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better dock resolving

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legop3
2026-08-18 22:51:39 -04:00
parent 4f87a0eec2
commit 8e7d31dcdd
13 changed files with 52 additions and 29 deletions
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server/public/assets/FleetReportsApp-ABb8OQlB.js → server/public/assets/FleetReportsApp-C3PSNNvJ.js
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server/public/assets/FleetReportsApp-ABb8OQlB.js.map → server/public/assets/FleetReportsApp-C3PSNNvJ.js.map
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server/public/assets/index-DtnnIgZU.js → server/public/assets/index-BNuqn1jZ.js
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server/public/assets/index-BNuqn1jZ.js.map
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server/public/assets/index-DtnnIgZU.js.map
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server/public/index.html
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@@ -12,7 +12,7 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<!-- site-metadata:inject --> <!-- site-metadata:inject -->
<!-- analytics:inject --> <!-- analytics:inject -->
<script type="module" crossorigin src="/assets/index-DtnnIgZU.js"></script> <script type="module" crossorigin src="/assets/index-BNuqn1jZ.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-D2qTDWX0.css"> <link rel="stylesheet" crossorigin href="/assets/index-D2qTDWX0.css">
</head> </head>
<body> <body>
webui/src/components/DriveDockAction/driveDockState.js
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@@ -4,14 +4,14 @@
import { useMemo } from 'react'; import { useMemo } from 'react';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js'; import { dockTelemetryEqual, isDockedChargingState, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
export function deriveDriveDockStateFromTelemetry(dockTelemetry) { export function deriveDriveDockStateFromTelemetry(dockTelemetry) {
const oiLabel = dockTelemetry?.oiModeLabel || 'Unknown'; const oiLabel = dockTelemetry?.oiModeLabel || 'Unknown';
const oiNormalized = oiLabel.toLowerCase(); const oiNormalized = oiLabel.toLowerCase();
const chargingLabel = dockTelemetry?.chargingStateLabel || ''; const chargingLabel = dockTelemetry?.chargingStateLabel || '';
const docked = Boolean(dockTelemetry?.homeBase); const docked = resolveDocked(dockTelemetry);
const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== ''; const charging = isDockedChargingState(chargingLabel);
const driving = oiNormalized === 'full'; const driving = oiNormalized === 'full';
const dockedNotCharging = docked && !charging; const dockedNotCharging = docked && !charging;
const dockingInProgress = !docked && !charging && oiNormalized === 'passive'; const dockingInProgress = !docked && !charging && oiNormalized === 'passive';
webui/src/components/HudOverlays/newgen/CornerPods/TopRightPod.jsx
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@@ -4,7 +4,7 @@ import { createElement, useMemo } from 'react';
import { FaArrowDown, FaArrowUp, FaBatteryHalf, FaBolt, FaExclamationTriangle, FaMemory, FaThermometerHalf, FaWifi } from 'react-icons/fa'; import { FaArrowDown, FaArrowUp, FaBatteryHalf, FaBolt, FaExclamationTriangle, FaMemory, FaThermometerHalf, FaWifi } from 'react-icons/fa';
import { useSessionSelector } from '../../../../context/SessionContext.jsx'; import { useSessionSelector } from '../../../../context/SessionContext.jsx';
import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
import { hostStatsEqual, selectHostStats, selectSpectatorTelemetry, spectatorTelemetryEqual } from '../../../../context/telemetryViews.js'; import { hostStatsEqual, resolveDocked, selectHostStats, selectSpectatorTelemetry, spectatorTelemetryEqual } from '../../../../context/telemetryViews.js';
import CornerPodToggle from './CornerPodToggle.jsx'; import CornerPodToggle from './CornerPodToggle.jsx';
import ExpansionToggle from './ExpansionToggle.jsx'; import ExpansionToggle from './ExpansionToggle.jsx';
