legop3/MultiRoombaRover
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legop3
2026-01-21 02:23:43 -05:00
parent 629d979b67
commit 4f60248bc6
4 changed files with 47 additions and 40 deletions
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server/public/assets/index-g_BNt5fE.js → server/public/assets/index-BI-hKdyV.js
+7 -7
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File diff suppressed because one or more lines are too long
server/public/index.html
+1 -1
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@@ -11,7 +11,7 @@
<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-g_BNt5fE.js"></script>
<script type="module" crossorigin src="/assets/index-BI-hKdyV.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BBEWYgmH.css">
</head>
<body>
webui/src/components/OvercurrentLimiterPanel.jsx
+9 -10
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@@ -1,11 +1,10 @@
import { useMemo } from 'react';
import { useControlSystem } from '../controls/index.js';
import { OVERCURRENT_GROUPS } from '../controls/overcurrentLimiter.js';
const MOTOR_LABELS = {
leftWheel: 'Left wheel',
rightWheel: 'Right wheel',
mainBrush: 'Main brush',
sideBrush: 'Side brush',
const GROUP_LABELS = {
drive: 'Drive wheels',
aux: 'Aux motors',
};
function formatPct(value) {
@@ -27,7 +26,7 @@ export default function OvercurrentLimiterPanel() {
state: { roverId },
overcurrentLimiter,
} = useControlSystem();
const motors = useMemo(() => Object.keys(MOTOR_LABELS), []);
const groups = useMemo(() => OVERCURRENT_GROUPS.map((group) => group.key), []);
return (
<section className="panel-section space-y-0.5 text-sm">
@@ -39,15 +38,15 @@ export default function OvercurrentLimiterPanel() {
<p className="text-xs text-slate-500">Assign a rover to view limiter status.</p>
) : (
<div className="space-y-0.5">
{motors.map((key) => {
{groups.map((key) => {
const meterA = overcurrentLimiter?.meters?.[key]?.a ?? 0;
const meterB = overcurrentLimiter?.meters?.[key]?.b ?? 0;
const over = overcurrentLimiter?.overcurrent?.[key] ?? false;
const scale = overcurrentLimiter?.scales?.perMotor?.[key] ?? 1;
const over = overcurrentLimiter?.overcurrent?.groups?.[key] ?? false;
const scale = overcurrentLimiter?.scales?.perGroup?.[key] ?? 1;
return (
<div key={key} className="surface space-y-0.5">
<div className="flex items-center justify-between text-xs">
<span className="text-slate-200">{MOTOR_LABELS[key] || key}</span>
<span className="text-slate-200">{GROUP_LABELS[key] || key}</span>
<span className={over ? 'text-red-300' : 'text-slate-400'}>
{over ? 'overcurrent' : 'ok'}
</span>
webui/src/controls/overcurrentLimiter.js
+29 -21
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@@ -2,7 +2,10 @@ import { useEffect, useMemo, useRef, useState } from 'react';
import { useTelemetryFrame } from '../context/TelemetryContext.jsx';
import { useSession } from '../context/SessionContext.jsx';
export const OVERCURRENT_MOTORS = ['leftWheel', 'rightWheel', 'mainBrush', 'sideBrush'];
export const OVERCURRENT_GROUPS = [
{ key: 'drive', motors: ['leftWheel', 'rightWheel'] },
{ key: 'aux', motors: ['mainBrush', 'sideBrush'] },
];
export const DEFAULT_OVERCURRENT_LIMITS = {
meterAChargeSec: 4,
@@ -12,8 +15,8 @@ export const DEFAULT_OVERCURRENT_LIMITS = {
};
function createInitialMeters() {
return OVERCURRENT_MOTORS.reduce((acc, key) => {
acc[key] = { a: 0, b: 0 };
return OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = { a: 0, b: 0 };
return acc;
}, {});
}
@@ -62,9 +65,9 @@ export function useOvercurrentLimiter(roverId, options = {}) {
setMeters((prev) => {
let changed = false;
const next = {};
OVERCURRENT_MOTORS.forEach((key) => {
const prevEntry = prev[key] || { a: 0, b: 0 };
const over = Boolean(flagsRef.current?.[key]);
OVERCURRENT_GROUPS.forEach((group) => {
const prevEntry = prev[group.key] || { a: 0, b: 0 };
const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor]));
const nextA = clampUnit(
stepValue(
prevEntry.a,
@@ -85,7 +88,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
if (Math.abs(nextA - prevEntry.a) > 0.0001 || Math.abs(nextB - prevEntry.b) > 0.0001) {
changed = true;
}
next[key] = { a: nextA, b: nextB };
next[group.key] = { a: nextA, b: nextB };
});
return changed ? next : prev;
});
@@ -94,32 +97,37 @@ export function useOvercurrentLimiter(roverId, options = {}) {
}, [config.meterAChargeSec, config.meterADecaySec, config.meterBChargeSec, config.meterBDecaySec]);
const scales = useMemo(() => {
const perMotor = OVERCURRENT_MOTORS.reduce((acc, key) => {
acc[key] = clampUnit(1 - (meters?.[key]?.b ?? 0));
const perGroup = OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = clampUnit(1 - (meters?.[group.key]?.b ?? 0));
return acc;
}, {});
return {
perMotor,
perGroup,
drive: {
left: perMotor.leftWheel ?? 1,
right: perMotor.rightWheel ?? 1,
left: perGroup.drive ?? 1,
right: perGroup.drive ?? 1,
},
aux: {
main: perMotor.mainBrush ?? 1,
side: perMotor.sideBrush ?? 1,
main: perGroup.aux ?? 1,
side: perGroup.aux ?? 1,
vacuum: 1,
},
};
}, [meters]);
const overcurrent = useMemo(
() =>
OVERCURRENT_MOTORS.reduce((acc, key) => {
acc[key] = Boolean(overcurrentFlags?.[key]);
const overcurrent = useMemo(() => {
const motors = {};
OVERCURRENT_GROUPS.forEach((group) => {
group.motors.forEach((motor) => {
motors[motor] = Boolean(overcurrentFlags?.[motor]);
});
});
const groups = OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = group.motors.some((motor) => Boolean(overcurrentFlags?.[motor]));
return acc;
}, {}),
[overcurrentFlags],
);
}, {});
return { motors, groups };
}, [overcurrentFlags]);
const adminImmune =
session?.role === 'admin' ||