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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/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> <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> <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"> <link rel="stylesheet" crossorigin href="/assets/index-D6ALZM8p.css">
</head> </head>
<body> <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 kFrameIntervalMs = 50;
constexpr int kDeviceScanIntervalMs = 500; constexpr int kDeviceScanIntervalMs = 500;
constexpr int kDiscoveryRestartDelayMs = 1000; constexpr int kDiscoveryRestartDelayMs = 1000;
constexpr const char* kDiscoveryTimeoutSeconds = "86400";
constexpr int kBatteryRefreshMs = 5000; constexpr int kBatteryRefreshMs = 5000;
std::atomic<bool> running{true}; 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; if (!discovery) return std::nullopt;
std::size_t newline = discovery->pending_output.find('\n'); std::size_t newline = discovery->pending_output.find('\n');
while (newline != std::string::npos) { while (newline != std::string::npos) {
const std::string line = discovery->pending_output.substr(0, newline); const std::string line = discovery->pending_output.substr(0, newline);
discovery->pending_output.erase(0, newline + 1); 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 // 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 // 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 // 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 // own event stream. The previous bounded scan exited for twelve seconds at a
// time and then queried a second client, making successful discovery depend // time and then queried a second client, making successful discovery depend
// on when the physical button happened to be pressed. // 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) { if (discovery.pid < 0) {
emit_status("error", "", "could not start Bluetooth discovery: " + emit_status("error", "", "could not start Bluetooth discovery: " +
command_error_summary(discovery.transcript, "unknown process error")); command_error_summary(discovery.transcript, "unknown process error"));
@@ -436,13 +450,23 @@ void commissioning_loop(PairingSharedState* shared) {
} }
std::optional<BluetoothAddress> address; std::optional<BluetoothAddress> address;
bool discovery_started = false;
while (running.load() && !address.has_value()) { while (running.load() && !address.has_value()) {
const bool discovery_running = collect_command_output(&discovery); 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 (address.has_value()) break;
if (!discovery_running) { if (!discovery_running) {
emit_status("error", "", "Bluetooth discovery stopped: " + const std::string detail = command_error_summary(
command_error_summary(discovery.transcript, "bluetoothctl exited unexpectedly")); 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; break;
} }
webui/src/components/BalanceBoardPanel/index.jsx
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@@ -31,12 +31,29 @@ function formatWeight(value) {
function describePhase(status, frame) { function describePhase(status, frame) {
const phase = frame?.phase || status?.phase || 'waiting'; const phase = frame?.phase || status?.phase || 'waiting';
if (phase === 'commissioning') { if (phase === 'error' || status?.lastError) {
const message = status?.lastError || 'The Balance Board bridge reported an error.';
// Name the failed subsystem in the badge. Generic labels such as “Needs
// attention” force an operator to read implementation details to understand
// whether the problem is scanning, pairing, or the sensor bridge itself.
const label = /scanner|discovery/i.test(message)
? 'Bluetooth scanner stopped'
: (/pair/i.test(message) ? 'Board pairing failed' : 'Balance Board error');
return { return {
label: 'Pairing setup', label,
// Discovery retries automatically, so retain and show the last concrete instruction: message,
// BlueZ failure while the worker keeps listening for another Sync press. className: 'border-red-500/60 bg-red-950/60 text-red-200',
instruction: status?.lastError || 'Press the red Sync button underneath the board. The server will pair it automatically.', };
}
if (phase === 'commissioning') {
const scannerReady = status?.hardwareState === 'discovering';
return {
label: scannerReady ? 'Waiting for red Sync' : 'Starting Bluetooth scan',
// Pairing is automatic once discovery is active. State that directly so
// the UI cannot imply that a second software pairing action is required.
instruction: status?.lastError || (scannerReady
? 'Bluetooth is listening. Press the red Sync button underneath the board once.'
: 'The server is starting Bluetooth discovery. Wait for “Waiting for red Sync” before pressing the board button.'),
className: 'border-amber-500/60 bg-amber-950/60 text-amber-200', className: 'border-amber-500/60 bg-amber-950/60 text-amber-200',
}; };
} }
@@ -47,13 +64,6 @@ function describePhase(status, frame) {
className: 'border-sky-500/60 bg-sky-950/60 text-sky-200', className: 'border-sky-500/60 bg-sky-950/60 text-sky-200',
}; };
} }
if (phase === 'error' || status?.lastError) {
return {
label: 'Needs attention',
instruction: status?.lastError || 'The Balance Board bridge reported an error.',
className: 'border-red-500/60 bg-red-950/60 text-red-200',
};
}
if (!status?.connected) { if (!status?.connected) {
return { return {
label: 'Sleeping', label: 'Sleeping',
@@ -236,11 +246,9 @@ function BalanceBoardPanelContent() {
<div className="border-t border-slate-700 pt-1"> <div className="border-t border-slate-700 pt-1">
<div className="mb-0.5 text-[0.62rem] text-slate-500">Admin maintenance</div> <div className="mb-0.5 text-[0.62rem] text-slate-500">Admin maintenance</div>
<div className="flex flex-wrap gap-0.5"> <div className="flex flex-wrap gap-0.5">
{!status?.paired ? ( {/* An unpaired server scans automatically. A separate “Pair
<button type="button" className="button-dark px-1 py-0.5 text-xs" disabled={Boolean(actionPending)} onClick={() => runAction('pair')}> board” action was redundant and incorrectly suggested that
Pair board commissioning required two software/physical pair steps. */}
</button>
) : null}
<button type="button" className="button-dark px-1 py-0.5 text-xs" disabled={Boolean(actionPending) || !status?.connected} onClick={() => runAction('tare')}> <button type="button" className="button-dark px-1 py-0.5 text-xs" disabled={Boolean(actionPending) || !status?.connected} onClick={() => runAction('tare')}>
Tare Tare
</button> </button>