slop

2026-09-15 17:12:59 -04:00 · 2026-07-17 01:55:59 -04:00
parent 12090f23be
commit 8655cde0f1
8 changed files with 230 additions and 72 deletions
@@ -78,8 +78,8 @@
 <script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
 <script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
    <title>Roomba Rover</title>
-    <script type="module" crossorigin src="/assets/index-0zPVgUZU.js"></script>
-    <link rel="stylesheet" crossorigin href="/assets/index-BqHv3u5e.css">
+    <script type="module" crossorigin src="/assets/index-B056JgJR.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-BcBTKEa5.css">
  </head>
  <body>
    <div id="root"></div>
@@ -25,6 +25,7 @@ const ZERO_SAMPLE_COUNT = 10;
 const ZERO_SAMPLE_INTERVAL_MS = 1000;
 const ZERO_MAX_SAMPLE_AGE_MS = 1500;
 const ZERO_MAX_COMBINED_RANGE_KG = 0.5;
+const RECORD_PERSIST_DELAY_MS = 1000;
 const execFileAsync = promisify(execFile);
 const ALERT_COLOR = '#38bdf8';

@@ -41,7 +42,13 @@ function normalizeStoredCorners(value) {
 }

 function emptyStore() {
-  return { address: '', zeroCorners: emptyZeroCorners(), zeroedAt: null };
+  return {
+    address: '',
+    zeroCorners: emptyZeroCorners(),
+    zeroedAt: null,
+    recordKg: 0,
+    recordedAt: null,
+  };
 }

 function loadStore() {
@@ -49,10 +56,18 @@ function loadStore() {
    const parsed = JSON.parse(fs.readFileSync(STORE_PATH, 'utf8'));
    const address = typeof parsed?.address === 'string' ? parsed.address.trim().toUpperCase() : '';
    const zeroedAt = Number.isFinite(Number(parsed?.zeroedAt)) ? Number(parsed.zeroedAt) : null;
+    const recordKg = Number.isFinite(Number(parsed?.recordKg))
+      ? roundedWeight(parsed.recordKg)
+      : 0;
+    const recordedAt = Number.isFinite(Number(parsed?.recordedAt))
+      ? Number(parsed.recordedAt)
+      : null;
    return {
      address,
      zeroCorners: zeroedAt ? normalizeStoredCorners(parsed.zeroCorners) : emptyZeroCorners(),
      zeroedAt,
+      recordKg,
+      recordedAt: recordKg > 0 ? recordedAt : null,
    };
  } catch (err) {
    if (err.code !== 'ENOENT') logger.warn('Failed to load Balance Board address', err.message);
@@ -107,6 +122,7 @@ let latestFrame = null;
 let latestRawCorners = null;
 let latestRawFrameAt = 0;
 let zeroTimer = null;
+let recordPersistTimer = null;
 let zeroSamples = [];
 let zeroProgress = {
  active: false,
@@ -152,6 +168,8 @@ function getState() {
    status,
    detail,
    batteryPercent,
+    recordKg: store.recordKg,
+    recordedAt: store.recordedAt,
    calibration: {
      calibrated: Boolean(store.zeroedAt),
      zeroedAt: store.zeroedAt,
@@ -160,6 +178,55 @@ function getState() {
  };
 }

