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legop3
2026-07-08 12:53:39 -04:00
parent 5d60544904
commit a6f6ccf079
12 changed files with 253 additions and 178 deletions
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webui/src/controls/overcurrentLimiter.js
+31 -3
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@@ -17,6 +17,8 @@ export const DEFAULT_OVERCURRENT_LIMITS = {
outputRateMs: 250,
};
const RECOVERED_CAP_THRESHOLD = 0.999;
function createInitialCaps() {
return OVERCURRENT_GROUPS.reduce((acc, group) => {
acc[group.key] = { cap: 1, clearSec: 0 };
@@ -54,7 +56,17 @@ export function useOvercurrentLimiter(roverId, options = {}) {
[overcurrentFlags],
);
const needsRecoveryTick = useMemo(
() => Object.values(caps || {}).some((entry) => (Number.isFinite(entry?.cap) ? entry.cap : 1) < 0.999),
() =>
Object.values(caps || {}).some((entry) => {
/*
Recovery intentionally completes at a tiny tolerance below exactly 1.
The limiter advances in timed floating-point steps, so requiring an
exact 1 can strand the UI at a visually empty bar while the limiter is
still technically active at a value like 0.9992.
*/
const cap = Number.isFinite(entry?.cap) ? entry.cap : 1;
return cap < RECOVERED_CAP_THRESHOLD;
}),
[caps],
);
const shouldTick = Boolean(roverId) && (hasAnyOvercurrent || needsRecoveryTick);
@@ -81,9 +93,15 @@ export function useOvercurrentLimiter(roverId, options = {}) {
const over = group.motors.some((motor) => Boolean(flagsRef.current?.[motor]));
const nextClear = over ? 0 : prevClear + deltaSec;
const allowRecover = !over && nextClear >= releaseDelay;
const nextCap = clampUnit(
const rawNextCap = clampUnit(
over ? prevCap - downRate * deltaSec : allowRecover ? prevCap + upRate * deltaSec : prevCap,
);
/*
Once recovery reaches the shared completion threshold, snap the cap
to exactly full strength. This keeps the tick loop, command scaling,
and HUD visibility from disagreeing over a harmless fractional tail.
*/
const nextCap = !over && rawNextCap >= RECOVERED_CAP_THRESHOLD ? 1 : rawNextCap;
if (Math.abs(nextCap - prevCap) > 0.0001 || Math.abs(nextClear - prevClear) > 0.0001) {
changed = true;
}
@@ -137,7 +155,17 @@ export function useOvercurrentLimiter(roverId, options = {}) {
caps,
overcurrent,
scales,
isActive: (scales?.drive?.left ?? 1) < 1 || (scales?.drive?.right ?? 1) < 1 || (scales?.aux?.main ?? 1) < 1 || (scales?.aux?.side ?? 1) < 1,
/*
HUD and resend behavior should only remain active while the limiter has
meaningful scale left to recover. Using the same threshold as the tick
loop prevents an empty overcurrent overlay from staying mounted after
recovery has already stopped.
*/
isActive:
(scales?.drive?.left ?? 1) < RECOVERED_CAP_THRESHOLD ||
(scales?.drive?.right ?? 1) < RECOVERED_CAP_THRESHOLD ||
(scales?.aux?.main ?? 1) < RECOVERED_CAP_THRESHOLD ||
(scales?.aux?.side ?? 1) < RECOVERED_CAP_THRESHOLD,
config,
adminImmune,
}),