mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 17:40:46 -04:00
commentary
This commit is contained in:
legop3
@@ -0,0 +1,46 @@
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// llm Commentary Service constants
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// Purpose: Centralizes static limits, prompt path, and timing defaults used by commentary runtime.
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// Scope: Keeps runtime behavior unchanged by moving immutable values and normalization helper into one module.
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const path = require('path');
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const PROMPT_PATH = path.join(__dirname, '..', '..', '..', 'prompts', 'commentary_system.txt');
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const DEFAULT_FREQUENCY_MS = 0;
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const MIN_FREQUENCY_MS = 0;
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const JITTER_MS = 0;
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const MAX_ROVERS = 6;
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const MAX_CHAT_MESSAGES = 4;
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const MAX_BOT_MESSAGES = 1;
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const ACTIVITY_WINDOW_MS = 60000;
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const ACTIVITY_BUCKET_MS = 1000;
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const ACTIVITY_SCORE_WINDOW_MS = 30000;
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const SELF_TALK_WINDOW_MS = 30 * 60 * 1000;
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const MAX_CONTEXT_EVENTS = 8;
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const MAX_RUN_HISTORY = 100;
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const MAX_ROVER_EVENTS = 400;
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const POST_COOLDOWN_MS = 10000;
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function normalizeFrequencyMs(value) {
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if (!Number.isFinite(value)) return DEFAULT_FREQUENCY_MS;
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// If frequency is configured as a small integer, treat it as seconds for convenience.
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const parsed = value > 0 && value < 1000 ? value * 1000 : value;
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return Math.max(MIN_FREQUENCY_MS, Math.floor(parsed));
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}
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module.exports = {
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PROMPT_PATH,
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DEFAULT_FREQUENCY_MS,
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MIN_FREQUENCY_MS,
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JITTER_MS,
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MAX_ROVERS,
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MAX_CHAT_MESSAGES,
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MAX_BOT_MESSAGES,
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ACTIVITY_WINDOW_MS,
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ACTIVITY_BUCKET_MS,
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ACTIVITY_SCORE_WINDOW_MS,
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SELF_TALK_WINDOW_MS,
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MAX_CONTEXT_EVENTS,
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MAX_RUN_HISTORY,
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MAX_ROVER_EVENTS,
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POST_COOLDOWN_MS,
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normalizeFrequencyMs,
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};
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@@ -0,0 +1,178 @@
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// llm Commentary Service formatters
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// Purpose: Encodes snapshot/chat/event structures into stable model-facing prompt message text.
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// Scope: Keeps runtime behavior unchanged by extracting pure text-formatting and normalization helpers.
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function normalizeCommentary(rawText) {
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if (typeof rawText !== 'string') return null;
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const trimmed = rawText.trim();
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if (!trimmed) return null;
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if (/\bSKIP\b/i.test(trimmed)) return null;
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const firstLine = trimmed
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.split(/\r?\n/)
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.map((line) => line.trim())
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.find(Boolean);
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if (!firstLine) return null;
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if (/\bSKIP\b/i.test(firstLine)) return null;
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return firstLine.replace(/\s+/g, ' ');
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}
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function parseModelOutput(rawContent) {
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const raw = typeof rawContent === 'string' ? rawContent : '';
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const normalized = normalizeCommentary(raw);
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return {
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raw,
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normalized,
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skipped: normalized == null,
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};
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}
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function normalizeDuplicateKey(text) {
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return String(text || '')
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.toLowerCase()
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.replace(/[^a-z0-9\s]/g, ' ')
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.replace(/\s+/g, ' ')
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.trim();
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}
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function encBool(value) {
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return value ? '1' : '0';
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}
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function encStatus(value) {
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const map = {
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charging: 'charging',
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docked: 'docked',
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driving: 'driving',
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'active-idle': 'active_idle',
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idle: 'idle',
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unknown: 'unknown',
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};
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return map[String(value || 'unknown')] || 'unknown';
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}
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function encActivityBand(value) {
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const map = {
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idle: 'idle',
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low: 'low',
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medium: 'medium',
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high: 'high',
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intense: 'intense',
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};
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return map[String(value || 'idle')] || 'idle';
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}
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function encActivityTrend(value) {
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const map = {
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rising: 'rising',
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steady: 'steady',
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falling: 'falling',
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};
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return map[String(value || 'steady')] || 'steady';
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}
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function formatChatRoverCtx(ctx) {
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if (!ctx || typeof ctx !== 'object') return 'none';
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return `st=${encStatus(ctx.status_tag)} bl=${encBool(Boolean(ctx.battery_low))} dk=${encBool(Boolean(ctx.docked))} ab=${encActivityBand(ctx.activity_band)} at=${encActivityTrend(ctx.activity_trend)}`;
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}
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function formatChatEventMessage(event) {
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const roverId = event.rover_id || 'none';
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if (roverId === 'none') {
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return [
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'CHAT',
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`n=${event.nickname || 'unknown'} r=none driver=none`,
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`txt: ${event.text || ''}`,
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].join('\n');
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}
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return [
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'CHAT',
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`n=${event.nickname || 'unknown'} r=${roverId}`,
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`txt: ${event.text || ''}`,
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`rn: ${formatChatRoverCtx(event.rover_ctx)}`,
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].join('\n');
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}
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function formatRoverSnapshotLine(rover = {}) {
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return `id=${rover.id || 'unknown'} drv=${rover.driver_nickname || 'none'} st=${encStatus(rover.status_tag)} bl=${encBool(Boolean(rover.battery_low))} dk=${encBool(Boolean(rover.docked))} as=${Number(rover.activity_score) || 0} ab=${encActivityBand(rover.activity_band)} at=${encActivityTrend(rover.activity_trend)}`;
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}
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function formatEventMessage(event) {
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return [
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'EVENT',
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`e=${event.event_type || 'rover_event'} r=${event.rover_id || 'unknown'} d=${event.driver_nickname || 'none'}`,
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`s: ${event.summary || ''}`,
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].join('\n');
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}
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function formatSnapshotMessage(event) {
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const rovers = Array.isArray(event?.rovers) ? event.rovers : [];
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const lines = ['SNAPSHOT', `reason=${event?.reason || 'none'}`];
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rovers.forEach((rover) => {
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lines.push(formatRoverSnapshotLine(rover));
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});
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return lines.join('\n');
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}
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function formatSnapshotFinalMessage(currentSnapshot = {}, runMeta = {}) {
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const rovers = Array.isArray(currentSnapshot?.rovers) ? currentSnapshot.rovers : [];
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const lines = ['SNAPSHOT FINAL'];
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lines.push(`skip_streak=${Number(runMeta?.skip_streak) || 0}`);
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rovers.forEach((rover) => {
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lines.push(formatRoverSnapshotLine(rover));
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});
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if (Array.isArray(currentSnapshot?.chat_recent) && currentSnapshot.chat_recent.length) {
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lines.push('chat_recent:');
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currentSnapshot.chat_recent.forEach((entry) => {
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lines.push(`- ${entry.nickname || 'unknown'}: ${entry.text || ''}`);
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});
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}
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return lines.join('\n');
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}
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function buildModelMessages(systemPrompt, snapshot) {
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const messages = [];
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messages.push({ role: 'system', content: systemPrompt });
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const timeline = Array.isArray(snapshot?.event_stream) ? snapshot.event_stream : [];
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timeline.forEach((event) => {
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if (!event || typeof event !== 'object') return;
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if (event.type === 'bot') {
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const text = String(event.text || '').trim();
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if (text) {
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messages.push({ role: 'assistant', content: text });
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}
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return;
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}
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if (event.type === 'chat') {
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messages.push({
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role: 'user',
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content: formatChatEventMessage(event),
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});
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return;
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}
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if (event.type === 'event') {
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messages.push({
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role: 'user',
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content: formatEventMessage(event),
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});
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return;
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}
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if (event.type === 'snapshot') {
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messages.push({
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role: 'user',
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content: formatSnapshotMessage(event),
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});
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}
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});
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// Always end with a full rover snapshot user message.
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messages.push({
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role: 'user',
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content: formatSnapshotFinalMessage(snapshot?.current_snapshot || {}, snapshot?.run_meta || {}),
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});
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return messages;
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}
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module.exports = {
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normalizeCommentary,
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parseModelOutput,
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normalizeDuplicateKey,
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buildModelMessages,
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};
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@@ -2,7 +2,6 @@
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// Purpose: Defines the llm Commentary Service module and the helpers/state used by this service unit.
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// Scope: Keeps runtime behavior unchanged while isolating responsibilities into a clear module boundary.
