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legop3
2026-07-17 01:55:59 -04:00
parent 12090f23be
commit 8655cde0f1
8 changed files with 230 additions and 72 deletions
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server/public/assets/index-0zPVgUZU.js.map
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server/public/assets/index-BcBTKEa5.css
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server/public/index.html
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@@ -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/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> <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> <title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-0zPVgUZU.js"></script> <script type="module" crossorigin src="/assets/index-B056JgJR.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-BqHv3u5e.css"> <link rel="stylesheet" crossorigin href="/assets/index-BcBTKEa5.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/services/balanceBoardService/index.js
+112 -3
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@@ -25,6 +25,7 @@ const ZERO_SAMPLE_COUNT = 10;
const ZERO_SAMPLE_INTERVAL_MS = 1000; const ZERO_SAMPLE_INTERVAL_MS = 1000;
const ZERO_MAX_SAMPLE_AGE_MS = 1500; const ZERO_MAX_SAMPLE_AGE_MS = 1500;
const ZERO_MAX_COMBINED_RANGE_KG = 0.5; const ZERO_MAX_COMBINED_RANGE_KG = 0.5;
const RECORD_PERSIST_DELAY_MS = 1000;
const execFileAsync = promisify(execFile); const execFileAsync = promisify(execFile);
const ALERT_COLOR = '#38bdf8'; const ALERT_COLOR = '#38bdf8';
@@ -41,7 +42,13 @@ function normalizeStoredCorners(value) {
} }
function emptyStore() { function emptyStore() {
return { address: '', zeroCorners: emptyZeroCorners(), zeroedAt: null }; return {
address: '',
zeroCorners: emptyZeroCorners(),
zeroedAt: null,
recordKg: 0,
recordedAt: null,
};
} }
function loadStore() { function loadStore() {
@@ -49,10 +56,18 @@ function loadStore() {
const parsed = JSON.parse(fs.readFileSync(STORE_PATH, 'utf8')); const parsed = JSON.parse(fs.readFileSync(STORE_PATH, 'utf8'));
const address = typeof parsed?.address === 'string' ? parsed.address.trim().toUpperCase() : ''; const address = typeof parsed?.address === 'string' ? parsed.address.trim().toUpperCase() : '';
const zeroedAt = Number.isFinite(Number(parsed?.zeroedAt)) ? Number(parsed.zeroedAt) : null; 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 { return {
address, address,
zeroCorners: zeroedAt ? normalizeStoredCorners(parsed.zeroCorners) : emptyZeroCorners(), zeroCorners: zeroedAt ? normalizeStoredCorners(parsed.zeroCorners) : emptyZeroCorners(),
zeroedAt, zeroedAt,
recordKg,
recordedAt: recordKg > 0 ? recordedAt : null,
}; };
} catch (err) { } catch (err) {
if (err.code !== 'ENOENT') logger.warn('Failed to load Balance Board address', err.message); 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 latestRawCorners = null;
let latestRawFrameAt = 0; let latestRawFrameAt = 0;
let zeroTimer = null; let zeroTimer = null;
let recordPersistTimer = null;
let zeroSamples = []; let zeroSamples = [];
let zeroProgress = { let zeroProgress = {
active: false, active: false,
@@ -152,6 +168,8 @@ function getState() {
status, status,
detail, detail,
batteryPercent, batteryPercent,
recordKg: store.recordKg,
recordedAt: store.recordedAt,
calibration: { calibration: {
calibrated: Boolean(store.zeroedAt), calibrated: Boolean(store.zeroedAt),
zeroedAt: 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) { function updateStatus(nextStatus, nextDetail) {
const normalizedStatus = String(nextStatus || 'unknown'); const normalizedStatus = String(nextStatus || 'unknown');
const normalizedDetail = String(nextDetail || ''); const normalizedDetail = String(nextDetail || '');
@@ -218,6 +285,11 @@ function finishZeroCalibration() {
return [key, Math.round(average * 1000) / 1000]; return [key, Math.round(average * 1000) / 1000];
})); }));
store.zeroedAt = Date.now(); 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(); persistStore();
zeroSamples = []; zeroSamples = [];
zeroProgress = { zeroProgress = {
@@ -278,12 +350,22 @@ function processFrame(message = {}) {
connected = true; connected = true;
updateStatus('connected', 'Live weight is updating.'); updateStatus('connected', 'Live weight is updating.');
const adjustedCorners = subtractZero(rawCorners); 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 = { latestFrame = {
totalKg: totalCornerWeight(adjustedCorners), totalKg,
corners: adjustedCorners, corners: adjustedCorners,
batteryPercent, batteryPercent,
recordKg: store.recordKg,
recordedAt: store.recordedAt,
}; };
io.to(FRAME_ROOM).emit('balanceBoard:frame', latestFrame); publishLatestFrame();
} }
function handleWorkerMessage(message = {}) { function handleWorkerMessage(message = {}) {
@@ -301,6 +383,9 @@ function handleWorkerMessage(message = {}) {
// baseline across commissioning a different Bluetooth identity. // baseline across commissioning a different Bluetooth identity.
