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output rate limit and override gating

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legop3
2026-01-21 02:38:37 -05:00
parent e0edbcfb28
commit 8326898403
5 changed files with 28 additions and 17 deletions
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webui/src/controls/ControlContext.jsx
+10 -4
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@@ -142,6 +142,8 @@ export function ControlSystemProvider({ children }) {
const driveSpeedsRef = useRef(state.drive.speeds);
const auxValuesRef = useRef(state.aux);
const limiterScaleToken = useMemo(() => JSON.stringify(overcurrentLimiter.scales), [overcurrentLimiter.scales]);
const limiterDriveSentAtRef = useRef(0);
const limiterAuxSentAtRef = useRef(0);
useEffect(() => {
driveSpeedsRef.current = state.drive.speeds;
@@ -152,19 +154,23 @@ export function ControlSystemProvider({ children }) {
}, [state.aux]);
useEffect(() => {
if (!pipeline.roverId || overcurrentLimiter.adminImmune) return;
if (!pipeline.roverId || overcurrentLimiter.adminImmune || !overcurrentLimiter.isActive) return;
const outputRateMs = Math.max(0, Number(overcurrentLimiter?.config?.outputRateMs) || 0);
const now = typeof performance !== 'undefined' ? performance.now() : Date.now();
const drive = driveSpeedsRef.current || { left: 0, right: 0 };
const aux = auxValuesRef.current || { main: 0, side: 0, vacuum: 0 };
const driveActive = Boolean(drive.left || drive.right);
const auxActive = Boolean(aux.main || aux.side || aux.vacuum);
if (!driveActive && !auxActive) return;
if (driveActive) {
if (driveActive && now - limiterDriveSentAtRef.current >= outputRateMs) {
limiterDriveSentAtRef.current = now;
pipeline.sendDriveDirect(drive);
}
if (auxActive) {
if (auxActive && now - limiterAuxSentAtRef.current >= outputRateMs) {
limiterAuxSentAtRef.current = now;
pipeline.sendAuxMotors(aux);
}
}, [limiterScaleToken, overcurrentLimiter.adminImmune, pipeline]);
}, [limiterScaleToken, overcurrentLimiter.adminImmune, overcurrentLimiter.config, overcurrentLimiter.isActive, pipeline]);
const setDriveVector = useCallback(
(vector, meta = {}) => {