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const fsp = require('fs/promises');
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const path = require('path');
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const { Ollama } = require('ollama');
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const io = require('../../globals/io');
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const logger = require('../../globals/logger').child('llmCommentary');
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@@ -12,23 +11,33 @@ const roverManager = require('../roverManager');
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const { getActiveDrivers } = require('../turnService');
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const { getNickname } = require('../nicknameService');
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const { getRecentMessages, sendSystemMessage } = require('../chatService');
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const PROMPT_PATH = path.join(__dirname, '..', '..', '..', 'prompts', 'commentary_system.txt');
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const DEFAULT_FREQUENCY_MS = 0;
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const MIN_FREQUENCY_MS = 0;
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const JITTER_MS = 0;
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const MAX_ROVERS = 6;
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const MAX_CHAT_MESSAGES = 4;
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const MAX_BOT_MESSAGES = 1;
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const SKIP_TOKEN = 'SKIP';
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const ACTIVITY_WINDOW_MS = 60000;
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const ACTIVITY_BUCKET_MS = 1000;
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const ACTIVITY_SCORE_WINDOW_MS = 30000;
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const SELF_TALK_WINDOW_MS = 30 * 60 * 1000;
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const MAX_CONTEXT_EVENTS = 8;
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const MAX_RUN_HISTORY = 100;
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const MAX_ROVER_EVENTS = 400;
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const POST_COOLDOWN_MS = 10000;
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const {
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PROMPT_PATH,
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JITTER_MS,
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MAX_ROVERS,
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MAX_CHAT_MESSAGES,
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MAX_BOT_MESSAGES,
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ACTIVITY_WINDOW_MS,
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ACTIVITY_BUCKET_MS,
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ACTIVITY_SCORE_WINDOW_MS,
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SELF_TALK_WINDOW_MS,
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MAX_CONTEXT_EVENTS,
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MAX_RUN_HISTORY,
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MAX_ROVER_EVENTS,
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POST_COOLDOWN_MS,
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normalizeFrequencyMs,
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} = require('./constants');
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const {
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parseModelOutput,
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normalizeDuplicateKey,
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buildModelMessages,
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} = require('./formatters');
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const {
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isAdminRole,
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buildAdminState,
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buildFailureInfo,
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} = require('./runtimeHelpers');
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const { createSnapshotEngine } = require('./snapshotEngine');
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const config = loadConfig();
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const commentaryConfig = config.llmCommentary || {};
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@@ -49,17 +58,23 @@ let contextResetAt = Date.now();
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let clearCount = 0;
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let runHistory = [];
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let currentRun = null;
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const roverActivity = new Map(); // roverId -> { buckets: Map(bucketTs -> { distanceMm, turnDeg, bumps }), bumpLeftActive, bumpRightActive }
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const roverMajorEvents = []; // [{ ts, type: 'event', event_type, rover_id, driver_nickname, summary }]
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const lastSensorFlagsByRover = new Map(); // roverId -> { docked, charging, battery_low, wheels_off_ground }
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const lastRoverStateById = new Map(); // roverId -> compact rover state used as prev_state
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function normalizeFrequencyMs(value) {
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if (!Number.isFinite(value)) return DEFAULT_FREQUENCY_MS;
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// If frequency is configured as a small integer, treat it as seconds for convenience.
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const parsed = value > 0 && value < 1000 ? value * 1000 : value;
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return Math.max(MIN_FREQUENCY_MS, Math.floor(parsed));
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}
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const snapshotEngine = createSnapshotEngine({
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io,
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roverManager,
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getActiveDrivers,
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getNickname,
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getRecentMessages,
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MAX_ROVERS,
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MAX_CHAT_MESSAGES,
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ACTIVITY_WINDOW_MS,
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ACTIVITY_BUCKET_MS,
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ACTIVITY_SCORE_WINDOW_MS,
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SELF_TALK_WINDOW_MS,
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MAX_CONTEXT_EVENTS,
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MAX_ROVER_EVENTS,
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getContextResetAt: () => contextResetAt,
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getSkipStreak: () => skipStreak,
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});
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const frequencyMs = normalizeFrequencyMs(Number(commentaryConfig.frequency ?? commentaryConfig.frequencyMs));
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let status = {
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@@ -105,62 +120,6 @@ let status = {
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updatedAt: Date.now(),
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};
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function buildAdminState() {
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return {
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runtime: {
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running: status.running,
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inFlight: status.inFlight,
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phase: status.phase,
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phaseAt: status.phaseAt,
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currentRunId: status.currentRunId,
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tickCount: status.tickCount,
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lastTickAt: status.lastTickAt,
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nextRunAt: status.nextRunAt,
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outcome: status.lastOutcome,
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reason: status.lastReason,
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},
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counters: {
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clearCount: status.clearCount,
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skipStreak: status.skipStreak,
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promptChars: status.lastPromptChars,
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snapshotSummary: status.lastSnapshotSummary,
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},
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timings: {
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lastGenerationMs: status.lastGenerationMs,
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avgGenerationMs: status.avgGenerationMs,
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generationCount: status.generationCount,
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},
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input: {
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promptPath: status.promptPath,
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systemPrompt: status.lastSystemPrompt,
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infoSnapshot: status.lastInfoSnapshot,
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modelMessages: status.lastModelMessages,
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modelInputAt: status.lastModelInputAt,
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modelInputTickId: status.lastModelInputTickId,
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},
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output: {
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raw: status.lastModelRawOutput,
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generated: status.lastGeneratedText,
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posted: status.lastPostedText,
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postedAt: status.lastPostedAt,
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modelOutputAt: status.lastModelOutputAt,
