improvements and bug fixes

2026-09-16 01:21:20 -04:00 · 2026-06-29 20:19:24 -04:00
parent 02df826eb4
commit 79be3e1583
28 changed files with 164 additions and 233 deletions
@@ -1,95 +0,0 @@
-// Hook: useDockIr
-// Purpose: Tracks dock IR telemetry/status values for docking-related UI indicators. Scope: Converts telemetry feed updates into component-friendly reactive state.
-import { useEffect, useMemo, useState } from 'react';
-
-const HOLD_MS = 650;
-
-const DOCK_CODES = {
-  161: { red: true }, // Red buoy
-  164: { green: true }, // Green buoy
-  165: { force: true }, // Force field only
-  168: { red: true, green: true }, // Red + green
-  169: { red: true, force: true }, // Red + force
-  172: { green: true, force: true }, // Green + force
-  173: { red: true, green: true, force: true }, // Red + green + force
-};
-
-function decodeDockBits(code) {
-  if (typeof code !== 'number' || code <= 0) return null;
-  const bits = DOCK_CODES[code];
-  if (!bits) return null;
-  return { code, ...bits };
-}
-
-/**
- * Returns a smoothed view of dock IR signals. Keeps the last seen code alive for HOLD_MS to mask blinks.
- */
-export function useDockIr(sensors, options = {}) {
-  const holdMs = options.holdMs || HOLD_MS;
-  const [state, setState] = useState({
-    left: null,
-    right: null,
-    omni: null,
-  });
-  const [tick, setTick] = useState(0);
-
-  useEffect(() => {
-    const id = setInterval(() => setTick(Date.now()), Math.max(holdMs / 2, 100));
-    return () => clearInterval(id);
-  }, [holdMs]);
-
-  useEffect(() => {
-    const now = Date.now();
-    const left = decodeDockBits(sensors?.infraredCharacterLeft);
-    const right = decodeDockBits(sensors?.infraredCharacterRight);
-    const omni = decodeDockBits(sensors?.infraredCharacterOmni);
-    if (!left && !right && !omni) {
-      return;
-    }
-    setState((prev) => ({
-      left: left ? { ...left, ts: now } : prev.left,
-      right: right ? { ...right, ts: now } : prev.right,
-      omni: omni ? { ...omni, ts: now } : prev.omni,
-    }));
-  }, [sensors?.infraredCharacterLeft, sensors?.infraredCharacterRight, sensors?.infraredCharacterOmni]);
-
-  return useMemo(() => {
-    const now = Date.now();
-    const withWindow = (entry) => {
-      if (!entry) return { active: false, red: false, green: false, force: false, age: null, code: null };
-      const age = now - entry.ts;
-      const active = age <= holdMs;
-      return {
-        active,
-        age,
-        code: entry.code,
-        red: Boolean(entry.red && active),
-        green: Boolean(entry.green && active),
-        force: Boolean(entry.force && active),
-      };
-    };
-
-    const left = withWindow(state.left);
-    const right = withWindow(state.right);
-    const omni = withWindow(state.omni);
-    const forceDetected = left.force || right.force || omni.force;
-    const visible = left.active || right.active || omni.active;
-    const bias =
-      left.active && !right.active
-        ? 'right'
-        : right.active && !left.active
-        ? 'left'
-        : 'center';
-    const balance = (right.active ? 1 : 0) - (left.active ? 1 : 0); // positive means steer left-to-right
-
-    return {
-      visible,
-      forceDetected,
-      left,
-      right,
-      omni,
-      bias, // left/right/center for steering cue
-      balance: Math.max(-1, Math.min(1, balance)),
-    };
-  }, [state.left, state.right, state.omni, holdMs, tick]);
-}