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cliff improvements

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legop3
2026-02-27 00:43:45 -05:00
parent e9e75b65ef
commit 985a2f966a
2 changed files with 32 additions and 19 deletions
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server/src/services/llmCommentaryService.js
+15 -10
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@@ -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);