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modelOutputTickId: status.lastModelOutputTickId,
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},
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errors: {
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message: status.lastError,
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details: status.lastErrorDetails,
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failedAt: status.lastFailedAt,
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},
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history: runHistory,
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debug: {
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status,
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},
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controls: {
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supportedActions: ['clearHistory'],
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},
|
||||
};
|
||||
}
|
||||
|
||||
function updatePhase(phase, patch = {}) {
|
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updateStatus({
|
||||
phase,
|
||||
@@ -222,16 +181,16 @@ function finalizeRunRecord({ outcome, reason, errors } = {}) {
|
||||
function isAdminSocket(socket) {
|
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if (!socket) return false;
|
||||
const role = getRole(socket);
|
||||
return role === 'admin' || role === 'lockdown' || role === 'lockdown-admin';
|
||||
return isAdminRole(role);
|
||||
}
|
||||
|
||||
function emitStatusToSocket(socket) {
|
||||
if (!socket || !isAdminSocket(socket)) return;
|
||||
socket.emit('llm:state', buildAdminState());
|
||||
socket.emit('llm:state', buildAdminState(status, runHistory));
|
||||
}
|
||||
|
||||
function emitStatusToAdmins() {
|
||||
const payload = buildAdminState();
|
||||
const payload = buildAdminState(status, runHistory);
|
||||
io.sockets.sockets.forEach((socket) => {
|
||||
if (!isAdminSocket(socket)) return;
|
||||
socket.emit('llm:state', payload);
|
||||
@@ -251,679 +210,6 @@ function updateStatus(patch = {}) {
|
||||
emitStatusToAdmins();
|
||||
}
|
||||
|
||||
function pushRoverMajorEvent(event) {
|
||||
roverMajorEvents.push(event);
|
||||
if (roverMajorEvents.length > MAX_ROVER_EVENTS) {
|
||||
roverMajorEvents.shift();
|
||||
}
|
||||
}
|
||||
|
||||
function pruneActivityBuckets(state, nowMs) {
|
||||
if (!state?.buckets) return;
|
||||
const minTs = nowMs - ACTIVITY_WINDOW_MS;
|
||||
state.buckets.forEach((_, bucketTs) => {
|
||||
if (bucketTs < minTs) {
|
||||
state.buckets.delete(bucketTs);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function upsertActivityState(roverId) {
|
||||
if (!roverActivity.has(roverId)) {
|
||||
roverActivity.set(roverId, {
|
||||
buckets: new Map(),
|
||||
bumpLeftActive: false,
|
||||
bumpRightActive: false,
|
||||
});
|
||||
}
|
||||
return roverActivity.get(roverId);
|
||||
}
|
||||
|
||||
function onSensorEvent({ roverId, sensors, batteryState } = {}) {
|
||||
if (!roverId || !sensors) return;
|
||||
if (!roverManager.canReplayRoverId(roverId)) return;
|
||||
const nowMs = Date.now();
|
||||
const dockedNow = Boolean(sensors?.chargingSources?.homeBase);
|
||||
const bucketTs = Math.floor(nowMs / ACTIVITY_BUCKET_MS) * ACTIVITY_BUCKET_MS;
|
||||
const state = upsertActivityState(String(roverId));
|
||||
pruneActivityBuckets(state, nowMs);
|
||||
if (!state.buckets.has(bucketTs)) {
|
||||
state.buckets.set(bucketTs, { distanceMm: 0, turnDeg: 0, bumps: 0 });
|
||||
}
|
||||
const bucket = state.buckets.get(bucketTs);
|
||||
bucket.distanceMm += Math.abs(Number(sensors.distanceMm) || 0);
|
||||
bucket.turnDeg += Math.abs(Number(sensors.angleDeg) || 0);
|
||||
const bumpLeftNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpLeft);
|
||||
const bumpRightNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpRight);
|
||||
if (!dockedNow) {
|
||||
if (bumpLeftNow && !state.bumpLeftActive) {
|
||||
bucket.bumps += 0.5;
|
||||
}
|
||||
if (bumpRightNow && !state.bumpRightActive) {
|
||||
bucket.bumps += 0.5;
|
||||
}
|
||||
}
|
||||
state.bumpLeftActive = bumpLeftNow;
|
||||
state.bumpRightActive = bumpRightNow;
|
||||
|
||||
const roverKey = String(roverId);
|
||||
const activeDrivers = getActiveDrivers();
|
||||
const driverSocketId = activeDrivers[roverKey] || null;
|
||||
const driverNickname = driverSocketId ? resolveDriverNickname(driverSocketId) : null;
|
||||
const docked = dockedNow;
|
||||
const charging = isChargingFromSensors(sensors);
|
||||
const wheelsOffGround = Boolean(
|
||||
sensors?.bumpsAndWheelDrops?.wheelDropLeft && sensors?.bumpsAndWheelDrops?.wheelDropRight,
|
||||
);
|
||||
const batteryLow = Boolean(batteryState?.warnActive || batteryState?.urgentActive);
|
||||
const prevFlags = lastSensorFlagsByRover.get(roverKey) || null;
|
||||
const nextFlags = {
|
||||
docked,
|
||||
charging,
|
||||
battery_low: batteryLow,
|
||||
wheels_off_ground: wheelsOffGround,
|
||||
};
|
||||
if (prevFlags) {
|
||||
if (prevFlags.docked !== nextFlags.docked) {
|
||||
pushRoverMajorEvent({
|
||||
ts: nowMs,
|
||||
type: 'event',
|
||||
event_type: nextFlags.docked ? 'rover_docked' : 'rover_undocked',
|
||||
rover_id: roverKey,
|
||||
driver_nickname: driverNickname,
|
||||
summary: nextFlags.docked ? 'transitioned to docked' : 'transitioned to undocked',
|
||||
});
|
||||
}
|
||||
if (prevFlags.battery_low !== nextFlags.battery_low) {
|
||||
pushRoverMajorEvent({
|
||||
ts: nowMs,
|
||||
type: 'event',
|
||||
event_type: 'battery_low_changed',
|
||||
rover_id: roverKey,
|
||||
driver_nickname: driverNickname,
|
||||
summary: nextFlags.battery_low ? 'battery_low became true' : 'battery_low became false',
|
||||
});
|
||||
}
|
||||
}
|
||||
lastSensorFlagsByRover.set(roverKey, nextFlags);
|
||||
}
|
||||
|
||||
function getActivity30s(roverId, nowMs = Date.now()) {
|
||||
return getActivityWindow(roverId, ACTIVITY_SCORE_WINDOW_MS, 0, nowMs);
|
||||
}
|
||||
|
||||
function getActivityWindow(roverId, windowMs, offsetMs = 0, nowMs = Date.now()) {
|
||||
const state = roverActivity.get(String(roverId));
|
||||
if (!state) {
|
||||
return { distance_m: 0, turn_deg: 0, bumps: 0 };
|
||||
}
|
||||
pruneActivityBuckets(state, nowMs);
|
||||
const windowStart = nowMs - offsetMs - windowMs;
|
||||
const windowEnd = nowMs - offsetMs;
|
||||
let distanceMm = 0;
|
||||
let turnDeg = 0;
|
||||
let bumps = 0;
|
||||
state.buckets.forEach((bucket, bucketTs) => {
|
||||
if (bucketTs < windowStart || bucketTs > windowEnd) return;
|
||||
distanceMm += bucket.distanceMm;
|
||||
turnDeg += bucket.turnDeg;
|
||||
bumps += bucket.bumps;
|
||||
});
|
||||
return {
|
||||
distance_m: Math.round((distanceMm / 1000) * 10) / 10,
|
||||
turn_deg: Math.round(turnDeg),
|
||||
bumps: Math.round(bumps * 10) / 10,
|
||||
};
|
||||
}
|
||||
|
||||
function computeBaseActivityScore(activity = {}) {
|
||||
const distanceScore = Math.min(45, Math.max(0, Number(activity.distance_m) || 0) * 25);
|
||||
const turnScore = Math.min(30, Math.max(0, Number(activity.turn_deg) || 0) / 12);
|
||||
const bumpScore = Math.min(25, Math.max(0, Number(activity.bumps) || 0) * 12);
|
||||
return Math.round(Math.min(100, distanceScore + turnScore + bumpScore));
|
||||
}
|
||||
|
||||
function computeActivityBand(score) {
|
||||
if (score >= 75) return 'intense';
|
||||
if (score >= 50) return 'high';
|
||||
if (score >= 25) return 'medium';
|
||||
if (score >= 8) return 'low';
|
||||
return 'idle';
|
||||
}
|
||||
|
||||
function computeActivityTrend(currentBaseScore, previousBaseScore) {
|
||||
const delta = Number(currentBaseScore || 0) - Number(previousBaseScore || 0);
|
||||
if (delta >= 12) return 'rising';
|
||||
if (delta <= -12) return 'falling';
|
||||
return 'steady';
|
||||
}
|
||||
|
||||
function clearRuntimeHistory() {
|
||||
contextResetAt = Date.now();
|
||||
clearCount += 1;
|
||||
skipStreak = 0;
|
||||
generationCount = 0;
|
||||
generationTotalMs = 0;
|
||||
runHistory = [];
|
||||
currentRun = null;
|
||||
roverMajorEvents.length = 0;
|
||||
lastSensorFlagsByRover.clear();
|
||||
roverActivity.clear();
|
||||
lastRoverStateById.clear();
|
||||
updateStatus({
|
||||
lastClearedAt: contextResetAt,
|
||||
clearCount,
|
||||
skipStreak,
|
||||
phase: 'idle',
|
||||
phaseAt: Date.now(),
|
||||
currentRunId: null,
|
||||
lastGenerationMs: null,
|
||||
avgGenerationMs: null,
|
||||
generationCount,
|
||||
lastInfoSnapshot: null,
|
||||
lastModelMessages: null,
|
||||
lastModelInputAt: null,
|
||||
lastModelInputTickId: null,
|
||||
lastModelRawOutput: null,
|
||||
lastModelOutputAt: null,
|
||||
lastModelOutputTickId: null,
|
||||
lastSnapshotSummary: null,
|
||||
lastGeneratedText: null,
|
||||
lastPostedText: null,
|
||||
lastPostedAt: null,
|
||||
lastError: null,
|
||||
lastErrorDetails: null,
|
||||
lastFailedAt: null,
|
||||
lastOutcome: 'cleared',
|
||||
lastReason: 'admin requested clear history',
|
||||
});
|
||||
}
|
||||
|
||||
function buildFailureInfo(err) {
|
||||
const details = {};
|
||||
if (err && typeof err === 'object') {
|
||||
if (err.name) details.name = String(err.name);
|
||||
if (err.code != null) details.code = String(err.code);
|
||||
if (err.errno != null) details.errno = String(err.errno);
|
||||
if (err.type) details.type = String(err.type);
|
||||
if (err.status != null) details.status = Number(err.status);
|
||||
if (err.statusCode != null) details.statusCode = Number(err.statusCode);
|
||||
if (err.status_code != null) details.status_code = Number(err.status_code);
|
||||
if (err.error) details.error = typeof err.error === 'string' ? err.error : JSON.stringify(err.error);
|
||||
if (err.cause) {
|
||||
if (typeof err.cause === 'string') {
|
||||
details.cause = err.cause;
|
||||
} else if (typeof err.cause === 'object') {
|
||||
details.cause = {
|
||||
name: err.cause.name || null,
|
||||
message: err.cause.message || null,
|
||||
code: err.cause.code || null,
|
||||
status: err.cause.status ?? err.cause.statusCode ?? null,
|
||||
};
|
||||
}
|
||||
}
|
||||
if (err.response && typeof err.response === 'object') {
|
||||
const response = {};
|
||||
if (err.response.status != null) response.status = Number(err.response.status);
|
||||
if (err.response.statusText) response.statusText = String(err.response.statusText);
|
||||
if (err.response.url) response.url = String(err.response.url);
|
||||
if (Object.keys(response).length) {
|
||||
details.response = response;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const message =
|
||||
(err && typeof err === 'object' && typeof err.message === 'string' && err.message.trim()) ||
|
||||
details.error ||
|
||||
String(err || 'Unknown error');
|
||||
|
||||
const reasonParts = [];
|
||||
if (details.name) reasonParts.push(details.name);
|
||||
const code = details.code || details.errno || details.type;
|
||||
if (code) reasonParts.push(String(code));
|
||||
const status =
|
||||
details.status ??
