legop3/MultiRoombaRover
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legop3
2026-07-17 01:04:21 -04:00
parent 0add90714b
commit 557b4b81a2
8 changed files with 70 additions and 112 deletions
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server/public/assets/index-BTjcgOin.css
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server/public/assets/index-U2WtZsRF.js.map
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server/public/index.html
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@@ -78,8 +78,8 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script> <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script> <script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title> <title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-ylLtL6Of.js"></script> <script type="module" crossorigin src="/assets/index-U2WtZsRF.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BzceGRD0.css"> <link rel="stylesheet" crossorigin href="/assets/index-BTjcgOin.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/services/balanceBoardService/index.js
+21 -51
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@@ -23,13 +23,7 @@ const FRAME_ROOM = 'balance-board-viewers';
const TARE_SAMPLE_COUNT = 20; const TARE_SAMPLE_COUNT = 20;
const MAX_AUTOMATIC_TARE_KG = 2; const MAX_AUTOMATIC_TARE_KG = 2;
const execFileAsync = promisify(execFile); const execFileAsync = promisify(execFile);
const ALERT_COLORS = { const ALERT_COLOR = '#38bdf8';
connected: '#10b981',
sleeping: '#64748b',
warning: '#f59e0b',
error: '#ef4444',
info: '#38bdf8',
};
function loadStore() { function loadStore() {
try { try {
@@ -89,49 +83,25 @@ let lastAlertKey = '';
let unpairing = false; let unpairing = false;
function sendStatusAlert(workerState, message = '') { function sendStatusAlert(workerState, message = '') {
let alert = null; const shouldAlert =
if (workerState === 'connected') { workerState === 'connected' ||
alert = { workerState === 'sleeping' ||
color: ALERT_COLORS.connected, workerState === 'connection-failed' ||
title: 'Balance Board connected', workerState === 'error' ||
message: 'Live weight is available.', (workerState === 'waiting' && previousWorkerState === 'connected');
};
} else if (workerState === 'sleeping') {
alert = {
color: ALERT_COLORS.sleeping,
title: 'Balance Board sleeping',
message: 'Press the front power button when you are ready to use it.',
};
} else if (workerState === 'waiting' && previousWorkerState === 'connected') {
alert = {
color: ALERT_COLORS.warning,
title: 'Balance Board disconnected',
message: message || 'Press the front power button to reconnect it.',
};
} else if (workerState === 'connection-failed') {
alert = {
color: ALERT_COLORS.error,
title: 'Balance Board connection failed',
message: message || 'The Bluetooth connection did not complete.',
};
} else if (workerState === 'error') {
alert = {
color: ALERT_COLORS.error,
title: 'Balance Board needs attention',
message: message || 'The hardware worker stopped.',
};
}
previousWorkerState = workerState; previousWorkerState = workerState;
if (!alert) return; if (!shouldAlert) return;
// Native reconnect retries may repeat the same result while hardware is out // Keep the alert at the same system-level boundary as the worker protocol:
// of range. Collapse identical status/message pairs so feed alerts remain // state first, followed by its exact detail when one exists. The service does
// meaningful state changes instead of turning into a transport log. // not reinterpret failures as friendlier product copy, but still collapses
const key = `${workerState}:${alert.message}`; // identical retries so a failing reconnect cannot flood the activity feed.
const rawMessage = message ? `${workerState}: ${message}` : workerState;
const key = rawMessage;
if (key === lastAlertKey) return; if (key === lastAlertKey) return;
lastAlertKey = key; lastAlertKey = key;
sendAlert(alert); sendAlert({ color: ALERT_COLOR, title: 'Balance Board', message: rawMessage });
} }
function getState() { function getState() {
@@ -197,9 +167,9 @@ function handleWorkerMessage(message = {}) {
hardware?.setAddress(address); hardware?.setAddress(address);
lastAlertKey = 'paired'; lastAlertKey = 'paired';
sendAlert({ sendAlert({
color: ALERT_COLORS.info, color: ALERT_COLOR,
title: 'Balance Board paired', title: 'Balance Board',
message: 'Bluetooth setup completed.', message: 'paired',
}); });
updateStatus('connecting', 'Paired. Connecting to the board now.'); updateStatus('connecting', 'Paired. Connecting to the board now.');
return; return;
@@ -291,9 +261,9 @@ io.on('connection', (socket) => {
hardware?.restart(); hardware?.restart();
updateStatus('starting', 'Starting Bluetooth discovery.'); updateStatus('starting', 'Starting Bluetooth discovery.');
sendAlert({ sendAlert({
color: ALERT_COLORS.warning, color: ALERT_COLOR,
title: 'Balance Board unpaired', title: 'Balance Board',
message: 'Press the red Sync button underneath the board to pair it again.', message: 'unpaired',
}); });
cb({ success: true, warning: bluetoothWarning || null }); cb({ success: true, warning: bluetoothWarning || null });
} catch (err) { } catch (err) {
webui/src/components/BalanceBoardPanel/index.jsx
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@@ -36,7 +36,7 @@ function centerOfPressure(corners) {
// An empty board naturally has tiny load-cell noise. Keep the marker centered // An empty board naturally has tiny load-cell noise. Keep the marker centered
// and subdued until there is enough weight for its position to mean anything; // and subdued until there is enough weight for its position to mean anything;
// once loaded, map the normalized left/right and top/bottom balance into the // once loaded, map the normalized left/right and top/bottom balance into the
// safe interior of the illustrated board. // safe interior of the load map.
