overcurrent limiter testing

2026-09-16 09:31:20 -04:00 · 2026-01-21 02:12:54 -05:00
parent b9a007bd48
commit 59c19f1da9
10 changed files with 430 additions and 128 deletions
@@ -0,0 +1,82 @@
+import { useMemo } from 'react';
+import { useControlSystem } from '../controls/index.js';
+
+const MOTOR_LABELS = {
+  leftWheel: 'Left wheel',
+  rightWheel: 'Right wheel',
+  mainBrush: 'Main brush',
+  sideBrush: 'Side brush',
+};
+
+function formatPct(value) {
+  if (!Number.isFinite(value)) return '--';
+  return `${Math.round(value * 100)}%`;
+}
+
+function ProgressBar({ value, color = 'bg-emerald-500' }) {
+  const width = `${Math.round(Math.max(0, Math.min(1, value)) * 100)}%`;
+  return (
+    <div className="h-2 w-full overflow-hidden rounded bg-slate-800">
+      <div className={`h-full ${color}`} style={{ width }} />
+    </div>
+  );
+}
+
+export default function OvercurrentLimiterPanel() {
+  const {
+    state: { roverId },
+    overcurrentLimiter,
+  } = useControlSystem();
+  const motors = useMemo(() => Object.keys(MOTOR_LABELS), []);
+
+  return (
+    <section className="panel-section space-y-0.5 text-sm">
+      <div className="flex items-center justify-between text-xs text-slate-400">
+        <span>Overcurrent limiter</span>
+        <span>{overcurrentLimiter?.adminImmune ? 'Admin immune' : 'Active'}</span>
+      </div>
+      {!roverId ? (
+        <p className="text-xs text-slate-500">Assign a rover to view limiter status.</p>
+      ) : (
+        <div className="space-y-0.5">
+          {motors.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;
+            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={over ? 'text-red-300' : 'text-slate-400'}>
+                    {over ? 'overcurrent' : 'ok'}
+                  </span>
+                </div>
+                <div className="space-y-0.5">
+                  <div className="flex items-center justify-between text-[0.7rem] text-slate-400">
+                    <span>Meter A</span>
+                    <span>{formatPct(meterA)}</span>
+                  </div>
+                  <ProgressBar value={meterA} color="bg-amber-500" />
+                  <div className="flex items-center justify-between text-[0.7rem] text-slate-400">
+                    <span>Meter B</span>
+                    <span>{formatPct(meterB)}</span>
+                  </div>
+                  <ProgressBar value={meterB} color="bg-red-500" />
+                  <div className="flex items-center justify-between text-[0.7rem] text-slate-400">
+                    <span>Scale</span>
+                    <span>{formatPct(scale)}</span>
+                  </div>
+                </div>
+              </div>
+            );
+          })}
+          <div className="surface text-[0.7rem] text-slate-400">
+            <div>{`A charge ${overcurrentLimiter?.config?.meterAChargeSec}s · A decay ${overcurrentLimiter?.config?.meterADecaySec}s`}</div>
+            <div>{`B charge ${overcurrentLimiter?.config?.meterBChargeSec}s · B decay ${overcurrentLimiter?.config?.meterBDecaySec}s`}</div>
+          </div>
+        </div>
+      )}
+    </section>
+  );
+}
@@ -4,6 +4,7 @@ import AuthPanel from './AuthPanel.jsx';
 import AdminPanel from './AdminPanel.jsx';
 import KeymapSettings from './KeymapSettings.jsx';
 import GamepadMappingSettings from './GamepadMappingSettings.jsx';
+import OvercurrentLimiterPanel from './OvercurrentLimiterPanel.jsx';
 import Tabs, { Tab, TabList, TabPanel, TabPanels } from './Tabs.jsx';
 import SessionSnapshot from './SessionSnapshot.jsx';
 import SocketLogPanel from './SocketLogPanel.jsx';
@@ -141,6 +142,7 @@ export default function SettingsPanel() {
              {!canControl && <p className="text-xs text-slate-500">Assign a rover to toggle streams.</p>}
            </section>
            <AuthPanel />
+            <OvercurrentLimiterPanel />
            <AdminPanel />
            <SessionSnapshot />
            <SocketLogPanel />
@@ -6,6 +6,11 @@ import { DEFAULT_KEYMAP, DEFAULT_MACROS, SONG_DEFAULT_NOTE } from './constants.j
 import { canonicalizeKeyInput } from './keymapUtils.js';
 import { useSettingsNamespace } from '../settings/index.js';
 import { useSession } from '../context/SessionContext.jsx';
+import {
+  applyAuxOvercurrentScale,
+  applyDriveOvercurrentScale,
+  useOvercurrentLimiter,
+} from './overcurrentLimiter.js';