|
||||
details.statusCode ??
|
||||
details.status_code ??
|
||||
details.response?.status ??
|
||||
null;
|
||||
if (status != null) reasonParts.push(`status ${status}`);
|
||||
const reason = reasonParts.length ? reasonParts.join(' | ') : 'exception';
|
||||
|
||||
return { reason, message, details: Object.keys(details).length ? details : null };
|
||||
}
|
||||
|
||||
function isChargingFromSensors(sensors = {}) {
|
||||
const label = String(sensors?.chargingState?.label || '').toLowerCase();
|
||||
if (label === 'waiting' || label === 'full charging' || label === 'trickle charging') {
|
||||
return true;
|
||||
}
|
||||
const code = sensors?.chargingState?.code;
|
||||
return code === 2 || code === 3 || code === 4;
|
||||
}
|
||||
|
||||
function resolveDriverNickname(socketId) {
|
||||
if (!socketId) return null;
|
||||
const socket = io.sockets.sockets.get(socketId);
|
||||
return getNickname(socket) || socket?.data?.user?.username || socketId.slice(0, 6);
|
||||
}
|
||||
|
||||
function collectActiveDriverEntries() {
|
||||
const fromTurns = Object.entries(getActiveDrivers()).filter(([, socketId]) => Boolean(socketId));
|
||||
if (fromTurns.length > 0) {
|
||||
return fromTurns;
|
||||
}
|
||||
const fallback = [];
|
||||
roverManager.rovers.forEach((record, roverId) => {
|
||||
const socketId = record?.drivers?.values?.().next?.().value || null;
|
||||
if (socketId) {
|
||||
fallback.push([String(roverId), socketId]);
|
||||
}
|
||||
});
|
||||
return fallback;
|
||||
}
|
||||
|
||||
function detectMessageTopic(text = '') {
|
||||
const value = String(text).toLowerCase();
|
||||
if (!value.trim()) return 'none';
|
||||
if (/\b(bump|hit|bonk|crash|slam|collision)\b/.test(value)) return 'bumps';
|
||||
if (/\b(wheel.?drop|wheels?.*off.?ground|picked up|lifted)\b/.test(value)) return 'wheels_off_ground';
|
||||
if (/\b(dock|docked|undock|charger|charging)\b/.test(value)) return 'dock_charge';
|
||||
if (/\b(battery|low power|power)\b/.test(value)) return 'battery';
|
||||
if (/\b(chat|everyone|people|crowd)\b/.test(value)) return 'chat';
|
||||
if (/\b(move|driv|turn|spin|rolling)\b/.test(value)) return 'movement';
|
||||
return 'general';
|
||||
}
|
||||
|
||||
function buildLastMessageFocus(lastBotMessage, rovers = []) {
|
||||
if (!lastBotMessage) return null;
|
||||
const text = String(lastBotMessage.text || '');
|
||||
const textLower = text.toLowerCase();
|
||||
let roverId = null;
|
||||
for (const rover of rovers) {
|
||||
const id = String(rover?.id || '').toLowerCase();
|
||||
const name = String(rover?.name || '').toLowerCase();
|
||||
if ((id && textLower.includes(id)) || (name && textLower.includes(name))) {
|
||||
roverId = rover.id;
|
||||
break;
|
||||
}
|
||||
}
|
||||
return {
|
||||
rover_id: roverId,
|
||||
topic: detectMessageTopic(text),
|
||||
};
|
||||
}
|
||||
|
||||
function compactRoverForContext(rover) {
|
||||
if (!rover) return null;
|
||||
return {
|
||||
id: rover.id,
|
||||
status_tag: rover.status_tag,
|
||||
battery_low: rover.battery_low,
|
||||
docked: rover.docked,
|
||||
charging: rover.charging,
|
||||
wheels_off_ground: rover.wheels_off_ground,
|
||||
contact_state: rover.contact_state || 'clear',
|
||||
hazard_state: rover.hazard_state || 'normal',
|
||||
mobility_state: rover.mobility_state || 'normal',
|
||||
activity_score: rover.activity_score ?? 0,
|
||||
activity_band: rover.activity_band || 'idle',
|
||||
activity_trend: rover.activity_trend || 'steady',
|
||||
};
|
||||
}
|
||||
|
||||
function deriveContactState(sensors = {}, activity30s = {}, docked = false) {
|
||||
if (docked) return 'clear';
|
||||
const bumps = Number(activity30s?.bumps) || 0;
|
||||
const hasBump = bumps >= 0.5 || sensors?.bumpsAndWheelDrops?.bumpLeft || sensors?.bumpsAndWheelDrops?.bumpRight;
|
||||
if (hasBump) return 'bumps_recent';
|
||||
const light = sensors?.lightBumper || {};
|
||||
const wallBrush =
|
||||
Boolean(sensors?.wall) ||
|
||||
Boolean(light.left || light.frontLeft || light.centerLeft || light.centerRight || light.frontRight || light.right);
|
||||
if (wallBrush) return 'wall_brush';
|
||||
return 'clear';
|
||||
}
|
||||
|
||||
function deriveHazardState(sensors = {}, docked = false) {
|
||||
if (docked) return 'normal';
|
||||
if (Boolean(sensors?.virtualWall)) return 'virtual_wall_seen';
|
||||
if (
|
||||
Boolean(sensors?.cliffLeft) ||
|
||||
Boolean(sensors?.cliffFrontLeft) ||
|
||||
Boolean(sensors?.cliffFrontRight) ||
|
||||
Boolean(sensors?.cliffRight)
|
||||
) {
|
||||
return 'cliff_alert';
|
||||
}
|
||||
return 'normal';
|
||||
}
|
||||
|
||||
function deriveMobilityState(sensors = {}, wheelsOffGround = false) {
|
||||
if (wheelsOffGround) return 'wheels_off_ground';
|
||||
return 'normal';
|
||||
}
|
||||
|
||||
function buildRoversNow(nowMs = Date.now()) {
|
||||
const activeDrivers = getActiveDrivers();
|
||||
const roster = roverManager
|
||||
.getRoster()
|
||||
.filter((entry) => roverManager.canReplayRoverId(entry.id))
|
||||
.slice(0, MAX_ROVERS);
|
||||
const nextRoverStateById = new Map();
|
||||
const rovers = roster.map((entry) => {
|
||||
const roverId = String(entry.id);
|
||||
const record = roverManager.rovers.get(roverId);
|
||||
const sensors = record?.lastSensor?.decoded || {};
|
||||
const batteryState = entry.batteryState || null;
|
||||
const driverSocketId = activeDrivers[roverId] || null;
|
||||
const wheelsOffGround = Boolean(
|
||||
sensors?.bumpsAndWheelDrops?.wheelDropLeft && sensors?.bumpsAndWheelDrops?.wheelDropRight,
|
||||
);
|
||||
const activity30s = getActivity30s(roverId, nowMs);
|
||||
const previousActivity30s = getActivityWindow(
|
||||
roverId,
|
||||
ACTIVITY_SCORE_WINDOW_MS,
|
||||
ACTIVITY_SCORE_WINDOW_MS,
|
||||
nowMs,
|
||||
);
|
||||
const charging = isChargingFromSensors(sensors);
|
||||
const docked = Boolean(sensors?.chargingSources?.homeBase);
|
||||
const isMoving = activity30s.distance_m > 0.1 || activity30s.turn_deg > 20;
|
||||
let statusTag = 'idle';
|
||||
if (charging) {
|
||||
statusTag = 'charging';
|
||||
} else if (docked) {
|
||||
statusTag = 'docked';
|
||||
} else if (driverSocketId && isMoving) {
|
||||
statusTag = 'driving';
|
||||
} else if (driverSocketId) {
|
||||
statusTag = 'active-idle';
|
||||
}
|
||||
const rover = {
|
||||
id: roverId,
|
||||
name: entry.name || roverId,
|
||||
driver_nickname: driverSocketId ? resolveDriverNickname(driverSocketId) : null,
|
||||
docked,
|
||||
charging,
|
||||
wheels_off_ground: wheelsOffGround,
|
||||
battery_low: Boolean(batteryState?.warnActive || batteryState?.urgentActive),
|
||||
activity_30s: activity30s,
|
||||
status_tag: statusTag,
|
||||
contact_state: deriveContactState(sensors, activity30s, docked),
|
||||
hazard_state: deriveHazardState(sensors, docked),
|
||||
