legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-16 09:31:20 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

slop

Browse Source
This commit is contained in:
legop3
2026-07-16 22:52:03 -04:00
parent 35561495b4
commit 4bd228547a
13 changed files with 196 additions and 920 deletions
Download Patch File Download Diff File Expand all files Collapse all files
server/src/services/balanceBoardService/native/balance_board_worker.cpp
+7 -46
View File
@@ -883,50 +883,12 @@ std::optional<std::string> extract_command_value(const std::string& line, const
}
void handle_command(const std::string& line, PairingSharedState* shared) {
(void)shared;
const std::string command = extract_command_value(line, "command").value_or("");
if (command == "pair") {
std::lock_guard<std::mutex> lock(shared->mutex);
if (!shared->pairing_available) {
emit_status("error", "", "Bluetooth pairing capability is unavailable; reinstall the bridge capability");
return;
}
shared->commissioned_address.reset();
shared->commissioning = true;
} else if (command == "forget") {
std::optional<std::string> address;
{
std::lock_guard<std::mutex> lock(shared->mutex);
if (!shared->pairing_available) {
emit_status("error", address.value_or(""),
"cannot forget the board while Bluetooth pairing capability is unavailable");
return;
}
address = shared->commissioned_address;
shared->commissioned_address.reset();
// Do not let the discovery loop race the BlueZ removal. It may otherwise
// rediscover and attempt to pair the still-bonded object before `remove`
// has finished deleting its keys and cached SDP record.
shared->commissioning = false;
}
if (address.has_value()) run_command({"bluetoothctl", "--timeout", "8", "remove", *address});
{
std::lock_guard<std::mutex> lock(shared->mutex);
shared->commissioning = true;
}
emit_status("commissioning");
} else if (command == "disconnect") {
std::optional<std::string> address;
{
std::lock_guard<std::mutex> lock(shared->mutex);
address = shared->commissioned_address;
}
// Idle disconnect is intentionally host-initiated only after the server has
// observed an empty station for its configured delay. The bond remains, so
// the next front power-button press still reconnects without commissioning.
if (address.has_value()) {
run_command({"bluetoothctl", "--timeout", "8", "disconnect", *address});
}
} else if (command == "stop") {
// Pairing and reconnect are deliberately automatic. The only command the
// Node supervisor needs is a clean shutdown signal; removing manual pair,
// forget, and disconnect modes keeps the hardware flow single-purpose.
if (command == "stop") {
running.store(false);
}
}
@@ -943,9 +905,8 @@ void simulated_loop() {
simulated_bluetooth.trusted = true;
simulated_bluetooth.connected = true;
simulated_bluetooth.wake_allowed = true;
// Exercise the same diagnostics contract as real hardware so development UI
// builds cannot silently break the status table merely because CI lacks a
// Bluetooth adapter and physical Balance Board.
// Exercise the same status contract as real hardware so development UI
// builds cannot silently break merely because CI lacks a physical board.
emit_diagnostics("SIMULATED", simulated_bluetooth, "ready", "", "");
emit_status("waiting", "SIMULATED");
const std::array<BoardReadings, 12> sequence{{