store.zeroCorners = emptyZeroCorners(); store.zeroCorners = emptyZeroCorners();
store.zeroedAt = null; store.zeroedAt = null;
clearRecordPersistTimer();
store.recordKg = 0;
store.recordedAt = null;
persistStore(); persistStore();
} }
hardware?.setAddress(address); hardware?.setAddress(address);
@@ -376,6 +461,20 @@ io.on('connection', (socket) => {
cb({ error: err.message || 'Failed to start Balance Board zero calibration' }); 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 = () => {}) => { socket.on('balanceBoard:unpair', async (_payload = {}, cb = () => {}) => {
if (!isAdmin(socket)) { if (!isAdmin(socket)) {
cb({ error: 'Admin access required' }); cb({ error: 'Admin access required' });
@@ -407,6 +506,9 @@ io.on('connection', (socket) => {
store.address = ''; store.address = '';
store.zeroCorners = emptyZeroCorners(); store.zeroCorners = emptyZeroCorners();
store.zeroedAt = null; store.zeroedAt = null;
clearRecordPersistTimer();
store.recordKg = 0;
store.recordedAt = null;
persistStore(); persistStore();
clearZeroTimer(); clearZeroTimer();
zeroSamples = []; zeroSamples = [];
@@ -451,6 +553,13 @@ if (enabled) {
function installShutdownHooks() { function installShutdownHooks() {
const shutdown = () => { const shutdown = () => {
clearZeroTimer(); 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(); hardware?.stop();
}; };
process.once('exit', shutdown); process.once('exit', shutdown);
webui/src/components/BalanceBoardPanel/index.jsx
+104 -55
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@@ -13,7 +13,16 @@ const EMPTY_CORNERS = {
bottomLeft: 0, bottomLeft: 0,
bottomRight: 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) { function formatWeight(value) {
const weight = Number(value); const weight = Number(value);
@@ -71,6 +80,7 @@ function BalanceBoardPanelContent() {
const [frame, setFrame] = useState(EMPTY_FRAME); const [frame, setFrame] = useState(EMPTY_FRAME);
const [unpairing, setUnpairing] = useState(false); const [unpairing, setUnpairing] = useState(false);
const [zeroRequesting, setZeroRequesting] = useState(false); const [zeroRequesting, setZeroRequesting] = useState(false);
const [resettingRecord, setResettingRecord] = useState(false);
useEffect(() => { useEffect(() => {
if (!socket) return undefined; if (!socket) return undefined;
@@ -108,6 +118,13 @@ function BalanceBoardPanelContent() {
const liveBattery = finiteNumber(liveFrame.batteryPercent); const liveBattery = finiteNumber(liveFrame.batteryPercent);
const sessionBattery = finiteNumber(board?.batteryPercent); const sessionBattery = finiteNumber(board?.batteryPercent);
const battery = liveBattery ?? sessionBattery; 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 sleeping = board?.status === 'sleeping';
const isAdmin = role === 'admin' || role === 'lockdown'; const isAdmin = role === 'admin' || role === 'lockdown';
const calibration = board?.calibration || null; 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"> <div className="flex items-center gap-0.5">
{battery != null ? ( <button
<span className="text-xs text-slate-300">{Math.round(battery)}% battery</span> type="button"
) : null} className="button-dark text-xs disabled:opacity-50"
{isAdmin ? ( disabled={!board?.connected || zeroRequesting || zeroing || unpairing}
<> onClick={zero}
<button >
type="button" {zeroing
className="button-dark text-xs disabled:opacity-50" ? `Zeroing ${calibration.samplesCollected}/${calibration.totalSamples}`