mobility_state: deriveMobilityState(sensors, wheelsOffGround),
|
||||
};
|
||||
const currentBaseScore = computeBaseActivityScore(activity30s);
|
||||
const previousBaseScore = computeBaseActivityScore(previousActivity30s);
|
||||
let activityScore = currentBaseScore;
|
||||
if (rover.contact_state === 'wall_brush') activityScore += 6;
|
||||
if (rover.contact_state === 'bumps_recent') activityScore += 12;
|
||||
if (rover.hazard_state !== 'normal') activityScore += 8;
|
||||
if (rover.status_tag === 'driving') activityScore += 8;
|
||||
if (rover.status_tag === 'active-idle') activityScore += 4;
|
||||
if (rover.charging || rover.docked) activityScore -= 25;
|
||||
if (rover.wheels_off_ground) activityScore -= 20;
|
||||
activityScore = Math.max(0, Math.min(100, Math.round(activityScore)));
|
||||
rover.activity_score = activityScore;
|
||||
rover.activity_band = computeActivityBand(activityScore);
|
||||
rover.activity_trend = computeActivityTrend(currentBaseScore, previousBaseScore);
|
||||
const prev = lastRoverStateById.get(roverId) || null;
|
||||
const nextState = {
|
||||
driver_nickname: rover.driver_nickname,
|
||||
docked: rover.docked,
|
||||
charging: rover.charging,
|
||||
wheels_off_ground: rover.wheels_off_ground,
|
||||
battery_low: rover.battery_low,
|
||||
activity_30s: rover.activity_30s,
|
||||
status_tag: rover.status_tag,
|
||||
activity_score: rover.activity_score,
|
||||
activity_band: rover.activity_band,
|
||||
activity_trend: rover.activity_trend,
|
||||
};
|
||||
nextRoverStateById.set(roverId, nextState);
|
||||
rover.prev_state = prev;
|
||||
return rover;
|
||||
});
|
||||
lastRoverStateById.clear();
|
||||
nextRoverStateById.forEach((value, roverId) => {
|
||||
lastRoverStateById.set(roverId, value);
|
||||
});
|
||||
return { rovers, activeDrivers, roster };
|
||||
}
|
||||
|
||||
function buildSnapshot() {
|
||||
const now = new Date();
|
||||
const nowMs = now.getTime();
|
||||
const driverEntries = collectActiveDriverEntries();
|
||||
const { rovers } = buildRoversNow(nowMs);
|
||||
const roverById = new Map(rovers.map((rover) => [String(rover.id), rover]));
|
||||
const allRecentMessages = getRecentMessages(300, { includeSystem: true })
|
||||
.filter((entry) => Number(entry?.ts) >= contextResetAt)
|
||||
.filter((entry) => {
|
||||
const roverId = entry?.roverId ? String(entry.roverId) : null;
|
||||
if (!roverId) return true;
|
||||
return roverManager.canReplayRoverId(roverId);
|
||||
});
|
||||
const chatRecent = allRecentMessages
|
||||
.filter((entry) => !entry?.system)
|
||||
.slice(-MAX_CHAT_MESSAGES)
|
||||
.map((entry) => ({
|
||||
nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
|
||||
text: entry.text || '',
|
||||
}));
|
||||
|
||||
const botRecentWindow = allRecentMessages
|
||||
.filter((entry) => Number(entry?.ts) >= contextResetAt)
|
||||
.filter((entry) => entry?.system);
|
||||
const lastBotMessage = botRecentWindow.length ? botRecentWindow[botRecentWindow.length - 1] : null;
|
||||
const botRecent30m = botRecentWindow.filter(
|
||||
(entry) => nowMs - Number(entry?.ts || 0) <= SELF_TALK_WINDOW_MS,
|
||||
);
|
||||
|
||||
const roverEvents = roverMajorEvents.filter(
|
||||
(entry) =>
|
||||
Number(entry?.ts) >= contextResetAt &&
|
||||
roverManager.canReplayRoverId(entry?.rover_id || ''),
|
||||
);
|
||||
const timelineEntries = [
|
||||
...allRecentMessages.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'chat', entry })),
|
||||
...roverEvents.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'event', entry })),
|
||||
]
|
||||
.sort((a, b) => a.ts - b.ts)
|
||||
.slice(-MAX_CONTEXT_EVENTS);
|
||||
|
||||
const eventStream = timelineEntries.map(({ source, entry }) => {
|
||||
if (source === 'event') {
|
||||
return {
|
||||
type: 'event',
|
||||
event_type: entry.event_type || 'rover_event',
|
||||
rover_id: entry.rover_id || null,
|
||||
driver_nickname: entry.driver_nickname || null,
|
||||
summary: entry.summary || '',
|
||||
};
|
||||
}
|
||||
if (entry?.system) {
|
||||
return {
|
||||
type: 'bot',
|
||||
nickname: entry.nickname || 'Rover Bot',
|
||||
text: entry.text || '',
|
||||
};
|
||||
}
|
||||
const roverId = entry?.roverId ? String(entry.roverId) : null;
|
||||
const rover = roverId ? roverById.get(roverId) : null;
|
||||
const baseCtx = compactRoverForContext(rover) || {};
|
||||
const storedCtx = entry?.roverCtx || entry?.rover_ctx || {};
|
||||
return {
|
||||
type: 'chat',
|
||||
nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
|
||||
text: entry.text || '',
|
||||
rover_id: roverId,
|
||||
rover_ctx: { ...baseCtx, ...storedCtx },
|
||||
};
|
||||
});
|
||||
const hasRecentChat = eventStream.some((event) => event.type === 'chat');
|
||||
|
||||
const currentSnapshot = {
|
||||
rovers,
|
||||
};
|
||||
if (!hasRecentChat) {
|
||||
currentSnapshot.chat_recent = chatRecent;
|
||||
}
|
||||
|
||||
return {
|
||||
run_meta: {
|
||||
version: 'commentary_v2',
|
||||
self_talk_recent_30m: botRecent30m.length,
|
||||
skip_streak: skipStreak,
|
||||
last_message_focus: buildLastMessageFocus(lastBotMessage, rovers),
|
||||
active_driver_count: driverEntries.length,
|
||||
driving_rovers: driverEntries.map(([roverId]) => String(roverId)),
|
||||
},
|
||||
event_stream: eventStream,
|
||||
current_snapshot: currentSnapshot,
|
||||
};
|
||||
}
|
||||
|
||||
function refreshFinalSnapshotForSend(snapshot) {
|
||||
const { rovers } = buildRoversNow(Date.now());
|
||||
return {
|
||||
...(snapshot || {}),
|
||||
current_snapshot: {
|
||||
...(snapshot?.current_snapshot || {}),
|
||||
rovers,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function normalizeCommentary(rawText) {
|
||||
if (typeof rawText !== 'string') return null;
|
||||
const trimmed = rawText.trim();
|
||||
if (!trimmed) return null;
|
||||
if (/\bSKIP\b/i.test(trimmed)) return null;
|
||||
const firstLine = trimmed
|
||||
.split(/\r?\n/)
|
||||
.map((line) => line.trim())
|
||||
.find(Boolean);
|
||||
if (!firstLine) return null;
|
||||
if (/\bSKIP\b/i.test(firstLine)) return null;
|
||||
return firstLine.replace(/\s+/g, ' ');
|
||||
}
|
||||
|
||||
function parseModelOutput(rawContent) {
|
||||
const raw = typeof rawContent === 'string' ? rawContent : '';
|
||||
const normalized = normalizeCommentary(raw);
|
||||
return {
|
||||
raw,
|
||||
normalized,
|
||||
skipped: normalized == null,
|
||||
};
|
||||
}
|
||||
|
||||
function normalizeDuplicateKey(text) {
|
||||
return String(text || '')
|
||||
.toLowerCase()
|
||||
.replace(/[^a-z0-9\s]/g, ' ')
|
||||
.replace(/\s+/g, ' ')
|
||||
.trim();
|
||||
}
|
||||
|
||||
function encBool(value) {
|
||||
return value ? '1' : '0';
|
||||
}
|
||||
|
||||
function encStatus(value) {
|
||||
const map = {
|
||||
charging: 'charging',
|
||||
docked: 'docked',
|
||||
driving: 'driving',
|
||||
'active-idle': 'active_idle',