 const ControlSystemContext = createContext(null);

@@ -23,7 +28,6 @@ function clampServoAngle(config, value) {
 }

 export function ControlSystemProvider({ children }) {
-  const pipeline = useCommandPipeline();
  const [state, dispatch] = useReducer(controlReducer, initialControlState);
  const prevModeRef = useRef(null);
  const pendingLightsRef = useRef(false);
@@ -33,6 +37,17 @@ export function ControlSystemProvider({ children }) {
    save: saveControlSettings,
  } = useSettingsNamespace('controls', { keymap: DEFAULT_KEYMAP, macros: DEFAULT_MACROS });
  const { session, homeAssistantSetState } = useSession();
+  const roverId = session?.assignment?.roverId ?? null;
+  const overcurrentLimiter = useOvercurrentLimiter(roverId);
+  const driveTransform = useCallback(
+    (speeds) => applyDriveOvercurrentScale(speeds, overcurrentLimiter.scales, overcurrentLimiter.adminImmune),
+    [overcurrentLimiter.adminImmune, overcurrentLimiter.scales],
+  );
+  const auxTransform = useCallback(
+    (values) => applyAuxOvercurrentScale(values, overcurrentLimiter.scales, overcurrentLimiter.adminImmune),
+    [overcurrentLimiter.adminImmune, overcurrentLimiter.scales],
+  );
+  const pipeline = useCommandPipeline({ driveTransform, auxTransform });

  const turnOnAllLights = useCallback(() => {
    const entities = session?.homeAssistant?.entities || [];
@@ -124,6 +139,33 @@ export function ControlSystemProvider({ children }) {
    dispatch({ type: 'control/record-intent' });
  }, []);

+  const driveSpeedsRef = useRef(state.drive.speeds);
+  const auxValuesRef = useRef(state.aux);
+  const limiterScaleToken = useMemo(() => JSON.stringify(overcurrentLimiter.scales), [overcurrentLimiter.scales]);
+
+  useEffect(() => {
+    driveSpeedsRef.current = state.drive.speeds;
+  }, [state.drive.speeds]);
+
+  useEffect(() => {
+    auxValuesRef.current = state.aux;
+  }, [state.aux]);
+
+  useEffect(() => {
+    if (!pipeline.roverId || overcurrentLimiter.adminImmune) return;
+    const drive = driveSpeedsRef.current || { left: 0, right: 0 };
+    const aux = auxValuesRef.current || { main: 0, side: 0, vacuum: 0 };
+    const driveActive = Boolean(drive.left || drive.right);
+    const auxActive = Boolean(aux.main || aux.side || aux.vacuum);
+    if (!driveActive && !auxActive) return;
+    if (driveActive) {
+      pipeline.sendDriveDirect(drive);
+    }
+    if (auxActive) {
+      pipeline.sendAuxMotors(aux);
+    }
+  }, [limiterScaleToken, overcurrentLimiter.adminImmune, pipeline]);
+
  const setDriveVector = useCallback(
    (vector, meta = {}) => {
      const computed = computeDifferentialSpeeds(vector, meta.speedOptions);
@@ -294,6 +336,7 @@ export function ControlSystemProvider({ children }) {
      state,
      dispatch,
      pipeline,
+      overcurrentLimiter,
      actions: {
        setMode,
        setDriveVector,
@@ -316,6 +359,7 @@ export function ControlSystemProvider({ children }) {
    [
      state,
      pipeline,
+      overcurrentLimiter,
      setMode,
      setDriveVector,
      setAuxMotors,
@@ -11,7 +11,8 @@ import {
 } from './constants.js';
 import { bytesToBase64, clampRange, sleep } from './controlMath.js';

