slop

2026-09-16 01:21:20 -04:00 · 2026-07-16 22:09:53 -04:00
parent 0d352d326d
commit a6c569ada4
6 changed files with 58 additions and 26 deletions
@@ -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>
@@ -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;
      }

@@ -31,12 +31,29 @@ function formatWeight(value) {

 function describePhase(status, frame) {
  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 {
-      label: 'Pairing setup',
-      // Discovery retries automatically, so retain and show the last concrete
-      // BlueZ failure while the worker keeps listening for another Sync press.
-      instruction: status?.lastError || 'Press the red Sync button underneath the board. The server will pair it automatically.',
+      label,
+      instruction: message,
+      className: 'border-red-500/60 bg-red-950/60 text-red-200',
+    };
+  }
+  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',
    };
  }
@@ -47,13 +64,6 @@ function describePhase(status, frame) {
      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) {
    return {
      label: 'Sleeping',
@@ -236,11 +246,9 @@ function BalanceBoardPanelContent() {
            <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="flex flex-wrap gap-0.5">
-                {!status?.paired ? (
-                  <button type="button" className="button-dark px-1 py-0.5 text-xs" disabled={Boolean(actionPending)} onClick={() => runAction('pair')}>
-                    Pair board
-                  </button>
-                ) : null}
+                {/* An unpaired server scans automatically. A separate “Pair
+                    board” action was redundant and incorrectly suggested that
+                    commissioning required two software/physical pair steps. */}
                <button type="button" className="button-dark px-1 py-0.5 text-xs" disabled={Boolean(actionPending) || !status?.connected} onClick={() => runAction('tare')}>
                  Tare
                </button>