|
||||
idle: 'idle',
|
||||
unknown: 'unknown',
|
||||
};
|
||||
return map[String(value || 'unknown')] || 'unknown';
|
||||
}
|
||||
|
||||
function encActivityBand(value) {
|
||||
const map = {
|
||||
idle: 'idle',
|
||||
low: 'low',
|
||||
medium: 'medium',
|
||||
high: 'high',
|
||||
intense: 'intense',
|
||||
};
|
||||
return map[String(value || 'idle')] || 'idle';
|
||||
}
|
||||
|
||||
function encActivityTrend(value) {
|
||||
const map = {
|
||||
rising: 'rising',
|
||||
steady: 'steady',
|
||||
falling: 'falling',
|
||||
};
|
||||
return map[String(value || 'steady')] || 'steady';
|
||||
}
|
||||
|
||||
function formatChatRoverCtx(ctx) {
|
||||
if (!ctx || typeof ctx !== 'object') return 'none';
|
||||
return `st=${encStatus(ctx.status_tag)} bl=${encBool(Boolean(ctx.battery_low))} dk=${encBool(Boolean(ctx.docked))} ab=${encActivityBand(ctx.activity_band)} at=${encActivityTrend(ctx.activity_trend)}`;
|
||||
}
|
||||
|
||||
function formatChatEventMessage(event) {
|
||||
const roverId = event.rover_id || 'none';
|
||||
if (roverId === 'none') {
|
||||
return [
|
||||
'CHAT',
|
||||
`n=${event.nickname || 'unknown'} r=none driver=none`,
|
||||
`txt: ${event.text || ''}`,
|
||||
].join('\n');
|
||||
}
|
||||
return [
|
||||
'CHAT',
|
||||
`n=${event.nickname || 'unknown'} r=${roverId}`,
|
||||
`txt: ${event.text || ''}`,
|
||||
`rn: ${formatChatRoverCtx(event.rover_ctx)}`,
|
||||
].join('\n');
|
||||
}
|
||||
|
||||
function formatRoverSnapshotLine(rover = {}) {
|
||||
return `id=${rover.id || 'unknown'} drv=${rover.driver_nickname || 'none'} st=${encStatus(rover.status_tag)} bl=${encBool(Boolean(rover.battery_low))} dk=${encBool(Boolean(rover.docked))} as=${Number(rover.activity_score) || 0} ab=${encActivityBand(rover.activity_band)} at=${encActivityTrend(rover.activity_trend)}`;
|
||||
}
|
||||
|
||||
function formatEventMessage(event) {
|
||||
return [
|
||||
'EVENT',
|
||||
`e=${event.event_type || 'rover_event'} r=${event.rover_id || 'unknown'} d=${event.driver_nickname || 'none'}`,
|
||||
`s: ${event.summary || ''}`,
|
||||
].join('\n');
|
||||
}
|
||||
|
||||
function formatSnapshotMessage(event) {
|
||||
const rovers = Array.isArray(event?.rovers) ? event.rovers : [];
|
||||
const lines = ['SNAPSHOT', `reason=${event?.reason || 'none'}`];
|
||||
rovers.forEach((rover) => {
|
||||
lines.push(formatRoverSnapshotLine(rover));
|
||||
});
|
||||
return lines.join('\n');
|
||||
}
|
||||
|
||||
function formatSnapshotFinalMessage(currentSnapshot = {}, runMeta = {}) {
|
||||
const rovers = Array.isArray(currentSnapshot?.rovers) ? currentSnapshot.rovers : [];
|
||||
const lines = ['SNAPSHOT FINAL'];
|
||||
lines.push(`skip_streak=${Number(runMeta?.skip_streak) || 0}`);
|
||||
rovers.forEach((rover) => {
|
||||
lines.push(formatRoverSnapshotLine(rover));
|
||||
});
|
||||
if (Array.isArray(currentSnapshot?.chat_recent) && currentSnapshot.chat_recent.length) {
|
||||
lines.push('chat_recent:');
|
||||
currentSnapshot.chat_recent.forEach((entry) => {
|
||||
lines.push(`- ${entry.nickname || 'unknown'}: ${entry.text || ''}`);
|
||||
});
|
||||
}
|
||||
return lines.join('\n');
|
||||
}
|
||||
|
||||
async function readSystemPrompt() {
|
||||
const prompt = await fsp.readFile(PROMPT_PATH, 'utf8');
|
||||
const trimmed = prompt.trim();
|
||||
@@ -938,48 +224,6 @@ async function readSystemPrompt() {
|
||||
return trimmed;
|
||||
}
|
||||
|
||||
function buildModelMessages(systemPrompt, snapshot) {
|
||||
const messages = [];
|
||||
messages.push({ role: 'system', content: systemPrompt });
|
||||
const timeline = Array.isArray(snapshot?.event_stream) ? snapshot.event_stream : [];
|
||||
timeline.forEach((event) => {
|
||||
if (!event || typeof event !== 'object') return;
|
||||
if (event.type === 'bot') {
|
||||
const text = String(event.text || '').trim();
|
||||
if (text) {
|
||||
messages.push({ role: 'assistant', content: text });
|
||||
}
|
||||
return;
|
||||
}
|
||||
if (event.type === 'chat') {
|
||||
messages.push({
|
||||
role: 'user',
|
||||
content: formatChatEventMessage(event),
|
||||
});
|
||||
return;
|
||||
}
|
||||
if (event.type === 'event') {
|
||||
messages.push({
|
||||
role: 'user',
|
||||
content: formatEventMessage(event),
|
||||
});
|
||||
return;
|
||||
}
|
||||
if (event.type === 'snapshot') {
|
||||
messages.push({
|
||||
role: 'user',
|
||||
content: formatSnapshotMessage(event),
|
||||
});
|
||||
}
|
||||
});
|
||||
// Always end with a full rover snapshot user message.
|
||||
messages.push({
|
||||
role: 'user',
|
||||
content: formatSnapshotFinalMessage(snapshot?.current_snapshot || {}, snapshot?.run_meta || {}),
|
||||
});
|
||||
return messages;
|
||||
}
|
||||
|
||||
async function generateCommentary(messages) {
|
||||
if (!ollamaClient) {
|
||||
throw new Error('Ollama client unavailable');
|
||||
@@ -1042,7 +286,7 @@ async function runTick() {
|
||||
}
|
||||
inFlight = true;
|
||||
try {
|
||||
const snapshot = buildSnapshot();
|
||||
const snapshot = snapshotEngine.buildSnapshot();
|
||||
const snapshotSummary = {
|
||||
activeDrivers: snapshot?.run_meta?.active_driver_count || 0,
|
||||
rovers: snapshot?.current_snapshot?.rovers?.length || 0,
|
||||
@@ -1068,7 +312,7 @@ async function runTick() {
|
||||
lastInfoSnapshot: snapshot,
|
||||
});
|
||||
const systemPrompt = await readSystemPrompt();
|
||||
const snapshotForSend = refreshFinalSnapshotForSend(snapshot);
|
||||
const snapshotForSend = snapshotEngine.refreshFinalSnapshotForSend(snapshot);
|
||||
const modelMessages = buildModelMessages(systemPrompt, snapshotForSend);
|
||||
const modelInputAt = Date.now();
|
||||
patchCurrentRun({
|
||||
@@ -1275,7 +519,7 @@ io.on('connection', (socket) => {
|
||||
const command = controls?.action || null;
|
||||
if (command === 'clearHistory') {
|
||||
clearRuntimeHistory();
|
||||
cb({ success: true, state: buildAdminState() });
|
||||
cb({ success: true, state: buildAdminState(status, runHistory) });
|
||||
return;
|
||||
}
|
||||
cb({ error: 'Unknown llm control action' });
|
||||
@@ -1286,10 +530,10 @@ roleEvents.on('change', ({ socket }) => {
|
||||
emitStatusToSocket(socket);
|
||||
});
|
||||
|
||||
roverManager.managerEvents.on('sensor', onSensorEvent);
|
||||
roverManager.managerEvents.on('sensor', snapshotEngine.onSensorEvent);
|
||||
roverManager.managerEvents.on('rover', ({ roverId, action } = {}) => {
|
||||
if (action === 'removed' && roverId) {
|
||||
roverActivity.delete(String(roverId));
|
||||
snapshotEngine.removeRover(roverId);
|
||||
}
|
||||
});
|
||||
roverManager.managerEvents.on('driver', ({ action } = {}) => {
|
||||
|
||||
@@ -0,0 +1,123 @@
|
||||
// llm Commentary Service runtime helpers
|
||||
// Purpose: Provides pure helpers for admin state projection, role checks, and structured error normalization.