-export function useCommandPipeline() {
+export function useCommandPipeline(options = {}) {
+  const { driveTransform, auxTransform } = options;
  const socket = useSocket();
  const { session } = useSession();
  const roverId = session?.assignment?.roverId;
@@ -50,34 +51,45 @@ export function useCommandPipeline() {
  const sendDriveDirect = useCallback(
    (speeds) => {
      if (!roverId) return null;
-      const payload = {
+      const rawPayload = {
        left: clampRange(speeds?.left ?? 0, [-500, 500]),
        right: clampRange(speeds?.right ?? 0, [-500, 500]),
      };
+      const transformed = driveTransform ? driveTransform(rawPayload) : rawPayload;
+      const payload = {
+        left: clampRange(transformed?.left ?? 0, [-500, 500]),
+        right: clampRange(transformed?.right ?? 0, [-500, 500]),
+      };
      emitCommand({
        type: 'drive',
        data: { driveDirect: payload },
      });
      return payload;
    },
-    [emitCommand, roverId],
+    [driveTransform, emitCommand, roverId],
  );

  const sendAuxMotors = useCallback(
    ({ main = 0, side = 0, vacuum = 0 } = {}) => {
      if (!roverId) return null;
-      const payload = {
+      const rawPayload = {
        main: clampRange(main, AUX_LIMITS.main),
        side: clampRange(side, AUX_LIMITS.side),
        vacuum: clampRange(vacuum, AUX_LIMITS.vacuum),
      };
+      const transformed = auxTransform ? auxTransform(rawPayload) : rawPayload;
+      const payload = {
+        main: clampRange(transformed?.main ?? 0, AUX_LIMITS.main),
+        side: clampRange(transformed?.side ?? 0, AUX_LIMITS.side),
+        vacuum: clampRange(transformed?.vacuum ?? 0, AUX_LIMITS.vacuum),
+      };
      emitCommand({
        type: 'motors',
        data: { motorPwm: payload },
      });
      return payload;
    },
-    [emitCommand, roverId],
+    [auxTransform, emitCommand, roverId],
  );

