdometerMap,
...liveOdometerMap,
}),
[liveOdometerMap, sessionOdometerMap],
);
const visibleRows = useMemo(
() =>
roster.map((rover) => ({
rover,
odometer: odometerMap[String(rover.id)] || null,
})),
[odometerMap, roster],
);
const primaryRoverId = assignedRoverId || visibleRows[0]?.rover?.id || null;
const primaryRover = visibleRows.find((entry) => String(entry.rover?.id) === String(primaryRoverId))?.rover || null;
const primary = primaryRoverId ? odometerMap[String(primaryRoverId)] || null : null;
return (
<CardFrame title="Rover odometer" clipOverflow={false} bodyClassName="space-y-0.5 text-base text-slate-100">
{!primaryRoverId ? (
<p className="text-sm text-slate-500">No rover odometer data yet.</p>
) : (
<>
<OdometerSummary odometer={primary} rover={primaryRover} now={now} />
<div className="grid gap-0.5 md:grid-cols-2 xl:grid-cols-3">
<EncoderDetails odometer={primary} />
<DistancePacketComparison odometer={primary} />
<CalibrationDetails odometer={primary} now={now} />
</div>
<RoverOdometerList rows={visibleRows} primaryRoverId={primaryRoverId} />
</>
)}
</CardFrame>
);
}
function OdometerSummary({ odometer, rover, now }) {
const status = odometer?.status || 'waiting';
const statusReason = odometer?.statusReason || 'waiting for encoder sample';
return (
<div className="space-y-0.5">
<div className="text-sm font-semibold text-slate-200">{roverLabel(rover)}</div>
<div className="grid grid-cols-2 gap-0.5 md:grid-cols-3">
<Metric label="Total distance" value={formatDistance(odometer?.totalMm)} />
<Metric label="Session distance" value={formatDistance(odometer?.sessionMm)} />
<Metric label="Last update" value={formatAge(odometer?.updatedAt, now)} />
<Metric label="Status" value={status} />
<Metric label="Reason" value={statusReason} />
<Metric label="Calibration" value={`${Number(odometer?.calibrationMultiplier || 1).toFixed(3)}x`} />
</div>
</div>
);
}
function Metric({ label, value }) {
return (
<div className="surface flex items-center justify-between gap-0.5 px-1 py-0.5 text-sm">
<span className="text-slate-400">{label}</span>
<span className="min-w-0 truncate text-right text-slate-100">{value ?? '--'}</span>
</div>
);
}
function EncoderDetails({ odometer }) {
const delta = odometer?.lastDelta || null;
return (
<DetailCard title="Wheel encoders">
<ValueRow label="Left count" value={formatCount(odometer?.lastLeftCount)} />
<ValueRow label="Right count" value={formatCount(odometer?.lastRightCount)} />
<ValueRow label="Left delta" value={formatCount(delta?.leftCounts)} />
<ValueRow label="Right delta" value={formatCount(delta?.rightCounts)} />
<ValueRow label="Center delta" value={formatDistance(delta?.distanceMm)} />
<ValueRow label="Rollover events" value={formatCount(odometer?.rolloverEvents)} />
<ValueRow label="Ignored samples" value={formatCount(odometer?.ignoredSamples)} />
</DetailCard>
);
}
function DistancePacketComparison({ odometer }) {
const comparison = odometer?.comparison || null;
const last = comparison?.last || null;
return (
<DetailCard title="Distance packet comparison">
<ValueRow label="Last encoder" value={formatSignedDistance(last?.encoderCenterMm)} />
<ValueRow label="Last packet" value={formatSignedDistance(last?.distancePacketMm)} />
<ValueRow label="Last signed diff" value={`${formatSignedDistance(last?.signedDifferenceMm)} · ${formatPercent(last?.signedDifferencePct)}`} />
<ValueRow label="Session encoder" value={formatDistance(comparison?.encoderSessionMm)} />
<ValueRow label="Session packet" value={formatDistance(comparison?.distancePacketSessionMm)} />
