lidar reasons

2026-09-15 17:12:59 -04:00 · 2026-05-01 18:26:16 -04:00
parent 3bb16c140e
commit 458199ad11
5 changed files with 99 additions and 23 deletions
@@ -11,8 +11,8 @@
    <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
    <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
    <title>Multi Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-Wmnr23kh.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-Ddqa5PDb.css">
+    <script type="module" crossorigin src="/assets/index-BQtp08e2.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-CGvUXLso.css">
  </head>
  <body>
    <div id="root"></div>
@@ -72,6 +72,16 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
    requestInFlight: false,
    requestStartedAt: 0,
    logStream: null,
+    stats: {
+      headersSeen: 0,
+      rotationsSeen: 0,
+      scansOk: 0,
+      scansTimedOut: 0,
+      scansRestarted: 0,
+      rotationsWithoutScan: 0,
+      parseablePayloads: 0,
+      pointPayloads: 0,
+    },
  };

  function emitStatus() {
@@ -119,25 +129,56 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
    state.requestStartedAt = 0;
  }

-  function finalizeScan() {
+  function buildPoints(scan) {
+    return Array.from(scan?.points?.values?.() || []).sort((a, b) => a.angleDeg - b.angleDeg);
+  }
+
+  function emitFrame({ status, reason, scan = state.currentScan }) {
+    const points = buildPoints(scan);
+    const payload = {
+      points,
+      rotationSpeed: scan?.rotationSpeed ?? null,
+      status,
+      debug: {
+        reason,
+        pointsReceived: points.length,
+        validPoints: points.filter((point) => point?.valid).length,
+        requestInFlight: state.requestInFlight,
+        requestStartedAt: state.requestStartedAt || null,
+        stats: { ...state.stats },
+      },
+    };
+    events.emit('scan', payload);
+    return payload;
+  }
+
+  function finalizeScan(reason = 'rotation_complete') {
    if (!state.currentScan) {
+      state.stats.rotationsWithoutScan += 1;
+      emitFrame({ status: 'error', reason: 'rotation_without_scan', scan: null });
      resetScanState();
      return;
    }
-    const points = Array.from(state.currentScan.points.values()).sort((a, b) => a.angleDeg - b.angleDeg);
-    const payload = {
-      points,
-      rotationSpeed: state.currentScan.rotationSpeed,
-    };
-    logger.info('Neato lidar scan parsed', { points: points.length, rotationSpeed: payload.rotationSpeed });
+    state.stats.scansOk += 1;
+    const payload = emitFrame({ status: 'ok', reason });
+    logger.info('Neato lidar scan parsed', {
+      points: payload.points.length,
+      rotationSpeed: payload.rotationSpeed,
+      reason,
+    });
    resetScanState();
-    events.emit('scan', payload);
    triggerPollSoon();
  }

  function handlePayload(payload) {
    if (!payload) return;
+    state.stats.parseablePayloads += 1;
    if (payload === 'AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX') {
+      state.stats.headersSeen += 1;
+      if (state.currentScan) {
+        state.stats.scansRestarted += 1;
+        emitFrame({ status: 'error', reason: 'header_restart' });
+      }
      state.currentScan = {
        points: new Map(),
        rotationSpeed: null,
@@ -146,12 +187,16 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
    }
    const rotationSpeed = parseRotationSpeed(payload);
    if (rotationSpeed != null) {
-      if (state.currentScan) state.currentScan.rotationSpeed = rotationSpeed;
-      finalizeScan();
+      state.stats.rotationsSeen += 1;
+      if (state.currentScan) {
+        state.currentScan.rotationSpeed = rotationSpeed;
+      }
+      finalizeScan('rotation_complete');
      return;
    }
    const point = parsePointPayload(payload);
    if (!point || !state.currentScan) return;
+    state.stats.pointPayloads += 1;
    state.currentScan.points.set(point.angleDeg, point);
  }

@@ -274,6 +319,8 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
    clearRequestTimeoutTimer();
    state.requestTimeoutTimer = setTimeout(() => {
      logger.warn('Neato lidar scan timed out; resetting parser state');
+      state.stats.scansTimedOut += 1;
+      emitFrame({ status: 'error', reason: 'scan_timeout' });
      resetScanState();
      triggerPollSoon();
    }, SCAN_TIMEOUT_MS);