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wheel speed sensors and wheel layer rework

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legop3
2026-07-07 12:21:08 -04:00
parent 2d75935e65
commit 656bf90e7f
9 changed files with 233 additions and 45 deletions
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server/public/assets/index-AEvF9veu.css → server/public/assets/index-BfZ_TWsb.css
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server/public/assets/index-CT_oLzKM.js → server/public/assets/index-Bs95YMTt.js
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server/public/assets/index-Bs95YMTt.js.map
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server/public/assets/index-CT_oLzKM.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/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>
<script type="module" crossorigin src="/assets/index-CT_oLzKM.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-AEvF9veu.css">
<script type="module" crossorigin src="/assets/index-Bs95YMTt.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BfZ_TWsb.css">
</head>
<body>
<div id="root"></div>
server/src/services/odometerService/index.js
+76
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@@ -65,6 +65,11 @@ function ensureLoaded() {
lastSampleAt: null,
lastIntegratedAt: null,
lastDelta: null,
wheelSpeedsMmPerSecond: {
left: null,
right: null,
center: null,
},
rolloverEvents: 0,
ignoredSamples: 0,
status: 'waiting',
@@ -96,6 +101,11 @@ function ensureState(roverId) {
lastSampleAt: null,
lastIntegratedAt: null,
lastDelta: null,
wheelSpeedsMmPerSecond: {
left: null,
right: null,
center: null,
},
rolloverEvents: 0,
ignoredSamples: 0,
status: 'waiting',
@@ -187,6 +197,11 @@ function snapshotState(state) {
lastSampleAt: state.lastSampleAt,
lastIntegratedAt: state.lastIntegratedAt,
lastDelta: state.lastDelta,
wheelSpeedsMmPerSecond: state.wheelSpeedsMmPerSecond || {
left: null,
right: null,
center: null,
},
rolloverEvents: state.rolloverEvents,
ignoredSamples: state.ignoredSamples,
status: state.status,
@@ -228,6 +243,16 @@ function processSensorFrame(roverId, sensors = {}) {
if (!Number.isInteger(left) || !Number.isInteger(right)) {
state.status = 'waiting';
state.statusReason = 'encoder counts missing';
/*
Speed is derived from consecutive encoder samples. When either encoder is
absent, keeping stale speed values would make the socket payload look like
a live sensor even though the required source data is missing.
*/
state.wheelSpeedsMmPerSecond = {
left: null,
right: null,
center: null,
};
return snapshotState(state);
}
@@ -241,6 +266,16 @@ function processSensorFrame(roverId, sensors = {}) {
state.lastSampleAt = sampleAt;
state.status = 'tracking';
state.statusReason = 'baseline ready';
/*
The baseline frame has valid encoder positions, but no previous sample to
compare against. Reporting zero here is intentional: it gives clients a
stable wheel-speed sensor shape immediately without inventing movement.
*/
state.wheelSpeedsMmPerSecond = {
left: 0,
right: 0,
center: 0,
};
state.updatedAt = sampleAt;
const snapshot = snapshotState(state);
emitSnapshot(state, snapshot, { force: true });
@@ -258,6 +293,30 @@ function processSensorFrame(roverId, sensors = {}) {
const reasonableLimit = maxReasonableDeltaMm(elapsedMs);
const leftRolled = crossedRollover(state.lastLeftCount, left, leftCounts);
const rightRolled = crossedRollover(state.lastRightCount, right, rightCounts);
const elapsedSeconds = elapsedMs > 0 ? elapsedMs / 1000 : null;
/*
The Roomba Open Interface encoder packets are cumulative wheel counts. The
odometer already converts each signed count delta into millimeters using the
configured Create wheel diameter/counts-per-revolution constants, so wheel
speed is the same per-wheel millimeter delta divided by the wall-clock time
between accepted sensor frames.
*/
const rawWheelSpeedsMmPerSecond = elapsedSeconds
? {
left: leftMm / elapsedSeconds,
right: rightMm / elapsedSeconds,
center: centerMm / elapsedSeconds,
}
: {
left: 0,
right: 0,
center: 0,
};
const wheelSpeedsMmPerSecond = {
left: Math.round(rawWheelSpeedsMmPerSecond.left),
right: Math.round(rawWheelSpeedsMmPerSecond.right),
center: Math.round(rawWheelSpeedsMmPerSecond.center),
};
state.lastLeftCount = left;
state.lastRightCount = right;
@@ -272,6 +331,16 @@ function processSensorFrame(roverId, sensors = {}) {
state.ignoredSamples += 1;
state.status = 'ignored';
state.statusReason = `ignored ${Math.round(distanceMm)} mm jump`;
/*
Rejected encoder jumps are deliberately not surfaced as speed. They are
most often reconnect/corruption edges, and showing their implied velocity
would produce a dramatic but false wheel-speed sensor spike in the UI.
*/
state.wheelSpeedsMmPerSecond = {
left: null,
right: null,
center: null,
};
state.lastDelta = {
leftCounts,
rightCounts,
@@ -280,6 +349,9 @@ function processSensorFrame(roverId, sensors = {}) {
centerMm: Math.round(centerMm),
distanceMm: 0,
elapsedMs,
leftSpeedMmPerSecond: null,
rightSpeedMmPerSecond: null,
centerSpeedMmPerSecond: null,
ignored: true,
};
state.updatedAt = sampleAt;
@@ -293,6 +365,7 @@ function processSensorFrame(roverId, sensors = {}) {
state.lastIntegratedAt = sampleAt;
state.status = 'tracking';
state.statusReason = distanceMm > 0 ? 'integrated encoder delta' : 'no movement';
state.wheelSpeedsMmPerSecond = wheelSpeedsMmPerSecond;
state.lastDelta = {
leftCounts,
rightCounts,
@@ -301,6 +374,9 @@ function processSensorFrame(roverId, sensors = {}) {
centerMm: Math.round(centerMm),
distanceMm: Math.round(distanceMm),
elapsedMs,
leftSpeedMmPerSecond: wheelSpeedsMmPerSecond.left,
rightSpeedMmPerSecond: wheelSpeedsMmPerSecond.right,
centerSpeedMmPerSecond: wheelSpeedsMmPerSecond.center,
ignored: false,
};
state.updatedAt = sampleAt;
server/src/services/roverManager/sensorPipeline.js
+18 -2
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@@ -529,11 +529,27 @@ function createSensorPipeline(deps) {
const record = rovers.get(roverId);
if (!record) return;
record.lastSeen = Date.now();
const decoded = parseSensorFrame(frame.data);
let decoded = parseSensorFrame(frame.data);
record.lastSensor = { raw: frame, decoded };
record.batteryState = computeBatteryState(record, decoded);
let odometer = null;
if (typeof processOdometerFrame === 'function') {
processOdometerFrame(roverId, decoded);
odometer = processOdometerFrame(roverId, decoded);
}
if (decoded && odometer?.wheelSpeedsMmPerSecond) {
/*
Wheel speed is not a native packet in the Roomba sensor stream; it is a
synthesized sensor produced from the same encoder deltas that drive the
persistent odometer. Merging it into the decoded sensor object keeps the
public socket contract simple: clients still read one JSON `sensors`
payload per frame, with calculated values clearly grouped under their
own wheel-speed key.
*/
decoded = {
...decoded,
wheelSpeedsMmPerSecond: odometer.wheelSpeedsMmPerSecond,
};
record.lastSensor = { raw: frame, decoded };
}
updateMovement(record, decoded);
const hasDockInfo = decoded?.chargingSources != null;