legop3/MultiRoombaRover
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tweakes

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legop3
2026-02-25 05:11:21 -05:00
parent 6c3ae17aeb
commit 9e3bce6ec3
2 changed files with 75 additions and 47 deletions
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server/src/services/llmCommentaryService.js
+73 -45
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@@ -29,7 +29,6 @@ const ollamaUrl = String(
commentaryConfig.ollamaUrl || commentaryConfig.ollamaServer || '',
).trim();
const model = String(commentaryConfig.model || '').trim();
const timezone = String(config.timezone || 'UTC');
const ollamaClient = ollamaUrl ? new Ollama({ host: ollamaUrl }) : null;
let timer = null;
@@ -38,6 +37,7 @@ let tickCount = 0;
let contextResetAt = Date.now();
let clearCount = 0;
const roverActivity = new Map(); // roverId -> { buckets: Map(bucketTs -> { distanceMm, turnDeg, bumps }), bumpLeftActive, bumpRightActive }
const lastRoverStateById = new Map(); // roverId -> compact rover state used as prev_state
function normalizeFrequencyMs(value) {
if (!Number.isFinite(value)) return DEFAULT_FREQUENCY_MS;
@@ -106,23 +106,6 @@ function updateStatus(patch = {}) {
emitStatusToAdmins();
}
function localTimeString(date, tz) {
try {
return new Intl.DateTimeFormat('sv-SE', {
timeZone: tz,
year: 'numeric',
month: '2-digit',
day: '2-digit',
hour: '2-digit',
minute: '2-digit',
second: '2-digit',
hour12: false,
}).format(date);
} catch {
return date.toISOString();
}
}
function pruneActivityBuckets(state, nowMs) {
if (!state?.buckets) return;
const minTs = nowMs - ACTIVITY_WINDOW_MS;
@@ -193,6 +176,7 @@ function clearRuntimeHistory() {
contextResetAt = Date.now();
clearCount += 1;
roverActivity.clear();
lastRoverStateById.clear();
updateStatus({
lastClearedAt: contextResetAt,
clearCount,
@@ -237,6 +221,37 @@ function collectActiveDriverEntries() {
return fallback;
}
function detectMessageTopic(text = '') {
const value = String(text).toLowerCase();
if (!value.trim()) return 'none';
if (/\b(bump|hit|bonk|crash|slam|collision)\b/.test(value)) return 'bumps';
if (/\b(wheel.?drop|wheels?.*off.?ground|picked up|lifted)\b/.test(value)) return 'wheels_off_ground';
if (/\b(dock|docked|undock|charger|charging)\b/.test(value)) return 'dock_charge';
if (/\b(battery|low power|power)\b/.test(value)) return 'battery';
if (/\b(chat|everyone|people|crowd)\b/.test(value)) return 'chat';
if (/\b(move|driv|turn|spin|rolling)\b/.test(value)) return 'movement';
return 'general';
}
function buildLastMessageFocus(lastBotMessage, rovers = []) {
if (!lastBotMessage) return null;
const text = String(lastBotMessage.text || '');
const textLower = text.toLowerCase();
let roverId = null;
for (const rover of rovers) {
const id = String(rover?.id || '').toLowerCase();
const name = String(rover?.name || '').toLowerCase();
if ((id && textLower.includes(id)) || (name && textLower.includes(name))) {
roverId = rover.id;
break;
}
}
return {
rover_id: roverId,
topic: detectMessageTopic(text),
};
}
function buildSnapshot() {
const now = new Date();
const nowMs = now.getTime();
@@ -247,6 +262,7 @@ function buildSnapshot() {
}
const roster = roverManager.getRoster().slice(0, MAX_ROVERS);
const nextRoverStateById = new Map();
const rovers = roster.map((entry) => {
const roverId = String(entry.id);
const record = roverManager.rovers.get(roverId);
@@ -270,7 +286,7 @@ function buildSnapshot() {
} else if (driverSocketId) {
statusTag = 'active-idle';
}
return {
const rover = {
id: roverId,
name: entry.name || roverId,
driver_nickname: driverSocketId ? resolveDriverNickname(driverSocketId) : null,
@@ -281,49 +297,50 @@ function buildSnapshot() {
activity_30s: activity30s,
status_tag: statusTag,
};
const prev = lastRoverStateById.get(roverId) || null;
const nextState = {
driver_nickname: rover.driver_nickname,
docked: rover.docked,
