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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/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;