From 985a2f966a0b8a9f88c6298bb1bffd0e06c70eb1 Mon Sep 17 00:00:00 2001
From: legop3 <minecratfd8@gmail.com>
Date: Fri, 27 Feb 2026 00:43:45 -0500
Subject: [PATCH] cliff improvements

---
 server/src/services/chatService.js          | 26 ++++++++++++++-------
 server/src/services/llmCommentaryService.js | 25 ++++++++++++--------
 2 files changed, 32 insertions(+), 19 deletions(-)

diff --git a/server/src/services/chatService.js b/server/src/services/chatService.js
index b0bf6e71..78a4b1c4 100644
--- a/server/src/services/chatService.js
+++ b/server/src/services/chatService.js
@@ -142,18 +142,26 @@ function buildRoverCtxSnapshot(roverId) {
     (sensors?.bumpsAndWheelDrops?.bumpLeft ? 0.5 : 0) +
     (sensors?.bumpsAndWheelDrops?.bumpRight ? 0.5 : 0);
   const light = sensors?.lightBumper || {};
-  const contactState =
-    latestBumps >= 0.5
+  const contactState = docked
+    ? 'clear'
+    : latestBumps >= 0.5
       ? 'bumps_recent'
-      : sensors?.wall || light.left || light.frontLeft || light.centerLeft || light.centerRight || light.frontRight || light.right
-      ? 'wall_brush'
-      : 'clear';
-  const hazardState =
-    sensors?.virtualWall
+      : sensors?.wall ||
+          light.left ||
+          light.frontLeft ||
+          light.centerLeft ||
+          light.centerRight ||
+          light.frontRight ||
+          light.right
+        ? 'wall_brush'
+        : 'clear';
+  const hazardState = docked
+    ? 'normal'
+    : sensors?.virtualWall
       ? 'virtual_wall_seen'
       : sensors?.cliffLeft || sensors?.cliffFrontLeft || sensors?.cliffFrontRight || sensors?.cliffRight
-      ? 'cliff_alert'
-      : 'normal';
+        ? 'cliff_alert'
+        : 'normal';
   const mobilityState = wheelsOffGround ? 'wheels_off_ground' : 'normal';
   const baseScore = Math.min(100, Math.round(Math.min(45, latestDistanceM * 25) + Math.min(30, latestTurnDeg / 12) + Math.min(25, latestBumps * 12)));
   const activityScore = Math.max(
diff --git a/server/src/services/llmCommentaryService.js b/server/src/services/llmCommentaryService.js
index 41ff8349..00a4b652 100644
--- a/server/src/services/llmCommentaryService.js
+++ b/server/src/services/llmCommentaryService.js
@@ -279,6 +279,7 @@ function upsertActivityState(roverId) {
 function onSensorEvent({ roverId, sensors, batteryState } = {}) {
   if (!roverId || !sensors) return;
   const nowMs = Date.now();
+  const dockedNow = Boolean(sensors?.chargingSources?.homeBase);
   const bucketTs = Math.floor(nowMs / ACTIVITY_BUCKET_MS) * ACTIVITY_BUCKET_MS;
   const state = upsertActivityState(String(roverId));
   pruneActivityBuckets(state, nowMs);
@@ -290,11 +291,13 @@ function onSensorEvent({ roverId, sensors, batteryState } = {}) {
   bucket.turnDeg += Math.abs(Number(sensors.angleDeg) || 0);
   const bumpLeftNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpLeft);
   const bumpRightNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpRight);
-  if (bumpLeftNow && !state.bumpLeftActive) {
-    bucket.bumps += 0.5;
-  }
-  if (bumpRightNow && !state.bumpRightActive) {
-    bucket.bumps += 0.5;
+  if (!dockedNow) {
+    if (bumpLeftNow && !state.bumpLeftActive) {
+      bucket.bumps += 0.5;
+    }
+    if (bumpRightNow && !state.bumpRightActive) {
+      bucket.bumps += 0.5;
+    }
   }
   state.bumpLeftActive = bumpLeftNow;
   state.bumpRightActive = bumpRightNow;
@@ -303,7 +306,7 @@ function onSensorEvent({ roverId, sensors, batteryState } = {}) {
   const activeDrivers = getActiveDrivers();
   const driverSocketId = activeDrivers[roverKey] || null;
   const driverNickname = driverSocketId ? resolveDriverNickname(driverSocketId) : null;
-  const docked = Boolean(sensors?.chargingSources?.homeBase);
+  const docked = dockedNow;
   const charging = isChargingFromSensors(sensors);
   const wheelsOffGround = Boolean(
     sensors?.bumpsAndWheelDrops?.wheelDropLeft && sensors?.bumpsAndWheelDrops?.wheelDropRight,
@@ -578,7 +581,8 @@ function compactRoverForContext(rover) {
   };
 }
 
-function deriveContactState(sensors = {}, activity30s = {}) {
+function deriveContactState(sensors = {}, activity30s = {}, docked = false) {
+  if (docked) return 'clear';
   const bumps = Number(activity30s?.bumps) || 0;
   const hasBump = bumps >= 0.5 || sensors?.bumpsAndWheelDrops?.bumpLeft || sensors?.bumpsAndWheelDrops?.bumpRight;
   if (hasBump) return 'bumps_recent';
@@ -590,7 +594,8 @@ function deriveContactState(sensors = {}, activity30s = {}) {
   return 'clear';
 }
 
-function deriveHazardState(sensors = {}) {
+function deriveHazardState(sensors = {}, docked = false) {
+  if (docked) return 'normal';
   if (Boolean(sensors?.virtualWall)) return 'virtual_wall_seen';
   if (
     Boolean(sensors?.cliffLeft) ||
@@ -651,8 +656,8 @@ function buildRoversNow(nowMs = Date.now()) {
       battery_low: Boolean(batteryState?.warnActive || batteryState?.urgentActive),
       activity_30s: activity30s,
       status_tag: statusTag,
-      contact_state: deriveContactState(sensors, activity30s),
-      hazard_state: deriveHazardState(sensors),
+      contact_state: deriveContactState(sensors, activity30s, docked),
+      hazard_state: deriveHazardState(sensors, docked),
       mobility_state: deriveMobilityState(sensors, wheelsOffGround),
     };
     const currentBaseScore = computeBaseActivityScore(activity30s);