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legop3
2026-07-16 22:09:53 -04:00
parent 0d352d326d
commit a6c569ada4
6 changed files with 58 additions and 26 deletions
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server/public/assets/index-DrGDUWQo.js → server/public/assets/index-0ANoPaoC.js
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server/public/assets/index-0ANoPaoC.js.map
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server/public/assets/index-DrGDUWQo.js.map
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server/public/index.html
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@@ -78,7 +78,7 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-DrGDUWQo.js"></script>
<script type="module" crossorigin src="/assets/index-0ANoPaoC.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-D6ALZM8p.css">
</head>
<body>
server/src/services/balanceBoardService/native/balance_board_worker.cpp
+29 -5
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@@ -60,6 +60,7 @@ constexpr uint8_t kBluetoothClassicAddressType = 0;
constexpr int kFrameIntervalMs = 50;
constexpr int kDeviceScanIntervalMs = 500;
constexpr int kDiscoveryRestartDelayMs = 1000;
constexpr const char* kDiscoveryTimeoutSeconds = "86400";
constexpr int kBatteryRefreshMs = 5000;
std::atomic<bool> running{true};
@@ -334,13 +335,21 @@ void stop_command(RunningCommand* command) {
}
}
std::optional<BluetoothAddress> take_discovered_board(RunningCommand* discovery) {
std::optional<BluetoothAddress> take_discovered_board(RunningCommand* discovery,
bool* discovery_started) {
if (!discovery) return std::nullopt;
std::size_t newline = discovery->pending_output.find('\n');
while (newline != std::string::npos) {
const std::string line = discovery->pending_output.substr(0, newline);
discovery->pending_output.erase(0, newline + 1);
// bluetoothctl reports filter setup before StartDiscovery completes. Treat
// only this explicit event as proof that button presses can now be seen;
// `SetDiscoveryFilter success` alone is not an active Bluetooth scan.
if (discovery_started && line.find("Discovery started") != std::string::npos) {
*discovery_started = true;
}
// A Classic device is initially announced by address and receives its name
// in a later change event. Parse every complete scan line so either BlueZ
// form works, but require the exact Nintendo board name before accepting an
@@ -427,7 +436,12 @@ void commissioning_loop(PairingSharedState* shared) {
// own event stream. The previous bounded scan exited for twelve seconds at a
// time and then queried a second client, making successful discovery depend
// on when the physical button happened to be pressed.
RunningCommand discovery = start_command({"bluetoothctl", "scan", "bredr"});
// BlueZ's command-line client exits after the SetDiscoveryFilter callback
// unless non-interactive mode has a timeout. A one-day timeout keeps the
// client alive for unattended commissioning; the worker normally stops it
// itself as soon as the board appears and restarts it if the day expires.
RunningCommand discovery = start_command({
"bluetoothctl", "--timeout", kDiscoveryTimeoutSeconds, "scan", "bredr"});
if (discovery.pid < 0) {
emit_status("error", "", "could not start Bluetooth discovery: " +
command_error_summary(discovery.transcript, "unknown process error"));
@@ -436,13 +450,23 @@ void commissioning_loop(PairingSharedState* shared) {
}
std::optional<BluetoothAddress> address;
bool discovery_started = false;
while (running.load() && !address.has_value()) {
const bool discovery_running = collect_command_output(&discovery);
address = take_discovered_board(&discovery);
const bool was_started = discovery_started;
address = take_discovered_board(&discovery, &discovery_started);
if (!was_started && discovery_started) {
// This status clears any prior scanner error and tells the browser that
// the server is genuinely listening for the board's red Sync button.
emit_status("discovering");
}
if (address.has_value()) break;
if (!discovery_running) {
emit_status("error", "", "Bluetooth discovery stopped: " +
command_error_summary(discovery.transcript, "bluetoothctl exited unexpectedly"));
const std::string detail = command_error_summary(
discovery.transcript, "bluetoothctl exited unexpectedly");
emit_status("error", "", discovery_started
? "Bluetooth scanner stopped unexpectedly; retrying automatically: " + detail
: "Bluetooth scanner exited before discovery started; retrying automatically: " + detail);
break;
}