import usePodVisibility from './usePodVisibility.js'; import usePodVisibility from './usePodVisibility.js';
@@ -101,7 +101,7 @@ export default function TopRightPod({ roverId }) {
const memoryTone = memoryUsed >= 90 ? 'bg-red-400' : memoryUsed >= 75 ? 'bg-amber-400' : 'bg-violet-400'; const memoryTone = memoryUsed >= 90 ? 'bg-red-400' : memoryUsed >= 75 ? 'bg-amber-400' : 'bg-violet-400';
const download = finite(wifi.downloadMbps); const download = finite(wifi.downloadMbps);
const upload = finite(wifi.uploadMbps); const upload = finite(wifi.uploadMbps);
const docked = Boolean(electrical?.homeBase); const docked = resolveDocked(electrical);
const warningMessage = urgentBattery ? 'BATTERY CRITICAL, DOCK NOW' : 'Battery low, please dock soon.'; const warningMessage = urgentBattery ? 'BATTERY CRITICAL, DOCK NOW' : 'Battery low, please dock soon.';
return ( return (
webui/src/components/HudOverlays/newgen/DockingHud/index.jsx
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@@ -7,7 +7,7 @@ import { FaChargingStation, FaChevronDown } from 'react-icons/fa';
import { useControlActions, useControlSelector } from '../../../../controls/index.js'; import { useControlActions, useControlSelector } from '../../../../controls/index.js';
import { formatKeyLabel } from '../../../../controls/keymapUtils.js'; import { formatKeyLabel } from '../../../../controls/keymapUtils.js';
import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../../../context/telemetryViews.js'; import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../../../context/telemetryViews.js';
import { useManualDockAssist } from '../../../../features/manualDockAssist/useManualDockAssist.js'; import { useManualDockAssist } from '../../../../features/manualDockAssist/useManualDockAssist.js';
import { useSettingsNamespace } from '../../../../settings/index.js'; import { useSettingsNamespace } from '../../../../settings/index.js';
import useCanControlRover from '../../../../hooks/useCanControlRover.js'; import useCanControlRover from '../../../../hooks/useCanControlRover.js';
@@ -256,7 +256,7 @@ export default function DockingHud({ roverId }) {
const [error, setError] = useState(''); const [error, setError] = useState('');
const [showUndockTransition, setShowUndockTransition] = useState(false); const [showUndockTransition, setShowUndockTransition] = useState(false);
const docked = Boolean(dockTelemetry?.homeBase); const docked = resolveDocked(dockTelemetry);
const oiMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase(); const oiMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase();
// The established UI contract treats exactly passive + undocked as the Roomba's // The established UI contract treats exactly passive + undocked as the Roomba's
// autonomous docking attempt. Unknown telemetry must not fabricate that state. // autonomous docking attempt. Unknown telemetry must not fabricate that state.
webui/src/components/MobileControls/AuxColumn.jsx
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@@ -6,7 +6,7 @@ import { FaBullhorn, FaCrosshairs, FaLightbulb } from 'react-icons/fa';
import './mobileControls.css'; import './mobileControls.css';
import { useControlActions, useControlSelector } from '../../controls/index.js'; import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js'; import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js'; import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import useCanControlRover from '../../hooks/useCanControlRover.js'; import useCanControlRover from '../../hooks/useCanControlRover.js';
import HornControl from '../HornControl/index.jsx'; import HornControl from '../HornControl/index.jsx';
@@ -37,7 +37,7 @@ function AuxColumnContent() {
// column. Dock and OI state are applied separately only where the hardware // column. Dock and OI state are applied separately only where the hardware
// command itself depends on the Roomba being able to drive. // command itself depends on the Roomba being able to drive.
