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update battery manager

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legop3
2025-11-28 02:16:00 -05:00
parent b3d6830814
commit 5debdbed94
1 changed files with 22 additions and 11 deletions
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server/src/services/batteryManager.js
+22 -11
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@@ -110,15 +110,33 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
state.dockedCharging = false; state.dockedCharging = false;
} }
const waitingState = chargingState === 4;
if (waitingState && state.waitingSince == null) {
state.waitingSince = Date.now();
} else if (!waitingState && state.waitingSince != null) {
state.waitingSince = null;
}
const waitingLongEnough =
waitingState && state.waitingSince != null && Date.now() - state.waitingSince >= WAITING_UNLOCK_MS;
const warnThreshold =
typeof config?.Warn === 'number' ? config.Warn : batteryState?.warn ?? null;
const fullThreshold = const fullThreshold =
typeof config?.Full === 'number' ? config.Full : batteryState?.full ?? null; typeof config?.Full === 'number' ? config.Full : batteryState?.full ?? null;
const chargeMah = batteryState?.charge ?? null;
let waitingPercent = batteryState?.percent ?? null;
if (chargeMah != null && warnThreshold != null && fullThreshold != null && fullThreshold > warnThreshold) {
waitingPercent = (chargeMah - warnThreshold) / (fullThreshold - warnThreshold);
waitingPercent = Math.max(0, Math.min(1, waitingPercent));
}
const isFull = const isFull =
(batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) || (batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
(batteryState?.percent != null && batteryState.percent >= 0.99); (batteryState?.percent != null && batteryState.percent >= 0.99);
const needsCharge = state.warned; const needsCharge = state.warned;
if (dockedCharging && lockable && needsCharge && !state.batteryLocked && !isFull) { if (dockedCharging && lockable && needsCharge && !state.batteryLocked && !isFull && !waitingLongEnough) {
logger.info('Auto-locking rover for charging', { roverId }); logger.info('Auto-locking rover for charging', { roverId });
lockRover(roverId, true, { reason: 'battery' }); lockRover(roverId, true, { reason: 'battery' });
state.batteryLocked = true; state.batteryLocked = true;
@@ -129,16 +147,8 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
}); });
} }
const waitingState = chargingState === 4; const waitingHalfOrMore = waitingPercent != null && waitingPercent >= 0.5;
if (waitingState && state.waitingSince == null) { const shouldUnlock = state.batteryLocked && waitingLongEnough && waitingHalfOrMore;
state.waitingSince = Date.now();
} else if (!waitingState && state.waitingSince != null) {
state.waitingSince = null;
}
const waitingLongEnough =
waitingState && state.waitingSince != null && Date.now() - state.waitingSince >= WAITING_UNLOCK_MS;
const shouldUnlock = state.batteryLocked && (!dockedCharging || waitingLongEnough);
if (shouldUnlock) { if (shouldUnlock) {
logger.info('Unlocking rover after charge', { logger.info('Unlocking rover after charge', {
@@ -146,6 +156,7 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
isFull, isFull,
docked: dockedCharging, docked: dockedCharging,
waitingState, waitingState,
waitingPercent,
waitedMs: state.waitingSince ? Date.now() - state.waitingSince : null, waitedMs: state.waitingSince ? Date.now() - state.waitingSince : null,
}); });
lockRover(roverId, false, { reason: 'battery' }); lockRover(roverId, false, { reason: 'battery' });