rmanager

server/src/services/roverManager/mathUtils.js

@@ -0,0 +1,138 @@
+// rover Manager math utils
+// Purpose: Centralizes numeric clamping and battery display calculations used by rover-manager orchestration.
+// Scope: Keeps runtime behavior unchanged by extracting pure utility functions from the main service module.
+const { DEFAULT_PRIVATE_SAFETY } = require('./constants');
+
+function clampInt(value, min, max, fallback) {
+  const num = Number.parseInt(value, 10);
+  if (!Number.isFinite(num)) return fallback;
+  return Math.max(min, Math.min(max, num));
+}
+
+function normalizePrivateSafety(raw = {}) {
+  const source = raw && typeof raw === 'object' ? raw : {};
+  return {
+    speedLimitEnabled: Boolean(source.speedLimitEnabled),
+    speedLimitMaxWheelSpeed: clampInt(
+      source.speedLimitMaxWheelSpeed,
+      1,
+      500,
+      DEFAULT_PRIVATE_SAFETY.speedLimitMaxWheelSpeed,
+    ),
+    hardOvercurrentEnabled: Boolean(source.hardOvercurrentEnabled),
+    overcurrentStopMs: clampInt(
+      source.overcurrentStopMs,
+      100,
+      5000,
+      DEFAULT_PRIVATE_SAFETY.overcurrentStopMs,
+    ),
+    hardBumpEnabled: Boolean(source.hardBumpEnabled),
+    bumpBackoffSpeed: clampInt(
+      source.bumpBackoffSpeed,
+      1,
+      500,
+      DEFAULT_PRIVATE_SAFETY.bumpBackoffSpeed,
+    ),
+    bumpBackoffMs: clampInt(
+      source.bumpBackoffMs,
+      100,
+      5000,
+      DEFAULT_PRIVATE_SAFETY.bumpBackoffMs,
+    ),
+    cliffEnabled: Boolean(source.cliffEnabled),
+    cliffBackoffSpeed: clampInt(
+      source.cliffBackoffSpeed,
+      1,
+      500,
+      DEFAULT_PRIVATE_SAFETY.cliffBackoffSpeed,
+    ),
+    cliffBackoffMs: clampInt(
+      source.cliffBackoffMs,
+      100,
+      5000,
+      DEFAULT_PRIVATE_SAFETY.cliffBackoffMs,
+    ),
+    triggerCooldownMs: clampInt(
+      source.triggerCooldownMs,
+      100,
+      10000,
+      DEFAULT_PRIVATE_SAFETY.triggerCooldownMs,
+    ),
+  };
+}
+
+function computeBatteryDisplayPercent({ charge, full, warn, urgent, percent, capacity }) {
+  if (
+    charge != null &&
+    full != null &&
+    warn != null &&
+    urgent != null &&
+    full > warn &&
+    warn > urgent
+  ) {
+    if (charge <= urgent) return 0;
+    if (charge <= warn) {
+      const t = (charge - urgent) / (warn - urgent);
+      return Math.round(Math.max(0, Math.min(1, t)) * 10);
+    }
+    if (charge >= full) return 100;
+    const t = (charge - warn) / (full - warn);
+    return Math.round((0.1 + Math.max(0, Math.min(1, t)) * 0.9) * 100);
+  }
+  if (percent != null && Number.isFinite(percent)) {
+    return Math.round(Math.max(0, Math.min(1, percent)) * 100);
+  }
+  if (charge != null && capacity != null && capacity > 0) {
+    const fallback = charge / capacity;
+    return Math.round(Math.max(0, Math.min(1, fallback)) * 100);
+  }
+  return null;
+}
+
+function computeBatteryState(record, sensors) {
+  if (!record) return null;
+  if (!sensors) return record.batteryState;
+  const config = record.meta?.battery || null;
+  const charge = sensors?.batteryChargeMah ?? null;
+  const capacity = sensors?.batteryCapacityMah ?? null;
+  const full = typeof config?.Full === 'number' ? config.Full : null;
+  const warn = typeof config?.Warn === 'number' ? config.Warn : null;
+  const urgent = typeof config?.Urgent === 'number' ? config.Urgent : null;
+  let percent = null;
+  if (charge != null && warn != null && full != null && full > warn) {
+    const span = full - warn;
+    percent = (charge - warn) / span;
+  } else if (charge != null && capacity != null && capacity > 0) {
+    percent = charge / capacity;
+  }
+  if (percent != null) {
+    percent = Math.max(0, Math.min(1, percent));
+  }
+  const percentDisplay = computeBatteryDisplayPercent({
+    charge,
+    full,
+    warn,
+    urgent,
+    percent,
+    capacity,
+  });
+  return {
+    charge,
+    capacity,
+    full,
+    warn,
+    urgent,
+    percent,
+    percentDisplay,
+    warnActive: Boolean(warn != null && charge != null && charge <= warn),
+    urgentActive: Boolean(urgent != null && charge != null && charge <= urgent),
+    updatedAt: Date.now(),
+  };
+}
+
+module.exports = {
+  clampInt,
+  normalizePrivateSafety,
+  computeBatteryDisplayPercent,
+  computeBatteryState,
+};