charging: rover.charging,
wheels_off_ground: rover.wheels_off_ground,
battery_low: rover.battery_low,
activity_30s: rover.activity_30s,
status_tag: rover.status_tag,
};
nextRoverStateById.set(roverId, nextState);
rover.prev_state = prev;
return rover;
});
lastRoverStateById.clear();
nextRoverStateById.forEach((value, roverId) => {
lastRoverStateById.set(roverId, value);
});
const chatRecent = getRecentMessages(60, { includeSystem: false })
.filter((entry) => Number(entry?.ts) >= contextResetAt)
.slice(-MAX_CHAT_MESSAGES)
.map((entry) => ({
ts_iso: new Date(entry.ts).toISOString(),
nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
text: entry.text || '',
}));
const botRecent = getRecentMessages(80, { includeSystem: true })
.filter((entry) => Number(entry?.ts) >= contextResetAt)
.filter((entry) => entry?.system)
.slice(-MAX_BOT_MESSAGES)
.map((entry) => ({
ts_iso: new Date(entry.ts).toISOString(),
text: entry.text || '',
}));
const botRecentWindow = getRecentMessages(200, { includeSystem: true })
.filter((entry) => Number(entry?.ts) >= contextResetAt)
.filter((entry) => entry?.system);
const lastBotMessage = botRecentWindow.length ? botRecentWindow[botRecentWindow.length - 1] : null;
const botRecent5m = botRecentWindow.filter((entry) => nowMs - Number(entry?.ts || 0) <= 5 * 60 * 1000);
const lastBotTs = botRecentWindow.length ? Number(botRecentWindow[botRecentWindow.length - 1]?.ts || 0) : null;
const secondsSinceLastBotMessage =
lastBotTs && nowMs > lastBotTs ? Math.floor((nowMs - lastBotTs) / 1000) : null;
return {
now: {
iso: now.toISOString(),
local: localTimeString(now, timezone),
timezone,
unix_ms: now.getTime(),
},
activity: {
active_driver_count: driverEntries.length,
driving_rovers: driverEntries.map(([roverId]) => String(roverId)),
},
self_talk_recent_5m: botRecent5m.length,
seconds_since_last_bot_message: secondsSinceLastBotMessage,
last_message_focus: buildLastMessageFocus(lastBotMessage, rovers),
rovers,
chat_recent: chatRecent,
your_last_message: botRecent,
// Keep this compact: expose only one previous bot message summary via last_message_focus.
// your_last_message: botRecent,
};
}
@@ -380,14 +397,19 @@ async function generateCommentary(systemPrompt, snapshot) {
return normalizeCommentary(payload?.message?.content);
}
function scheduleNextTick() {
const delay = frequencyMs + Math.floor(Math.random() * (JITTER_MS + 1));
const nextRunAt = Date.now() + delay;
function defaultTickDelayMs() {
return frequencyMs + Math.floor(Math.random() * (JITTER_MS + 1));
}
function scheduleNextTick(delayMs = defaultTickDelayMs()) {
const safeDelay = Math.max(0, Number.isFinite(delayMs) ? Math.floor(delayMs) : defaultTickDelayMs());
const nextRunAt = Date.now() + safeDelay;
updateStatus({ nextRunAt });
timer = setTimeout(runTick, delay);
timer = setTimeout(runTick, safeDelay);
}
async function runTick() {
let nextDelayMs = defaultTickDelayMs();
tickCount += 1;
const tickId = tickCount;
updateStatus({
@@ -403,7 +425,7 @@ async function runTick() {
lastOutcome: 'skipped',
lastReason: 'previous tick still running',
});
scheduleNextTick();
scheduleNextTick(nextDelayMs);
return;
}
inFlight = true;
@@ -421,6 +443,8 @@ async function runTick() {
chatMessages: 0,
},
});
// Keep delayed cadence when nobody is driving.
nextDelayMs = defaultTickDelayMs();
return;
}
const snapshotSummary = {
@@ -446,6 +470,8 @@ async function runTick() {
lastReason: 'model returned SKIP/empty',
lastGeneratedText: null,
});
// Immediate retry after model skip.
nextDelayMs = 0;
return;
}
updateStatus({
@@ -464,6 +490,8 @@ async function runTick() {
lastOutcome: 'skipped',
lastReason: 'duplicate text',
});
// Immediate retry after a skip outcome.
nextDelayMs = 0;
return;
}
sendSystemMessage(text);
@@ -486,7 +514,7 @@ async function runTick() {
updateStatus({
inFlight: false,
});
scheduleNextTick();
scheduleNextTick(nextDelayMs);
}
}