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>
+  );
+}