if (total < 0.5) return { left: 50, top: 50, active: false }; if (total < 0.5) return { left: 50, top: 50, active: false };
const horizontal = ((topRight + bottomRight) - (topLeft + bottomLeft)) / total; const horizontal = ((topRight + bottomRight) - (topLeft + bottomLeft)) / total;
const vertical = ((bottomLeft + bottomRight) - (topLeft + topRight)) / total; const vertical = ((bottomLeft + bottomRight) - (topLeft + topRight)) / total;
@@ -49,7 +49,7 @@ function centerOfPressure(corners) {
function CornerReading({ className, label, value }) { function CornerReading({ className, label, value }) {
return ( return (
<div className={`absolute rounded bg-slate-950/80 px-1 py-0.5 text-center shadow ${className}`}> <div className={`surface absolute min-w-[5.5rem] text-center ${className}`}>
<div className="text-[0.62rem] text-slate-400">{label}</div> <div className="text-[0.62rem] text-slate-400">{label}</div>
<div className="font-mono text-sm font-semibold text-slate-100">{formatWeight(value)}</div> <div className="font-mono text-sm font-semibold text-slate-100">{formatWeight(value)}</div>
</div> </div>
@@ -70,7 +70,6 @@ function BalanceBoardPanelContent() {
const role = useSessionSelector((state) => state.session?.role || null); const role = useSessionSelector((state) => state.session?.role || null);
const [frame, setFrame] = useState(EMPTY_FRAME); const [frame, setFrame] = useState(EMPTY_FRAME);
const [unpairing, setUnpairing] = useState(false); const [unpairing, setUnpairing] = useState(false);
const [adminMessage, setAdminMessage] = useState('');
useEffect(() => { useEffect(() => {
if (!socket) return undefined; if (!socket) return undefined;
@@ -115,82 +114,71 @@ function BalanceBoardPanelContent() {
if (unpairing || !board?.paired) return; if (unpairing || !board?.paired) return;
if (!window.confirm('Unpair this Balance Board and require the red Sync button to pair it again?')) return; if (!window.confirm('Unpair this Balance Board and require the red Sync button to pair it again?')) return;
setUnpairing(true); setUnpairing(true);
setAdminMessage('');
socket.emit('balanceBoard:unpair', {}, (response = {}) => { socket.emit('balanceBoard:unpair', {}, (response = {}) => {
setUnpairing(false); setUnpairing(false);
if (response.error) { if (response.error) {
setAdminMessage(response.error); window.alert(response.error);
} else if (response.warning) { } else if (response.warning) {
setAdminMessage('Board forgotten locally, but BlueZ reported a bond-removal warning.'); window.alert('Board forgotten locally, but BlueZ reported a bond-removal warning.');
} else {
setAdminMessage('Board unpaired. Press the red Sync button to pair it again.');
} }
}); });
}; };
const actions = (
<div className="flex items-center gap-0.5">
{battery != null ? (
<span className="font-mono text-xs text-slate-300">{Math.round(battery)}% battery</span>
) : null}
{isAdmin ? (
<button
type="button"
className="button-dark text-xs disabled:opacity-50"
disabled={!board?.paired || unpairing}
onClick={unpair}
>
{unpairing ? 'Unpairing…' : 'Unpair'}
</button>
) : null}
</div>
);
return ( return (
<CardFrame <CardFrame
title="Balance Board" title="Balance Board"
className="relative w-full" className="relative w-full"
bodyClassName="text-sm text-slate-200" bodyClassName="text-sm text-slate-200"
actions={battery != null ? ( actions={actions}
<span className="font-mono text-xs text-slate-300">{Math.round(battery)}% battery</span>
) : null}
> >
{sleeping ? ( {sleeping ? (
<div className="absolute inset-0 z-20 flex items-center justify-center rounded-md bg-slate-950/85 px-2 text-center"> <div className="absolute inset-0 z-20 flex items-center justify-center rounded-md bg-slate-950/85 px-2 text-center">