const controlsDisabled = !roverId || !canControl; const controlsDisabled = !roverId || !canControl;
const docked = Boolean(dockTelemetry?.homeBase); const docked = resolveDocked(dockTelemetry);
const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full'; const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
const vacuumDisabled = controlsDisabled const vacuumDisabled = controlsDisabled
|| docked || docked
webui/src/components/MobileControls/MovementColumn.jsx
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@@ -5,7 +5,7 @@ import { FaChargingStation } from 'react-icons/fa';
import { useControlSelector } from '../../controls/index.js'; import { useControlSelector } from '../../controls/index.js';
import { useSessionSelector } from '../../context/SessionContext.jsx'; import { useSessionSelector } from '../../context/SessionContext.jsx';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js'; import { dockTelemetryEqual, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js'; import { useManualDockAssist } from '../../features/manualDockAssist/useManualDockAssist.js';
import useCanControlRover from '../../hooks/useCanControlRover.js'; import useCanControlRover from '../../hooks/useCanControlRover.js';
import { triggerTouchHaptic } from '../../lib/touchHaptics.js'; import { triggerTouchHaptic } from '../../lib/touchHaptics.js';
@@ -22,7 +22,7 @@ function MovementColumnContent({ layout }) {
}); });
const batteryUrgent = Boolean(batteryState?.urgentActive); const batteryUrgent = Boolean(batteryState?.urgentActive);
const batteryLow = Boolean(batteryState?.warnActive || batteryUrgent); const batteryLow = Boolean(batteryState?.warnActive || batteryUrgent);
const docked = Boolean(dockTelemetry?.homeBase); const docked = resolveDocked(dockTelemetry);
const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full'; const drivingMode = String(dockTelemetry?.oiModeLabel || '').toLowerCase() === 'full';
/* /*
webui/src/context/telemetryViews.js
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@@ -37,6 +37,27 @@ const EMPTY_MAIN_BRUSH_AUDIO = Object.freeze({
mainBrushOvercurrent: false, mainBrushOvercurrent: false,
}); });
// These labels represent an active charging relationship reported by the
// Roomba. That is independently useful dock evidence: some already-docked
// rovers report charging before the home-base contact bit changes again.
const DOCKED_CHARGING_STATES = new Set([
'reconditioning charging',
'full charging',
'trickle charging',
'waiting',
]);
export function isDockedChargingState(chargingStateLabel) {
return DOCKED_CHARGING_STATES.has(String(chargingStateLabel || '').trim().toLowerCase());
}
export function resolveDocked(dockTelemetry) {
// Dock contact and active charging are complementary sensor evidence, not
// fallback state. Treating either as sufficient prevents UI controls from
// claiming a charging rover should be driven onto a dock it already occupies.
return Boolean(dockTelemetry?.homeBase) || isDockedChargingState(dockTelemetry?.chargingStateLabel);
}
function bucketNumber(value, step) { function bucketNumber(value, step) {
// Visual widgets do not benefit from repainting for tiny analog jitter. The // Visual widgets do not benefit from repainting for tiny analog jitter. The
// bucket step intentionally applies only to display selectors; raw telemetry // bucket step intentionally applies only to display selectors; raw telemetry
webui/src/features/manualDockAssist/useManualDockAssist.js
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@@ -1,7 +1,7 @@
import { useCallback, useEffect, useMemo, useRef } from 'react'; import { useCallback, useEffect, useMemo, useRef } from 'react';
import { useControlActions, useControlSelector } from '../../controls/index.js'; import { useControlActions, useControlSelector } from '../../controls/index.js';
import { useTelemetrySelector } from '../../context/TelemetryContext.jsx'; import { useTelemetrySelector } from '../../context/TelemetryContext.jsx';
import { dockTelemetryEqual, selectDockTelemetry } from '../../context/telemetryViews.js'; import { dockTelemetryEqual, isDockedChargingState, resolveDocked, selectDockTelemetry } from '../../context/telemetryViews.js';
export function useManualDockAssist(options = {}) { export function useManualDockAssist(options = {}) {
const { manageLifecycle = false } = options; const { manageLifecycle = false } = options;
@@ -10,8 +10,10 @@ export function useManualDockAssist(options = {}) {
const actions = useControlActions(); const actions = useControlActions();
const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual); const dockTelemetry = useTelemetrySelector(roverId, selectDockTelemetry, dockTelemetryEqual);
const chargingLabel = dockTelemetry.chargingStateLabel || ''; const chargingLabel = dockTelemetry.chargingStateLabel || '';
const docked = Boolean(dockTelemetry.homeBase); const docked = resolveDocked(dockTelemetry);
const charging = docked && chargingLabel.toLowerCase() !== 'not charging' && chargingLabel !== ''; // Use the same explicit charging labels that can establish dock presence.
// A non-empty fault or unknown label must not masquerade as active charging.
const charging = isDockedChargingState(chargingLabel);
const wasDockedRef = useRef(false); const wasDockedRef = useRef(false);
const enterAssist = useCallback(() => { const enterAssist = useCallback(() => {