+function clearRecordPersistTimer() {
+  if (!recordPersistTimer) return;
+  clearTimeout(recordPersistTimer);
+  recordPersistTimer = null;
+}
+
+function scheduleRecordPersistence() {
+  clearRecordPersistTimer();
+
+  // A person driving onto the board produces many successively larger frames.
+  // Waiting until the maximum has stopped changing prevents a synchronous JSON
+  // rewrite for every 20 Hz sensor frame while still saving a settled record
+  // promptly enough to survive an ordinary service restart.
+  recordPersistTimer = setTimeout(() => {
+    recordPersistTimer = null;
+    persistStore();
+  }, RECORD_PERSIST_DELAY_MS);
+  recordPersistTimer.unref?.();
+}
+
+function publishLatestFrame() {
+  if (!latestFrame) return;
+  io.to(FRAME_ROOM).emit('balanceBoard:frame', latestFrame);
+}
+
+function resetWeightRecord() {
+  clearRecordPersistTimer();
+
+  // Reset means "start measuring the record from now." If the board currently
+  // has a load, that current measurement is the first candidate in the new
+  // period. Saving it immediately avoids briefly showing zero before the next
+  // live frame restores the same weight as the record.
+  const currentWeight = connected && latestFrame ? roundedWeight(latestFrame.totalKg) : 0;
+  store.recordKg = currentWeight;
+  store.recordedAt = currentWeight > 0 ? Date.now() : null;
+  persistStore();
+
+  if (latestFrame) {
+    latestFrame = {
+      ...latestFrame,
+      recordKg: store.recordKg,
+      recordedAt: store.recordedAt,
+    };
+    publishLatestFrame();
+  }
+  events.emit('change', { state: getState() });
+  sendRawAlert('record-reset');
+}
+
 function updateStatus(nextStatus, nextDetail) {
  const normalizedStatus = String(nextStatus || 'unknown');
  const normalizedDetail = String(nextDetail || '');
@@ -218,6 +285,11 @@ function finishZeroCalibration() {
    return [key, Math.round(average * 1000) / 1000];
  }));
  store.zeroedAt = Date.now();
+  // A new zero changes the meaning of every adjusted weight, so an old record
+  // cannot be compared with measurements under the new baseline.
+  clearRecordPersistTimer();
+  store.recordKg = 0;
+  store.recordedAt = null;
  persistStore();
  zeroSamples = [];
  zeroProgress = {
@@ -278,12 +350,22 @@ function processFrame(message = {}) {
  connected = true;
  updateStatus('connected', 'Live weight is updating.');
  const adjustedCorners = subtractZero(rawCorners);
+  const totalKg = totalCornerWeight(adjustedCorners);
+  if (totalKg > store.recordKg) {
+    // Store only adjusted weight so the displayed record uses the same admin
+    // zero baseline as the live total and all four corner readings.
+    store.recordKg = totalKg;
+    store.recordedAt = Date.now();
+    scheduleRecordPersistence();
+  }
  latestFrame = {
-    totalKg: totalCornerWeight(adjustedCorners),
+    totalKg,
    corners: adjustedCorners,
    batteryPercent,
+    recordKg: store.recordKg,
+    recordedAt: store.recordedAt,
  };
-  io.to(FRAME_ROOM).emit('balanceBoard:frame', latestFrame);
+  publishLatestFrame();
 }

 function handleWorkerMessage(message = {}) {
@@ -301,6 +383,9 @@ function handleWorkerMessage(message = {}) {
      // baseline across commissioning a different Bluetooth identity.
      store.zeroCorners = emptyZeroCorners();
      store.zeroedAt = null;
+      clearRecordPersistTimer();
+      store.recordKg = 0;
+      store.recordedAt = null;
      persistStore();
    }
    hardware?.setAddress(address);
@@ -376,6 +461,20 @@ io.on('connection', (socket) => {
      cb({ error: err.message || 'Failed to start Balance Board zero calibration' });
    }
  });
+  socket.on('balanceBoard:resetRecord', (_payload = {}, cb = () => {}) => {
+    if (!isAdmin(socket)) {
+      cb({ error: 'Admin access required' });
+      return;
+    }
+
+    try {
+      resetWeightRecord();
+      cb({ success: true });
+    } catch (err) {
+      logger.error('Failed to reset Balance Board weight record', err);
+      cb({ error: err.message || 'Failed to reset the Balance Board weight record' });
+    }
+  });
  socket.on('balanceBoard:unpair', async (_payload = {}, cb = () => {}) => {
    if (!isAdmin(socket)) {
      cb({ error: 'Admin access required' });
@@ -407,6 +506,9 @@ io.on('connection', (socket) => {
      store.address = '';
      store.zeroCorners = emptyZeroCorners();
      store.zeroedAt = null;
+      clearRecordPersistTimer();
+      store.recordKg = 0;
+      store.recordedAt = null;
      persistStore();
      clearZeroTimer();
      zeroSamples = [];
@@ -451,6 +553,13 @@ if (enabled) {
 function installShutdownHooks() {
  const shutdown = () => {
    clearZeroTimer();
+    // A record may still be inside the short debounce window when the process
+    // receives a normal shutdown signal. Flush that newest maximum before the
+    // hardware worker stops so a clean restart cannot lose it.
+    if (recordPersistTimer) {
+      clearRecordPersistTimer();
+      persistStore();
+    }
    hardware?.stop();
  };
  process.once('exit', shutdown);
@@ -13,7 +13,16 @@ const EMPTY_CORNERS = {
  bottomLeft: 0,
  bottomRight: 0,
 };
-const EMPTY_FRAME = { totalKg: 0, batteryPercent: null, corners: EMPTY_CORNERS };
+const EMPTY_FRAME = {
+  totalKg: 0,
+  batteryPercent: null,
+  // Null distinguishes "no live frame received yet" from a legitimate record
+  // of zero, allowing the persisted session value to remain visible while the
+  // socket room subscription is being established.
+  recordKg: null,
+  recordedAt: null,
+  corners: EMPTY_CORNERS,
+};