<div className="space-y-0.5"> <div className="space-y-0.5">
<p className="text-lg font-semibold text-slate-100">Balance Board is asleep</p> <p className="text-lg font-semibold text-slate-100">The Balance Board is asleep</p>
<p className="text-sm text-slate-300">Press the front power button on the board to wake it.</p> <p className="text-sm text-slate-300">Press the front power button on the board to wake it.</p>
</div> </div>
</div> </div>
) : null} ) : null}
<div className="grid gap-0.5 md:grid-cols-[minmax(0,1.25fr)_minmax(9rem,0.75fr)]"> <div className="panel-section relative h-40 overflow-hidden">
<section className="surface-muted p-1"> <CornerReading className="left-0.5 top-0.5" label="Top left" value={corners.topLeft} />
<div className="relative mx-auto aspect-[1.35/1] w-full max-w-md overflow-hidden rounded-[1.5rem] border-2 border-slate-500 bg-gradient-to-b from-slate-700 to-slate-800 shadow-inner"> <CornerReading className="right-0.5 top-0.5" label="Top right" value={corners.topRight} />
<div className="absolute inset-[12%] rounded-[1rem] border border-slate-500/70 bg-slate-900/35" /> <CornerReading className="bottom-0.5 left-0.5" label="Bottom left" value={corners.bottomLeft} />
<CornerReading className="left-1 top-1" label="Top left" value={corners.topLeft} /> <CornerReading className="bottom-0.5 right-0.5" label="Bottom right" value={corners.bottomRight} />
<CornerReading className="right-1 top-1" label="Top right" value={corners.topRight} />
<CornerReading className="bottom-1 left-1" label="Bottom left" value={corners.bottomLeft} />
<CornerReading className="bottom-1 right-1" label="Bottom right" value={corners.bottomRight} />
<div <div
aria-label="Center of pressure" aria-label="Center of pressure"
className={`absolute h-4 w-4 -translate-x-1/2 -translate-y-1/2 rounded-full border-2 shadow-lg transition-all duration-100 ${ className={`absolute z-10 h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full border transition-all duration-100 ${
center.active center.active
? 'border-cyan-100 bg-cyan-400 shadow-cyan-400/50' ? 'border-sky-200 bg-sky-500'
: 'border-slate-400 bg-slate-600 opacity-50' : 'border-neutral-500 bg-neutral-600 opacity-50'
}`} }`}
style={{ left: `${center.left}%`, top: `${center.top}%` }} style={{ left: `${center.left}%`, top: `${center.top}%` }}
/> />
<div className="absolute bottom-0.5 left-1/2 h-1.5 w-8 -translate-x-1/2 rounded-full bg-sky-400/70" /> <div className="pointer-events-none absolute inset-0 flex items-center justify-center">
</div> <div className="surface px-1 py-0.5 text-center">
</section> <div className="text-[0.65rem] text-slate-400">Total weight</div>
<div className="font-mono text-3xl font-bold leading-none text-white">
<div className="grid content-start gap-0.5">
<section className="surface-muted px-1 py-1.5 text-center">
<div className="text-xs text-slate-400">Total weight</div>
<div className="mt-0.5 font-mono text-4xl font-bold leading-none text-white">
{formatWeight(liveFrame.totalKg)} {formatWeight(liveFrame.totalKg)}
</div> </div>
</section> </div>
{isAdmin ? (
<section className="surface-muted grid gap-0.5 p-0.5">
{board?.address ? (
<div className="truncate text-center font-mono text-[0.65rem] text-slate-500">{board.address}</div>
) : null}
<button
type="button"
className="button-dark w-full text-xs disabled:opacity-50"
disabled={!board?.paired || unpairing}
onClick={unpair}
>
{unpairing ? 'Unpairing…' : 'Unpair board'}
</button>
{adminMessage ? <p className="text-center text-xs text-slate-400">{adminMessage}</p> : null}
</section>
) : null}
</div> </div>
</div> </div>
</CardFrame> </CardFrame>