|
||||
// Scope: Keeps runtime behavior unchanged by extracting deterministic helper logic from index orchestration.
|
||||
function isAdminRole(role) {
|
||||
return role === 'admin' || role === 'lockdown' || role === 'lockdown-admin';
|
||||
}
|
||||
|
||||
function buildAdminState(status, runHistory) {
|
||||
return {
|
||||
runtime: {
|
||||
running: status.running,
|
||||
inFlight: status.inFlight,
|
||||
phase: status.phase,
|
||||
phaseAt: status.phaseAt,
|
||||
currentRunId: status.currentRunId,
|
||||
tickCount: status.tickCount,
|
||||
lastTickAt: status.lastTickAt,
|
||||
nextRunAt: status.nextRunAt,
|
||||
outcome: status.lastOutcome,
|
||||
reason: status.lastReason,
|
||||
},
|
||||
counters: {
|
||||
clearCount: status.clearCount,
|
||||
skipStreak: status.skipStreak,
|
||||
promptChars: status.lastPromptChars,
|
||||
snapshotSummary: status.lastSnapshotSummary,
|
||||
},
|
||||
timings: {
|
||||
lastGenerationMs: status.lastGenerationMs,
|
||||
avgGenerationMs: status.avgGenerationMs,
|
||||
generationCount: status.generationCount,
|
||||
},
|
||||
input: {
|
||||
promptPath: status.promptPath,
|
||||
systemPrompt: status.lastSystemPrompt,
|
||||
infoSnapshot: status.lastInfoSnapshot,
|
||||
modelMessages: status.lastModelMessages,
|
||||
modelInputAt: status.lastModelInputAt,
|
||||
modelInputTickId: status.lastModelInputTickId,
|
||||
},
|
||||
output: {
|
||||
raw: status.lastModelRawOutput,
|
||||
generated: status.lastGeneratedText,
|
||||
posted: status.lastPostedText,
|
||||
postedAt: status.lastPostedAt,
|
||||
modelOutputAt: status.lastModelOutputAt,
|
||||
modelOutputTickId: status.lastModelOutputTickId,
|
||||
},
|
||||
errors: {
|
||||
message: status.lastError,
|
||||
details: status.lastErrorDetails,
|
||||
failedAt: status.lastFailedAt,
|
||||
},
|
||||
history: runHistory,
|
||||
debug: {
|
||||
status,
|
||||
},
|
||||
controls: {
|
||||
supportedActions: ['clearHistory'],
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function buildFailureInfo(err) {
|
||||
const details = {};
|
||||
if (err && typeof err === 'object') {
|
||||
if (err.name) details.name = String(err.name);
|
||||
if (err.code != null) details.code = String(err.code);
|
||||
if (err.errno != null) details.errno = String(err.errno);
|
||||
if (err.type) details.type = String(err.type);
|
||||
if (err.status != null) details.status = Number(err.status);
|
||||
if (err.statusCode != null) details.statusCode = Number(err.statusCode);
|
||||
if (err.status_code != null) details.status_code = Number(err.status_code);
|
||||
if (err.error) details.error = typeof err.error === 'string' ? err.error : JSON.stringify(err.error);
|
||||
if (err.cause) {
|
||||
if (typeof err.cause === 'string') {
|
||||
details.cause = err.cause;
|
||||
} else if (typeof err.cause === 'object') {
|
||||
details.cause = {
|
||||
name: err.cause.name || null,
|
||||
message: err.cause.message || null,
|
||||
code: err.cause.code || null,
|
||||
status: err.cause.status ?? err.cause.statusCode ?? null,
|
||||
};
|
||||
}
|
||||
}
|
||||
if (err.response && typeof err.response === 'object') {
|
||||
const response = {};
|
||||
if (err.response.status != null) response.status = Number(err.response.status);
|
||||
if (err.response.statusText) response.statusText = String(err.response.statusText);
|
||||
if (err.response.url) response.url = String(err.response.url);
|
||||
if (Object.keys(response).length) {
|
||||
details.response = response;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const message =
|
||||
(err && typeof err === 'object' && typeof err.message === 'string' && err.message.trim()) ||
|
||||
details.error ||
|
||||
String(err || 'Unknown error');
|
||||
|
||||
const reasonParts = [];
|
||||
if (details.name) reasonParts.push(details.name);
|
||||
const code = details.code || details.errno || details.type;
|
||||
if (code) reasonParts.push(String(code));
|
||||
const status =
|
||||
details.status ??
|
||||
details.statusCode ??
|
||||
details.status_code ??
|
||||
details.response?.status ??
|
||||
null;
|
||||
if (status != null) reasonParts.push(`status ${status}`);
|
||||
const reason = reasonParts.length ? reasonParts.join(' | ') : 'exception';
|
||||
|
||||
return { reason, message, details: Object.keys(details).length ? details : null };
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
isAdminRole,
|
||||
buildAdminState,
|
||||
buildFailureInfo,
|
||||
};
|
||||
@@ -0,0 +1,484 @@
|
||||
// llm Commentary Service snapshot engine
|
||||
// Purpose: Tracks rover activity/history and builds model snapshot payloads from live rover/chat state.
|
||||
// Scope: Keeps runtime behavior unchanged while isolating sensor aggregation and snapshot assembly logic.
|
||||
function createSnapshotEngine(deps) {
|
||||
const {
|
||||
io,
|
||||
roverManager,
|
||||
getActiveDrivers,
|
||||
getNickname,
|
||||
getRecentMessages,
|
||||
MAX_ROVERS,
|
||||
MAX_CHAT_MESSAGES,
|
||||
ACTIVITY_WINDOW_MS,
|
||||
ACTIVITY_BUCKET_MS,
|
||||
ACTIVITY_SCORE_WINDOW_MS,
|
||||
SELF_TALK_WINDOW_MS,
|
||||
MAX_CONTEXT_EVENTS,
|
||||
MAX_ROVER_EVENTS,
|
||||
getContextResetAt,
|
||||
getSkipStreak,
|
||||
} = deps;
|
||||
|
||||
const roverActivity = new Map();
|
||||
const roverMajorEvents = [];
|
||||
const lastSensorFlagsByRover = new Map();
|
||||
const lastRoverStateById = new Map();
|
||||
|
||||
function pushRoverMajorEvent(event) {
|
||||
roverMajorEvents.push(event);
|
||||
if (roverMajorEvents.length > MAX_ROVER_EVENTS) {
|
||||
roverMajorEvents.shift();
|
||||
}
|
||||
}
|
||||
|
||||
function pruneActivityBuckets(state, nowMs) {
|
||||
if (!state?.buckets) return;
|
||||
const minTs = nowMs - ACTIVITY_WINDOW_MS;
|
||||
state.buckets.forEach((_, bucketTs) => {
|
||||
if (bucketTs < minTs) {
|
||||
state.buckets.delete(bucketTs);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
function upsertActivityState(roverId) {
|
||||
if (!roverActivity.has(roverId)) {
|
||||
roverActivity.set(roverId, {
|
||||
buckets: new Map(),
|
||||
bumpLeftActive: false,
|
||||
bumpRightActive: false,
|
||||
});
|
||||
}
|
||||
return roverActivity.get(roverId);
|
||||
}
|
||||
|
||||
function isChargingFromSensors(sensors = {}) {
|
||||
const label = String(sensors?.chargingState?.label || '').toLowerCase();
|
||||
if (label === 'waiting' || label === 'full charging' || label === 'trickle charging') {
|
||||
return true;
|
||||
}
|
||||
const code = sensors?.chargingState?.code;
|
||||
return code === 2 || code === 3 || code === 4;
|
||||
}
|
||||
|
||||
function resolveDriverNickname(socketId) {
|
||||
if (!socketId) return null;
|
||||
const socket = io.sockets.sockets.get(socketId);
|
||||
return getNickname(socket) || socket?.data?.user?.username || socketId.slice(0, 6);
|
||||
}
|
||||
|
||||
function onSensorEvent({ roverId, sensors, batteryState } = {}) {
|
||||
if (!roverId || !sensors) return;
|
||||
if (!roverManager.canReplayRoverId(roverId)) return;