 function formatWeight(value) {
  const weight = Number(value);
@@ -71,6 +80,7 @@ function BalanceBoardPanelContent() {
  const [frame, setFrame] = useState(EMPTY_FRAME);
  const [unpairing, setUnpairing] = useState(false);
  const [zeroRequesting, setZeroRequesting] = useState(false);
+  const [resettingRecord, setResettingRecord] = useState(false);

  useEffect(() => {
    if (!socket) return undefined;
@@ -108,6 +118,13 @@ function BalanceBoardPanelContent() {
  const liveBattery = finiteNumber(liveFrame.batteryPercent);
  const sessionBattery = finiteNumber(board?.batteryPercent);
  const battery = liveBattery ?? sessionBattery;
+  // Live frames make a newly reached record move immediately. The session copy
+  // remains available while the board sleeps or before this panel subscribes,
+  // which is important because the record belongs to the installation rather
+  // than to one Bluetooth connection.
+  const liveRecord = board?.connected ? finiteNumber(frame.recordKg) : null;
+  const sessionRecord = finiteNumber(board?.recordKg);
+  const record = liveRecord ?? sessionRecord ?? 0;
  const sleeping = board?.status === 'sleeping';
  const isAdmin = role === 'admin' || role === 'lockdown';
  const calibration = board?.calibration || null;
@@ -137,35 +154,38 @@ function BalanceBoardPanelContent() {
    });
  };

-  const actions = (
+  const resetRecord = () => {
+    if (resettingRecord) return;
+    if (!window.confirm('Reset the highest weight record?')) return;
+    setResettingRecord(true);
+    socket.emit('balanceBoard:resetRecord', {}, (response = {}) => {
+      setResettingRecord(false);
+      if (response.error) window.alert(response.error);
+    });
+  };
+
+  const actions = isAdmin ? (
    <div className="flex items-center gap-0.5">
-      {battery != null ? (
-        <span className="text-xs text-slate-300">{Math.round(battery)}% battery</span>
-      ) : null}
-      {isAdmin ? (
-        <>
-          <button
-            type="button"
-            className="button-dark text-xs disabled:opacity-50"
-            disabled={!board?.connected || zeroRequesting || zeroing || unpairing}
-            onClick={zero}
-          >
-            {zeroing
-              ? `Zeroing ${calibration.samplesCollected}/${calibration.totalSamples}`
-              : zeroRequesting ? 'Starting…' : 'Zero'}
-          </button>
-          <button
-            type="button"
-            className="button-dark text-xs disabled:opacity-50"
-            disabled={!board?.paired || unpairing || zeroing}
-            onClick={unpair}
-          >
-            {unpairing ? 'Unpairing…' : 'Unpair'}
-          </button>
-        </>
-      ) : null}
+      <button
+        type="button"
+        className="button-dark text-xs disabled:opacity-50"
+        disabled={!board?.connected || zeroRequesting || zeroing || unpairing}
+        onClick={zero}
+      >
+        {zeroing
+          ? `Zeroing ${calibration.samplesCollected}/${calibration.totalSamples}`
+          : zeroRequesting ? 'Starting…' : 'Zero'}
+      </button>
+      <button
+        type="button"
+        className="button-dark text-xs disabled:opacity-50"
+        disabled={!board?.paired || unpairing || zeroing}
+        onClick={unpair}
+      >
+        {unpairing ? 'Unpairing…' : 'Unpair'}
+      </button>
    </div>
-  );
+  ) : null;

  return (
    <CardFrame
@@ -183,35 +203,64 @@ function BalanceBoardPanelContent() {
        </div>
      ) : null}