disabled={!board?.connected || zeroRequesting || zeroing || unpairing} : zeroRequesting ? 'Starting…' : 'Zero'}
onClick={zero} </button>
> <button
{zeroing type="button"
? `Zeroing ${calibration.samplesCollected}/${calibration.totalSamples}` className="button-dark text-xs disabled:opacity-50"
: zeroRequesting ? 'Starting…' : 'Zero'} disabled={!board?.paired || unpairing || zeroing}
</button> onClick={unpair}
<button >
type="button" {unpairing ? 'Unpairing…' : 'Unpair'}
className="button-dark text-xs disabled:opacity-50" </button>
disabled={!board?.paired || unpairing || zeroing}
onClick={unpair}
>
{unpairing ? 'Unpairing…' : 'Unpair'}
</button>
</>
) : null}
</div> </div>
); ) : null;
return ( return (
<CardFrame <CardFrame
@@ -183,35 +203,64 @@ function BalanceBoardPanelContent() {
</div> </div>
) : null} ) : null}
<div className="panel-section relative h-52 overflow-hidden"> {/* Keep the measurement column narrow and fixed so the board remains the
{zeroing ? ( dominant visual while record and battery stay in one predictable
<div className="absolute inset-0 z-20 flex items-center justify-center bg-neutral-950/90 px-2 text-center"> place. Both pieces use the shared dark panel treatment instead of
<div className="space-y-0.5"> introducing a Balance Board-specific background style. */}
<p className="text-lg font-semibold text-slate-100"> <div className="grid grid-cols-[minmax(0,1fr)_8rem] gap-0.5">
Zeroing {calibration.samplesCollected}/{calibration.totalSamples} <div className="panel-section relative h-52 overflow-hidden">
</p> {zeroing ? (
<p className="text-sm text-slate-300">Keep the board and everything on it still.</p> <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>
</div> </div>
) : null} </div>
<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} /> <div className="grid h-52 grid-rows-[minmax(0,1fr)_auto] gap-0.5">
<CornerReading className="bottom-0.5 left-0.5" label="Bottom left" value={corners.bottomLeft} /> <div className="panel-section flex min-h-0 flex-col items-center justify-center gap-1 text-center">
<CornerReading className="bottom-0.5 right-0.5" label="Bottom right" value={corners.bottomRight} /> <div className="text-xs text-slate-400">Weight record</div>
<div <div className="text-xl font-bold text-white">{formatWeight(record)}</div>
aria-label="Center of pressure" {isAdmin ? (
className={`absolute z-10 h-3 w-3 -translate-x-1/2 -translate-y-1/2 rounded-full border transition-all duration-100 ${ <button
center.active type="button"
? 'border-sky-200 bg-sky-500' className="button-dark text-xs disabled:opacity-50"
: 'border-neutral-500 bg-neutral-600 opacity-50' disabled={resettingRecord}
}`} onClick={resetRecord}
style={{ left: `${center.left}%`, top: `${center.top}%` }} >
/> {resettingRecord ? 'Resetting…' : 'Reset'}
<div className="pointer-events-none absolute inset-0 flex items-center justify-center"> </button>
<div className="surface px-1 py-0.5 text-center"> ) : null}
<div className="text-[0.65rem] text-slate-400">Total weight</div> </div>
<div className="text-3xl font-bold leading-none text-white"> <div className="panel-section px-1 py-1 text-center">
{formatWeight(liveFrame.totalKg)} <div className="text-xs text-slate-400">Battery</div>
<div className="text-xl font-semibold text-slate-100">
{battery == null ? '—' : `${Math.round(battery)}%`}
</div> </div>
</div> </div>
</div> </div>