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neatofix

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legop3
2026-05-01 17:56:27 -04:00
parent e92d670f80
commit aa530ef67d
1 changed files with 23 additions and 8 deletions
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server/src/services/neatoService/lidarRuntime.js
+23 -8
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@@ -2,11 +2,17 @@ const { spawn } = require('child_process');
const EventEmitter = require('events'); const EventEmitter = require('events');
const fs = require('fs'); const fs = require('fs');
const SCAN_TIMEOUT_MS = 4000; const SCAN_TIMEOUT_MS = 8000;
const RECONNECT_DELAY_MS = 5000; const RECONNECT_DELAY_MS = 5000;
function sanitizeLogText(value) {
return String(value || '')
.replace(/\u0000/g, '')
.replace(/\x1B\[[0-9;]*[A-Za-z]/g, '');
}
function parsePayloadLine(line) { function parsePayloadLine(line) {
const raw = String(line || '').trim(); const raw = sanitizeLogText(line).trim();
if (!raw) return null; if (!raw) return null;
const quotedMatch = raw.match(/<<< "(.*)"$/); const quotedMatch = raw.match(/<<< "(.*)"$/);
if (quotedMatch) return quotedMatch[1]; if (quotedMatch) return quotedMatch[1];
@@ -51,6 +57,7 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
pollSoonTimer: null, pollSoonTimer: null,
requestTimeoutTimer: null, requestTimeoutTimer: null,
stdoutBuffer: '', stdoutBuffer: '',
stderrBuffer: '',
currentScan: null, currentScan: null,
requestInFlight: false, requestInFlight: false,
requestStartedAt: 0, requestStartedAt: 0,
@@ -138,13 +145,20 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
state.currentScan.points.set(point.angleDeg, point); state.currentScan.points.set(point.angleDeg, point);
} }
function handleStdoutChunk(chunk) { function handleTextChunk(chunk, bufferKey, sourceLabel = '') {
const text = String(chunk || '');
if (state.logStream) { if (state.logStream) {
state.logStream.write(String(chunk || '')); const prefix = sourceLabel ? `[${sourceLabel}] ` : '';
state.logStream.write(
text
.split(/\r?\n/)
.map((line, index, parts) => (index === parts.length - 1 && line === '' ? '' : `${prefix}${line}`))
.join('\n'),
);
} }
state.stdoutBuffer += String(chunk || ''); state[bufferKey] += sanitizeLogText(text);
const lines = state.stdoutBuffer.split(/\r?\n/); const lines = state[bufferKey].split(/\r?\n/);
state.stdoutBuffer = lines.pop() || ''; state[bufferKey] = lines.pop() || '';
for (const line of lines) { for (const line of lines) {
const payload = parsePayloadLine(line); const payload = parsePayloadLine(line);
handlePayload(payload); handlePayload(payload);
@@ -219,10 +233,11 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
emitStatus(); emitStatus();
triggerPollSoon(); triggerPollSoon();
} }
handleStdoutChunk(chunk); handleTextChunk(chunk, 'stdoutBuffer', 'stdout');
}); });
proc.stderr.on('data', (chunk) => { proc.stderr.on('data', (chunk) => {
handleTextChunk(chunk, 'stderrBuffer', 'stderr');
const message = String(chunk || '').trim(); const message = String(chunk || '').trim();
if (message) logger.warn('Neato lidar log stream stderr', message); if (message) logger.warn('Neato lidar log stream stderr', message);
}); });