-      <div className="panel-section relative h-52 overflow-hidden">
-        {zeroing ? (
-          <div className="absolute inset-0 z-20 flex items-center justify-center bg-neutral-950/90 px-2 text-center">
-            <div className="space-y-0.5">
-              <p className="text-lg font-semibold text-slate-100">
-                Zeroing {calibration.samplesCollected}/{calibration.totalSamples}
-              </p>
-              <p className="text-sm text-slate-300">Keep the board and everything on it still.</p>
+      {/* Keep the measurement column narrow and fixed so the board remains the
+          dominant visual while record and battery stay in one predictable
+          place. Both pieces use the shared dark panel treatment instead of
+          introducing a Balance Board-specific background style. */}
+      <div className="grid grid-cols-[minmax(0,1fr)_8rem] gap-0.5">
+        <div className="panel-section relative h-52 overflow-hidden">
+          {zeroing ? (
+            <div className="absolute inset-0 z-20 flex items-center justify-center bg-neutral-950/90 px-2 text-center">
+              <div className="space-y-0.5">
+                <p className="text-lg font-semibold text-slate-100">
+                  Zeroing {calibration.samplesCollected}/{calibration.totalSamples}
+                </p>
+                <p className="text-sm text-slate-300">Keep the board and everything on it still.</p>
+              </div>
+            </div>
+          ) : null}
+          <CornerReading className="left-0.5 top-0.5" label="Top left" value={corners.topLeft} />
+          <CornerReading className="right-0.5 top-0.5" label="Top right" value={corners.topRight} />
+          <CornerReading className="bottom-0.5 left-0.5" label="Bottom left" value={corners.bottomLeft} />
+          <CornerReading className="bottom-0.5 right-0.5" label="Bottom right" value={corners.bottomRight} />
+          <div
+            aria-label="Center of pressure"
+            className={`absolute z-10 h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full border transition-all duration-100 ${
+              center.active
+                ? 'border-sky-200 bg-sky-500'
+                : 'border-neutral-500 bg-neutral-600 opacity-50'
+            }`}
+            style={{ left: `${center.left}%`, top: `${center.top}%` }}
+          />
+          <div className="pointer-events-none absolute inset-0 flex items-center justify-center">
+            <div className="surface px-1 py-0.5 text-center">
+              <div className="text-[0.65rem] text-slate-400">Total weight</div>
+              <div className="text-3xl font-bold leading-none text-white">
+                {formatWeight(liveFrame.totalKg)}
+              </div>
            </div>
          </div>
-        ) : null}
-        <CornerReading className="left-0.5 top-0.5" label="Top left" value={corners.topLeft} />
-        <CornerReading className="right-0.5 top-0.5" label="Top right" value={corners.topRight} />
-        <CornerReading className="bottom-0.5 left-0.5" label="Bottom left" value={corners.bottomLeft} />
-        <CornerReading className="bottom-0.5 right-0.5" label="Bottom right" value={corners.bottomRight} />
-        <div
-          aria-label="Center of pressure"
-          className={`absolute z-10 h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full border transition-all duration-100 ${
-            center.active
-              ? 'border-sky-200 bg-sky-500'
-              : 'border-neutral-500 bg-neutral-600 opacity-50'
-          }`}
-          style={{ left: `${center.left}%`, top: `${center.top}%` }}
-        />
-        <div className="pointer-events-none absolute inset-0 flex items-center justify-center">
-          <div className="surface px-1 py-0.5 text-center">
-            <div className="text-[0.65rem] text-slate-400">Total weight</div>
-            <div className="text-3xl font-bold leading-none text-white">
-              {formatWeight(liveFrame.totalKg)}
+        </div>
+
+        <div className="grid h-52 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
+          <div className="panel-section flex min-h-0 flex-col items-center justify-center gap-1 text-center">
+            <div className="text-xs text-slate-400">Weight record</div>
+            <div className="text-xl font-bold text-white">{formatWeight(record)}</div>
+            {isAdmin ? (
+              <button
+                type="button"
+                className="button-dark text-xs disabled:opacity-50"
+                disabled={resettingRecord}
+                onClick={resetRecord}
+              >
+                {resettingRecord ? 'Resetting…' : 'Reset'}
+              </button>
+            ) : null}
+          </div>
+          <div className="panel-section px-1 py-1 text-center">
+            <div className="text-xs text-slate-400">Battery</div>
+            <div className="text-xl font-semibold text-slate-100">
+              {battery == null ? '—' : `${Math.round(battery)}%`}
            </div>
          </div>
        </div>