legop3/MultiRoombaRover
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legop3
2026-09-27 18:41:24 -04:00
parent dbcb7f6a7a
commit 73a78eef20
11 changed files with 1024 additions and 2 deletions
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server/src/services/commandService/index.js
+7 -2
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@@ -11,6 +11,7 @@ const logger = require('../../globals/logger').child('commandService');
const { isHeadlightBlocked } = require('../../rewards/definitions/darkness');
const homeAssistantService = require('../homeAssistantService');
const overcurrentProtectionService = require('../overcurrentProtectionService');
const { subscribeCommandRecording, observeCommand, recordCommandRequest } = require('./recording');
// Command observations are intentionally separate from the global event bus.
// Drive and motor commands can run at control-loop frequency, and publishing
@@ -96,6 +97,7 @@ function issueCommand(roverId, payload) {
const normalizedPayload = normalizeOutboundCommandPayload(payload);
const message = { ...normalizedPayload, id };
record.ws.send(JSON.stringify(message));
observeCommand({ phase: 'dispatched', roverId, commandId: id, command: normalizedPayload });
pendingCommands.set(id, { roverId, ts: Date.now(), type: normalizedPayload.type });
logger.info('Issued command', roverId, normalizedPayload.type, id);
return id;
@@ -130,6 +132,7 @@ function handleAck(msg) {
const pending = pendingCommands.get(msg.id);
if (!pending) return;
pendingCommands.delete(msg.id);
observeCommand({ phase: 'acknowledged', roverId: pending.roverId, commandId: msg.id, acknowledgement: msg });
logger.info('Command acknowledged', pending.roverId, pending.type, msg.status);
io.emit('commandAck', {
roverId: pending.roverId,
@@ -255,6 +258,7 @@ module.exports = {
getRecentDriveActivity,
setDriveCooldown,
commandEvents,
subscribeCommandRecording,
};
io.on('connection', (socket) => {
@@ -392,8 +396,9 @@ io.on('connection', (socket) => {
}
}
socket.on('command', handleCommand);
socket.on('command:issue', handleCommand);
const recordedCommand = (request, reply) => recordCommandRequest(socket, request, reply, handleCommand);
socket.on('command', recordedCommand);
socket.on('command:issue', recordedCommand);
socket.on('command:updateAllRovers', (_payload = {}, cb) => {
const reply = typeof cb === 'function' ? cb : () => {};