  const sendServoAngle = useCallback(
@@ -1,3 +1,4 @@
 export { ControlSystemProvider, useControlSystem } from './ControlContext.jsx';
 export { default as KeyboardInputManager } from './inputs/KeyboardInputManager.jsx';
 export { default as GamepadInputManager } from './inputs/GamepadInputManager.jsx';
+export { useOvercurrentLimiter } from './overcurrentLimiter.js';
@@ -0,0 +1,161 @@
+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 DEFAULT_OVERCURRENT_LIMITS = {
+  meterAChargeSec: 9,
+  meterADecaySec: 9,
+  meterBChargeSec: 5,
+  meterBDecaySec: 5,
+};
+
+function createInitialMeters() {
+  return OVERCURRENT_MOTORS.reduce((acc, key) => {
+    acc[key] = { a: 0, b: 0 };
+    return acc;
+  }, {});
+}
+
+function clampUnit(value) {
+  if (!Number.isFinite(value)) return 0;
+  return Math.max(0, Math.min(1, value));
+}
+
+function stepValue(current, delta, seconds, direction) {
+  if (!Number.isFinite(seconds) || seconds <= 0) {
+    return direction === 'up' ? 1 : 0;
+  }
+  const amount = delta / seconds;
+  return direction === 'up' ? current + amount : current - amount;
+}
+
+export function useOvercurrentLimiter(roverId, options = {}) {
+  const { session } = useSession();
+  const frame = useTelemetryFrame(roverId);
+  const sensors = frame?.sensors || {};
+  const overcurrentFlags = sensors?.wheelOvercurrents || {};
+  const config = useMemo(
+    () => ({ ...DEFAULT_OVERCURRENT_LIMITS, ...(options.config || {}) }),
+    [options.config],
+  );
+  const [meters, setMeters] = useState(() => createInitialMeters());
+  const lastTickRef = useRef(typeof performance !== 'undefined' ? performance.now() : Date.now());
+  const flagsRef = useRef(overcurrentFlags);
+
+  useEffect(() => {
+    flagsRef.current = overcurrentFlags || {};
+  }, [overcurrentFlags]);
+
+  useEffect(() => {
+    setMeters(createInitialMeters());
+  }, [roverId]);
+
+  useEffect(() => {
+    const interval = setInterval(() => {
+      const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
+      const deltaMs = Math.max(0, now - lastTickRef.current);
+      lastTickRef.current = now;
+      const deltaSec = deltaMs / 1000;
+      if (deltaSec <= 0) return;
+      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]);
+          const nextA = clampUnit(
+            stepValue(
+              prevEntry.a,
+              deltaSec,
+              over ? config.meterAChargeSec : config.meterADecaySec,
+              over ? 'up' : 'down',
+            ),
+          );
+          const shouldFillB = over && nextA >= 1;
+          const nextB = clampUnit(
+            stepValue(
+              prevEntry.b,
+              deltaSec,
+              shouldFillB ? config.meterBChargeSec : config.meterBDecaySec,
+              shouldFillB ? 'up' : 'down',
+            ),
+          );
+          if (Math.abs(nextA - prevEntry.a) > 0.0001 || Math.abs(nextB - prevEntry.b) > 0.0001) {
+            changed = true;
+          }
+          next[key] = { a: nextA, b: nextB };
+        });
+        return changed ? next : prev;
+      });
+    }, 100);
+    return () => clearInterval(interval);
+  }, [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));
+      return acc;
+    }, {});
+    return {
+      perMotor,
+      drive: {
+        left: perMotor.leftWheel ?? 1,
+        right: perMotor.rightWheel ?? 1,
+      },
+      aux: {
+        main: perMotor.mainBrush ?? 1,
+        side: perMotor.sideBrush ?? 1,
+        vacuum: 1,
+      },
+    };
+  }, [meters]);
+
+  const overcurrent = useMemo(
+    () =>
+      OVERCURRENT_MOTORS.reduce((acc, key) => {
+        acc[key] = Boolean(overcurrentFlags?.[key]);
+        return acc;
+      }, {}),
+    [overcurrentFlags],
+  );
+
+  const adminImmune =
+    session?.role === 'admin' ||
+    session?.role === 'lockdown' ||
+    session?.role === 'lockdown-admin';
+
+  return useMemo(
+    () => ({
+      meters,
+      overcurrent,
+      scales,
+      config,
+      adminImmune,
+    }),
+    [meters, overcurrent, scales, config, adminImmune],
+  );
+}
+
+export function applyDriveOvercurrentScale(speeds = {}, scales, adminImmune = false) {
+  if (adminImmune || !scales?.drive) return speeds;
+  const leftScale = typeof scales.drive.left === 'number' ? scales.drive.left : 1;
+  const rightScale = typeof scales.drive.right === 'number' ? scales.drive.right : 1;
+  return {
+    left: Math.round((speeds.left ?? 0) * leftScale),
+    right: Math.round((speeds.right ?? 0) * rightScale),
+  };
+}
+
+export function applyAuxOvercurrentScale(values = {}, scales, adminImmune = false) {
+  if (adminImmune || !scales?.aux) return values;
+  const mainScale = typeof scales.aux.main === 'number' ? scales.aux.main : 1;
+  const sideScale = typeof scales.aux.side === 'number' ? scales.aux.side : 1;
+  const vacuumScale = typeof scales.aux.vacuum === 'number' ? scales.aux.vacuum : 1;
+  return {
+    main: Math.round((values.main ?? 0) * mainScale),
+    side: Math.round((values.side ?? 0) * sideScale),
+    vacuum: Math.round((values.vacuum ?? 0) * vacuumScale),
+  };
+}