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topdown reworkie

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legop3
2026-06-28 21:42:18 -04:00
parent 78fc891cb9
commit 8f2a4dbb8e
23 changed files with 799 additions and 353 deletions
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webui/src/context/telemetryViews.js
-72
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@@ -4,37 +4,6 @@
import { shallowArrayEqual, shallowObjectEqual } from './TelemetryContext.jsx';
export const EMPTY_MAP_TELEMETRY = Object.freeze({
bumpLeft: false,
bumpRight: false,
wheelDropLeft: false,
wheelDropRight: false,
leftWheelOvercurrent: false,
rightWheelOvercurrent: false,
sideBrushOvercurrent: false,
mainBrushOvercurrent: false,
wheelLeftCurrentMa: 0,
wheelRightCurrentMa: 0,
sideBrushCurrentMa: 0,
mainBrushCurrentMa: 0,
lightBumpLeftSignal: null,
lightBumpFrontLeftSignal: null,
lightBumpCenterLeftSignal: null,
lightBumpCenterRightSignal: null,
lightBumpFrontRightSignal: null,
lightBumpRightSignal: null,
cliffLeftSignal: null,
cliffFrontLeftSignal: null,
cliffFrontRightSignal: null,
cliffRightSignal: null,
cliffLeft: false,
cliffFrontLeft: false,
cliffFrontRight: false,
cliffRight: false,
dirtDetectLeft: null,
dirtDetect: null,
});
const EMPTY_BATTERY_TELEMETRY = Object.freeze({
batteryChargeMah: null,
batteryCapacityMah: null,
@@ -84,10 +53,6 @@ function sensorNumber(value) {
return Number(value);
}
export function mapTelemetryEqual(left, right) {
return shallowObjectEqual(left, right);
}
export function batteryTelemetryEqual(left, right) {
return shallowObjectEqual(left, right);
}
@@ -100,43 +65,6 @@ export function hostStatsEqual(left, right) {
return shallowObjectEqual(left, right);
}
export function selectVisualMapTelemetry(frame) {
const sensors = frame?.sensors;
if (!sensors) return EMPTY_MAP_TELEMETRY;
const bumps = sensors.bumpsAndWheelDrops || {};
const wheelOver = sensors.wheelOvercurrents || {};
return {
bumpLeft: Boolean(bumps.bumpLeft),
bumpRight: Boolean(bumps.bumpRight),
wheelDropLeft: Boolean(bumps.wheelDropLeft),
wheelDropRight: Boolean(bumps.wheelDropRight),
leftWheelOvercurrent: Boolean(wheelOver.leftWheel),
rightWheelOvercurrent: Boolean(wheelOver.rightWheel),
sideBrushOvercurrent: Boolean(wheelOver.sideBrush),
mainBrushOvercurrent: Boolean(wheelOver.mainBrush),
wheelLeftCurrentMa: bucketNumber(sensors.wheelLeftCurrentMa ?? 0, 5),
wheelRightCurrentMa: bucketNumber(sensors.wheelRightCurrentMa ?? 0, 5),
sideBrushCurrentMa: bucketNumber(sensors.sideBrushCurrentMa ?? 0, 5),
mainBrushCurrentMa: bucketNumber(sensors.mainBrushCurrentMa ?? 0, 5),
lightBumpLeftSignal: sensorNumber(sensors.lightBumpLeftSignal),
lightBumpFrontLeftSignal: sensorNumber(sensors.lightBumpFrontLeftSignal),
lightBumpCenterLeftSignal: sensorNumber(sensors.lightBumpCenterLeftSignal),
lightBumpCenterRightSignal: sensorNumber(sensors.lightBumpCenterRightSignal),
lightBumpFrontRightSignal: sensorNumber(sensors.lightBumpFrontRightSignal),
lightBumpRightSignal: sensorNumber(sensors.lightBumpRightSignal),
cliffLeftSignal: bucketNumber(sensors.cliffLeftSignal, 5),
cliffFrontLeftSignal: bucketNumber(sensors.cliffFrontLeftSignal, 5),
cliffFrontRightSignal: bucketNumber(sensors.cliffFrontRightSignal, 5),
cliffRightSignal: bucketNumber(sensors.cliffRightSignal, 5),
cliffLeft: Boolean(sensors.cliffLeft),
cliffFrontLeft: Boolean(sensors.cliffFrontLeft),
cliffFrontRight: Boolean(sensors.cliffFrontRight),
cliffRight: Boolean(sensors.cliffRight),
dirtDetectLeft: bucketNumber(sensors.dirtDetectLeft, 1),
dirtDetect: bucketNumber(sensors.dirtDetect, 1),
};
}
export function selectLightBumpTelemetry(frame) {
const sensors = frame?.sensors;
if (!sensors) return [];