gahew

2026-09-16 09:31:20 -04:00 · 2026-04-28 19:53:10 -04:00
parent f13b85109e
commit 49f801330f
59 changed files with 686 additions and 401 deletions
@@ -0,0 +1,191 @@
+// battery Manager
+// Purpose: Defines the battery Manager module and the helpers/state used by this service unit.
+// Scope: Keeps runtime behavior unchanged while isolating responsibilities into a clear module boundary.
+const logger = require('../../globals/logger').child('batteryManager');
+const { publishEvent } = require('../eventBus');
+const { managerEvents, lockRover, rovers } = require('../roverManager');
+
+const STATES = {
+  NORMAL: 'normal',
+  WARN: 'warn',
+  URGENT: 'urgent',
+  DOCKED: 'docked',
+  CHARGING: 'charging',
+  FULL: 'full',
+  LOCKED: 'locked',
+};
+
+const WAITING_UNLOCK_MS = 5 * 60 * 1000;
+
+const roverState = new Map(); // roverId -> state snapshot
+
+function getState(roverId) {
+  if (!roverState.has(roverId)) {
+    roverState.set(roverId, {
+      lastPercent: null,
+      warned: false,
+      urgent: false,
+      onDock: false,
+      dockedCharging: false,
+      charging: false,
+      batteryLocked: false,
+      waitingSince: null,
+    });
+  }
+  return roverState.get(roverId);
+}
+
+function shouldLock(record) {
+  return record.lockReason == null || record.lockReason === 'battery';
+}
+
+function handleSensorEvent({ roverId, sensors, batteryState }) {
+  if (!roverId) return;
+  const record = rovers.get(roverId);
+  if (!record) return;
+  const state = getState(roverId);
+  const config = record.meta?.battery || {};
+  const lockable = shouldLock(record);
+
+  if (batteryState?.percent != null) {
+    state.lastPercent = batteryState.percent;
+  }
+
+  if (!state.warned && batteryState?.warnActive) {
+    state.warned = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.warn',
+      payload: { roverId, batteryState },
+    });
+  }
+  if (!state.urgent && batteryState?.urgentActive) {
+    state.urgent = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.urgent',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const chargingState = sensors?.chargingState?.code;
+  const chargingSources = sensors?.chargingSources;
+  const onDock = Boolean(chargingSources?.homeBase);
+  if (onDock && !state.onDock) {
+    state.onDock = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.docked',
+      payload: { roverId, batteryState },
+    });
+  } else if (!onDock && state.onDock) {
+    state.onDock = false;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.undocked',
+      payload: { roverId, batteryState },
+    });
+  }
+  const chargingLabel = sensors?.chargingState?.label?.toLowerCase();
+  const chargingByLabel =
+    chargingLabel === 'waiting' || chargingLabel === 'full charging' || chargingLabel === 'trickle charging';
+  const chargingByCode = chargingState === 2 || chargingState === 3 || chargingState === 4;
+  const isCharging = chargingByLabel || chargingByCode;
+  if (isCharging && !state.charging) {
+    state.charging = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.charging.start',
+      payload: { roverId, batteryState },
+    });
+  } else if (!isCharging && state.charging) {
+    state.charging = false;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.charging.stop',
+      payload: { roverId, batteryState },
+    });
+  }
+  const dockedCharging = onDock && isCharging;
+  if (dockedCharging && !state.dockedCharging) {
+    state.dockedCharging = true;
+  } else if (!dockedCharging && state.dockedCharging) {
+    state.dockedCharging = false;
+  }
+
+  const waitingState = chargingState === 4;
+  if (waitingState && state.waitingSince == null) {
+    state.waitingSince = Date.now();
+  } else if (!waitingState && state.waitingSince != null) {
+    state.waitingSince = null;
+  }
+  const waitingLongEnough =
+    waitingState && state.waitingSince != null && Date.now() - state.waitingSince >= WAITING_UNLOCK_MS;
+
+  const warnThreshold =
+    typeof config?.Warn === 'number' ? config.Warn : batteryState?.warn ?? null;
+  const fullThreshold =
+    typeof config?.Full === 'number' ? config.Full : batteryState?.full ?? null;
+  const chargeMah = batteryState?.charge ?? null;
+  let waitingPercent = batteryState?.percent ?? null;
+  if (chargeMah != null && warnThreshold != null && fullThreshold != null && fullThreshold > warnThreshold) {
+    waitingPercent = (chargeMah - warnThreshold) / (fullThreshold - warnThreshold);
+    waitingPercent = Math.max(0, Math.min(1, waitingPercent));
+  }
+
+  const isFull =
+    (batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
+    (batteryState?.percent != null && batteryState.percent >= 0.99);
+
+  const needsCharge = state.warned;
+
+  if (dockedCharging && lockable && needsCharge && !state.batteryLocked && !isFull && !waitingLongEnough) {
+    logger.info('Auto-locking rover for charging', { roverId });
+    lockRover(roverId, true, { reason: 'battery' });
+    state.batteryLocked = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.locked',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const waitingHalfOrMore = waitingPercent != null && waitingPercent >= 0.01;
+  // const waitingHalfOrMore = true;
+  const shouldUnlock = state.batteryLocked && waitingLongEnough && waitingHalfOrMore;
+
+  if (shouldUnlock) {
+    logger.info('Unlocking rover after charge', {
+      roverId,
+      isFull,
+      docked: dockedCharging,
+      waitingState,
+      waitingPercent,
+      waitedMs: state.waitingSince ? Date.now() - state.waitingSince : null,
+    });
+    lockRover(roverId, false, { reason: 'battery' });
+    state.batteryLocked = false;
+    state.warned = false;
+    state.urgent = false;
+    state.waitingSince = null;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.unlocked',
+      payload: { roverId, batteryState },
+    });
+  }
+}
+
+function handleLockEvent({ roverId, locked, reason }) {
+  const state = getState(roverId);
+  if (!state) return;
+  if (!locked) {
+    state.batteryLocked = false;
+    state.waitingSince = null;
+    return;
+  }
+  state.batteryLocked = reason === 'battery';
+}
+
+managerEvents.on('sensor', handleSensorEvent);
+managerEvents.on('lock', handleLockEvent);