<ValueRow label="Session diff" value={`${formatSignedDistance(comparison?.sessionDifferenceMm)} · ${formatPercent(comparison?.sessionDifferencePct)}`} />
<ValueRow label="Samples" value={`${formatCount(comparison?.sampleCount)} compared · ${formatCount(comparison?.missingDistanceSamples)} missing`} />
</DetailCard>
);
}
function CalibrationDetails({ odometer, now }) {
return (
<DetailCard title="Conversion">
<ValueRow label="Source" value="wheel encoders" />
<ValueRow label="Wheel diameter" value={`${formatCount(odometer?.wheelDiameterMm)} mm`} />
<ValueRow label="Counts per rev" value={formatCount(odometer?.countsPerRevolution)} />
<ValueRow label="Base mm per count" value={Number(odometer?.rawMmPerCount || 0).toFixed(4)} />
<ValueRow label="Active mm per count" value={Number(odometer?.mmPerCount || 0).toFixed(4)} />
<ValueRow label="Last sample" value={formatAge(odometer?.lastSampleAt, now)} />
</DetailCard>
);
}
function RoverOdometerList({ rows, primaryRoverId }) {
if (!rows.length) return null;
return (
<DetailCard title="All rovers">
{rows.map(({ rover, odometer }) => {
const active = String(rover?.id) === String(primaryRoverId);
return (
<div
key={rover?.id}
className={`flex items-center justify-between gap-1 rounded px-1 py-0.5 ${
active ? 'bg-slate-700/70 text-slate-50' : 'text-slate-200'
}`}
>
<span className="min-w-0 truncate">{roverLabel(rover)}</span>
<span className="shrink-0 text-right text-slate-100">{formatDistance(odometer?.totalMm)}</span>
<span className="shrink-0 text-right text-slate-400">{odometer?.status || 'waiting'}</span>
</div>
);
})}
</DetailCard>
);
}
function DetailCard({ title, children }) {
return (
<div className="surface space-y-0.5 p-1 text-sm">
<div className="text-[0.78rem] font-semibold leading-none text-slate-200">{title}</div>
<div className="space-y-0.5">{children}</div>
</div>
);
}
function ValueRow({ label, value }) {
return (
<div className="flex items-center justify-between gap-0.5">
<span className="text-slate-300">{label}</span>
<span className="min-w-0 truncate text-right text-slate-100">{value ?? '--'}</span>
</div>
);
}
webui/src/components/RightPaneTabs/index.jsx
+2
View File
@@ -27,6 +27,7 @@ import { useSessionSelector } from '../../context/SessionContext.jsx';
import { useSettingsNamespace } from '../../settings/index.js'; import { useSettingsNamespace } from '../../settings/index.js';
import ButtonBoxPanel from '../ButtonBoxPanel/index.jsx'; import ButtonBoxPanel from '../ButtonBoxPanel/index.jsx';
import BarcodeGamesPanel from '../BarcodeGamesPanel/index.jsx'; import BarcodeGamesPanel from '../BarcodeGamesPanel/index.jsx';
import OdometerPanel from '../OdometerPanel/index.jsx';
import OverseerPreferencePanel from '../OverseerPreferencePanel/index.jsx'; import OverseerPreferencePanel from '../OverseerPreferencePanel/index.jsx';
import CardFrame from '../CardFrame/index.jsx'; import CardFrame from '../CardFrame/index.jsx';
import { useCallback, useLayoutEffect, useMemo, useRef, useState } from 'react'; import { useCallback, useLayoutEffect, useMemo, useRef, useState } from 'react';
@@ -365,6 +366,7 @@ export default function RightPaneTabs({ layout, onOpenHelpOverlay }) {
{/* activities tab */} {/* activities tab */}
<TabPanel id="activities"> <TabPanel id="activities">
<div className={`flex flex-col ${themeGapClass}`}> <div className={`flex flex-col ${themeGapClass}`}>
<OdometerPanel />
<BarcodeGamesPanel /> <BarcodeGamesPanel />
<ButtonBoxPanel /> <ButtonBoxPanel />
<KinectPanel /> <KinectPanel />