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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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server/public/assets/index-BU08RP3S.js → server/public/assets/index-DlZ3NGp7.js
+9 -9
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File diff suppressed because one or more lines are too long
server/public/index.html
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@@ -11,7 +11,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-BU08RP3S.js"></script> <script type="module" crossorigin src="/assets/index-DlZ3NGp7.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BBEWYgmH.css"> <link rel="stylesheet" crossorigin href="/assets/index-BBEWYgmH.css">
</head> </head>
<body> <body>
webui/src/components/OvercurrentLimiterPanel.jsx
+1
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@@ -73,6 +73,7 @@ export default function OvercurrentLimiterPanel() {
<div className="surface text-[0.7rem] text-slate-400"> <div className="surface text-[0.7rem] text-slate-400">
<div>{`A charge ${overcurrentLimiter?.config?.meterAChargeSec}s · A decay ${overcurrentLimiter?.config?.meterADecaySec}s`}</div> <div>{`A charge ${overcurrentLimiter?.config?.meterAChargeSec}s · A decay ${overcurrentLimiter?.config?.meterADecaySec}s`}</div>
<div>{`B charge ${overcurrentLimiter?.config?.meterBChargeSec}s · B decay ${overcurrentLimiter?.config?.meterBDecaySec}s`}</div> <div>{`B charge ${overcurrentLimiter?.config?.meterBChargeSec}s · B decay ${overcurrentLimiter?.config?.meterBDecaySec}s`}</div>
<div>{`Output rate ${overcurrentLimiter?.config?.outputRateMs}ms`}</div>
</div> </div>
</div> </div>
)} )}
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 driveSpeedsRef = useRef(state.drive.speeds);
const auxValuesRef = useRef(state.aux); const auxValuesRef = useRef(state.aux);
const limiterScaleToken = useMemo(() => JSON.stringify(overcurrentLimiter.scales), [overcurrentLimiter.scales]); const limiterScaleToken = useMemo(() => JSON.stringify(overcurrentLimiter.scales), [overcurrentLimiter.scales]);
const limiterDriveSentAtRef = useRef(0);
const limiterAuxSentAtRef = useRef(0);
useEffect(() => { useEffect(() => {
driveSpeedsRef.current = state.drive.speeds; driveSpeedsRef.current = state.drive.speeds;
@@ -152,19 +154,23 @@ export function ControlSystemProvider({ children }) {
}, [state.aux]); }, [state.aux]);
useEffect(() => { 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 drive = driveSpeedsRef.current || { left: 0, right: 0 };
const aux = auxValuesRef.current || { main: 0, side: 0, vacuum: 0 }; const aux = auxValuesRef.current || { main: 0, side: 0, vacuum: 0 };
const driveActive = Boolean(drive.left || drive.right); const driveActive = Boolean(drive.left || drive.right);
const auxActive = Boolean(aux.main || aux.side || aux.vacuum); const auxActive = Boolean(aux.main || aux.side || aux.vacuum);
if (!driveActive && !auxActive) return; if (!driveActive && !auxActive) return;
if (driveActive) { if (driveActive && now - limiterDriveSentAtRef.current >= outputRateMs) {
limiterDriveSentAtRef.current = now;
pipeline.sendDriveDirect(drive); pipeline.sendDriveDirect(drive);
} }
if (auxActive) { if (auxActive && now - limiterAuxSentAtRef.current >= outputRateMs) {
limiterAuxSentAtRef.current = now;
pipeline.sendAuxMotors(aux); pipeline.sendAuxMotors(aux);
} }
}, [limiterScaleToken, overcurrentLimiter.adminImmune, pipeline]); }, [limiterScaleToken, overcurrentLimiter.adminImmune, overcurrentLimiter.config, overcurrentLimiter.isActive, pipeline]);
const setDriveVector = useCallback( const setDriveVector = useCallback(
(vector, meta = {}) => { (vector, meta = {}) => {
webui/src/controls/overcurrentLimiter.js
+7 -3
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@@ -8,10 +8,11 @@ export const OVERCURRENT_GROUPS = [
]; ];
export const DEFAULT_OVERCURRENT_LIMITS = { export const DEFAULT_OVERCURRENT_LIMITS = {
meterAChargeSec: 3, meterAChargeSec: 9,
meterADecaySec: 9, meterADecaySec: 9,
meterBChargeSec: 1, meterBChargeSec: 5,
meterBDecaySec: 10, meterBDecaySec: 5,
outputRateMs: 250,
}; };
function createInitialMeters() { function createInitialMeters() {
@@ -139,6 +140,7 @@ export function useOvercurrentLimiter(roverId, options = {}) {
meters, meters,
overcurrent, overcurrent,
scales, scales,
isActive: (scales?.drive?.left ?? 1) < 1 || (scales?.drive?.right ?? 1) < 1 || (scales?.aux?.main ?? 1) < 1 || (scales?.aux?.side ?? 1) < 1,
config, config,
adminImmune, adminImmune,
}), }),
@@ -150,6 +152,7 @@ export function applyDriveOvercurrentScale(speeds = {}, scales, adminImmune = fa
if (adminImmune || !scales?.drive) return speeds; if (adminImmune || !scales?.drive) return speeds;
const leftScale = typeof scales.drive.left === 'number' ? scales.drive.left : 1; const leftScale = typeof scales.drive.left === 'number' ? scales.drive.left : 1;
const rightScale = typeof scales.drive.right === 'number' ? scales.drive.right : 1; const rightScale = typeof scales.drive.right === 'number' ? scales.drive.right : 1;
if (leftScale >= 0.999 && rightScale >= 0.999) return speeds;
return { return {
left: Math.round((speeds.left ?? 0) * leftScale), left: Math.round((speeds.left ?? 0) * leftScale),
right: Math.round((speeds.right ?? 0) * rightScale), right: Math.round((speeds.right ?? 0) * rightScale),
@@ -161,6 +164,7 @@ export function applyAuxOvercurrentScale(values = {}, scales, adminImmune = fals
const mainScale = typeof scales.aux.main === 'number' ? scales.aux.main : 1; const mainScale = typeof scales.aux.main === 'number' ? scales.aux.main : 1;
const sideScale = typeof scales.aux.side === 'number' ? scales.aux.side : 1; const sideScale = typeof scales.aux.side === 'number' ? scales.aux.side : 1;
const vacuumScale = typeof scales.aux.vacuum === 'number' ? scales.aux.vacuum : 1; const vacuumScale = typeof scales.aux.vacuum === 'number' ? scales.aux.vacuum : 1;
if (mainScale >= 0.999 && sideScale >= 0.999 && vacuumScale >= 0.999) return values;
return { return {
main: Math.round((values.main ?? 0) * mainScale), main: Math.round((values.main ?? 0) * mainScale),
side: Math.round((values.side ?? 0) * sideScale), side: Math.round((values.side ?? 0) * sideScale),