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lidar fixar

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legop3
2026-05-01 17:17:15 -04:00
parent e3e563feee
commit 53723e2f1e
1 changed files with 16 additions and 6 deletions
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server/src/services/neatoService/lidarRuntime.js
+16 -6
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@@ -1,14 +1,23 @@
const { spawn } = require('child_process'); const { spawn } = require('child_process');
const EventEmitter = require('events'); const EventEmitter = require('events');
const POLL_INTERVAL_MS = 1000; const POLL_INTERVAL_MS = 10000;
const SCAN_TIMEOUT_MS = 6000; const SCAN_TIMEOUT_MS = 6000;
const RECONNECT_DELAY_MS = 5000; const RECONNECT_DELAY_MS = 5000;
function parseQuotedPayload(line) { function parsePayloadLine(line) {
const match = String(line || '').match(/<<< "(.*)"$/); const raw = String(line || '').trim();
if (!match) return null; if (!raw) return null;
return match[1]; const quotedMatch = raw.match(/<<< "(.*)"$/);
if (quotedMatch) return quotedMatch[1];
if (raw.includes('AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX')) {
return 'AngleInDegrees,DistInMM,Intensity,ErrorCodeHEX';
}
const rotationMatch = raw.match(/ROTATION_SPEED,[0-9.]+/);
if (rotationMatch) return rotationMatch[0];
const pointMatch = raw.match(/\b\d+,\d+,\d+,[0-9A-Fa-f]+\b/);
if (pointMatch) return pointMatch[0];
return null;
} }
function parsePointPayload(payload) { function parsePointPayload(payload) {
@@ -80,6 +89,7 @@ function createLidarRuntime({ logger, host, port = 6053, key, shouldPoll, reques
points, points,
rotationSpeed: state.currentScan.rotationSpeed, rotationSpeed: state.currentScan.rotationSpeed,
}; };
logger.info('Neato lidar scan parsed', { points: points.length, rotationSpeed: payload.rotationSpeed });
resetScanState(); resetScanState();
events.emit('scan', payload); events.emit('scan', payload);
} }
@@ -109,7 +119,7 @@ function createLidarRuntime({ logger, host, port = 6053, key, shouldPoll, reques
const lines = state.stdoutBuffer.split(/\r?\n/); const lines = state.stdoutBuffer.split(/\r?\n/);
state.stdoutBuffer = lines.pop() || ''; state.stdoutBuffer = lines.pop() || '';
for (const line of lines) { for (const line of lines) {
const payload = parseQuotedPayload(line); const payload = parsePayloadLine(line);
handlePayload(payload); handlePayload(payload);
} }
} }