|
||||
const nowMs = Date.now();
|
||||
const dockedNow = Boolean(sensors?.chargingSources?.homeBase);
|
||||
const bucketTs = Math.floor(nowMs / ACTIVITY_BUCKET_MS) * ACTIVITY_BUCKET_MS;
|
||||
const state = upsertActivityState(String(roverId));
|
||||
pruneActivityBuckets(state, nowMs);
|
||||
if (!state.buckets.has(bucketTs)) {
|
||||
state.buckets.set(bucketTs, { distanceMm: 0, turnDeg: 0, bumps: 0 });
|
||||
}
|
||||
const bucket = state.buckets.get(bucketTs);
|
||||
bucket.distanceMm += Math.abs(Number(sensors.distanceMm) || 0);
|
||||
bucket.turnDeg += Math.abs(Number(sensors.angleDeg) || 0);
|
||||
const bumpLeftNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpLeft);
|
||||
const bumpRightNow = Boolean(sensors?.bumpsAndWheelDrops?.bumpRight);
|
||||
if (!dockedNow) {
|
||||
if (bumpLeftNow && !state.bumpLeftActive) bucket.bumps += 0.5;
|
||||
if (bumpRightNow && !state.bumpRightActive) bucket.bumps += 0.5;
|
||||
}
|
||||
state.bumpLeftActive = bumpLeftNow;
|
||||
state.bumpRightActive = bumpRightNow;
|
||||
|
||||
const roverKey = String(roverId);
|
||||
const activeDrivers = getActiveDrivers();
|
||||
const driverSocketId = activeDrivers[roverKey] || null;
|
||||
const driverNickname = driverSocketId ? resolveDriverNickname(driverSocketId) : null;
|
||||
const docked = dockedNow;
|
||||
const charging = isChargingFromSensors(sensors);
|
||||
const wheelsOffGround = Boolean(
|
||||
sensors?.bumpsAndWheelDrops?.wheelDropLeft && sensors?.bumpsAndWheelDrops?.wheelDropRight,
|
||||
);
|
||||
const batteryLow = Boolean(batteryState?.warnActive || batteryState?.urgentActive);
|
||||
const prevFlags = lastSensorFlagsByRover.get(roverKey) || null;
|
||||
const nextFlags = {
|
||||
docked,
|
||||
charging,
|
||||
battery_low: batteryLow,
|
||||
wheels_off_ground: wheelsOffGround,
|
||||
};
|
||||
if (prevFlags) {
|
||||
if (prevFlags.docked !== nextFlags.docked) {
|
||||
pushRoverMajorEvent({
|
||||
ts: nowMs,
|
||||
type: 'event',
|
||||
event_type: nextFlags.docked ? 'rover_docked' : 'rover_undocked',
|
||||
rover_id: roverKey,
|
||||
driver_nickname: driverNickname,
|
||||
summary: nextFlags.docked ? 'transitioned to docked' : 'transitioned to undocked',
|
||||
});
|
||||
}
|
||||
if (prevFlags.battery_low !== nextFlags.battery_low) {
|
||||
pushRoverMajorEvent({
|
||||
ts: nowMs,
|
||||
type: 'event',
|
||||
event_type: 'battery_low_changed',
|
||||
rover_id: roverKey,
|
||||
driver_nickname: driverNickname,
|
||||
summary: nextFlags.battery_low ? 'battery_low became true' : 'battery_low became false',
|
||||
});
|
||||
}
|
||||
}
|
||||
lastSensorFlagsByRover.set(roverKey, nextFlags);
|
||||
}
|
||||
|
||||
function getActivityWindow(roverId, windowMs, offsetMs = 0, nowMs = Date.now()) {
|
||||
const state = roverActivity.get(String(roverId));
|
||||
if (!state) return { distance_m: 0, turn_deg: 0, bumps: 0 };
|
||||
pruneActivityBuckets(state, nowMs);
|
||||
const windowStart = nowMs - offsetMs - windowMs;
|
||||
const windowEnd = nowMs - offsetMs;
|
||||
let distanceMm = 0;
|
||||
let turnDeg = 0;
|
||||
let bumps = 0;
|
||||
state.buckets.forEach((bucket, bucketTs) => {
|
||||
if (bucketTs < windowStart || bucketTs > windowEnd) return;
|
||||
distanceMm += bucket.distanceMm;
|
||||
turnDeg += bucket.turnDeg;
|
||||
bumps += bucket.bumps;
|
||||
});
|
||||
return {
|
||||
distance_m: Math.round((distanceMm / 1000) * 10) / 10,
|
||||
turn_deg: Math.round(turnDeg),
|
||||
bumps: Math.round(bumps * 10) / 10,
|
||||
};
|
||||
}
|
||||
|
||||
function getActivity30s(roverId, nowMs = Date.now()) {
|
||||
return getActivityWindow(roverId, ACTIVITY_SCORE_WINDOW_MS, 0, nowMs);
|
||||
}
|
||||
|
||||
function computeBaseActivityScore(activity = {}) {
|
||||
const distanceScore = Math.min(45, Math.max(0, Number(activity.distance_m) || 0) * 25);
|
||||
const turnScore = Math.min(30, Math.max(0, Number(activity.turn_deg) || 0) / 12);
|
||||
const bumpScore = Math.min(25, Math.max(0, Number(activity.bumps) || 0) * 12);
|
||||
return Math.round(Math.min(100, distanceScore + turnScore + bumpScore));
|
||||
}
|
||||
|
||||
function computeActivityBand(score) {
|
||||
if (score >= 75) return 'intense';
|
||||
if (score >= 50) return 'high';
|
||||
if (score >= 25) return 'medium';
|
||||
if (score >= 8) return 'low';
|
||||
return 'idle';
|
||||
}
|
||||
|
||||
function computeActivityTrend(currentBaseScore, previousBaseScore) {
|
||||
const delta = Number(currentBaseScore || 0) - Number(previousBaseScore || 0);
|
||||
if (delta >= 12) return 'rising';
|
||||
if (delta <= -12) return 'falling';
|
||||
return 'steady';
|
||||
}
|
||||
|
||||
function detectMessageTopic(text = '') {
|
||||
const value = String(text).toLowerCase();
|
||||
if (!value.trim()) return 'none';
|
||||
if (/\b(bump|hit|bonk|crash|slam|collision)\b/.test(value)) return 'bumps';
|
||||
if (/\b(wheel.?drop|wheels?.*off.?ground|picked up|lifted)\b/.test(value)) return 'wheels_off_ground';
|
||||
if (/\b(dock|docked|undock|charger|charging)\b/.test(value)) return 'dock_charge';
|
||||
if (/\b(battery|low power|power)\b/.test(value)) return 'battery';
|
||||
if (/\b(chat|everyone|people|crowd)\b/.test(value)) return 'chat';
|
||||
if (/\b(move|driv|turn|spin|rolling)\b/.test(value)) return 'movement';
|
||||
return 'general';
|
||||
}
|
||||
|
||||
function buildLastMessageFocus(lastBotMessage, rovers = []) {
|
||||
if (!lastBotMessage) return null;
|
||||
const text = String(lastBotMessage.text || '');
|
||||
const textLower = text.toLowerCase();
|
||||
let roverId = null;
|
||||
for (const rover of rovers) {
|
||||
const id = String(rover?.id || '').toLowerCase();
|
||||
const name = String(rover?.name || '').toLowerCase();
|
||||
if ((id && textLower.includes(id)) || (name && textLower.includes(name))) {
|
||||
roverId = rover.id;
|
||||
break;
|
||||
}
|
||||
}
|
||||
return {
|
||||
rover_id: roverId,
|
||||
topic: detectMessageTopic(text),
|
||||
};
|
||||
}
|
||||
|
||||
function compactRoverForContext(rover) {
|
||||
if (!rover) return null;
|
||||
return {
|
||||
id: rover.id,
|
||||
status_tag: rover.status_tag,
|
||||
battery_low: rover.battery_low,
|
||||
docked: rover.docked,
|
||||
charging: rover.charging,
|
||||
wheels_off_ground: rover.wheels_off_ground,
|
||||
contact_state: rover.contact_state || 'clear',
|
||||
hazard_state: rover.hazard_state || 'normal',
|
||||
mobility_state: rover.mobility_state || 'normal',
|
||||
activity_score: rover.activity_score ?? 0,
|
||||
activity_band: rover.activity_band || 'idle',
|
||||
activity_trend: rover.activity_trend || 'steady',
|
||||
};
|
||||
}
|
||||
|
||||
function deriveContactState(sensors = {}, activity30s = {}, docked = false) {
|
||||
if (docked) return 'clear';
|
||||
const bumps = Number(activity30s?.bumps) || 0;
|
||||
const hasBump = bumps >= 0.5 || sensors?.bumpsAndWheelDrops?.bumpLeft || sensors?.bumpsAndWheelDrops?.bumpRight;
|
||||
if (hasBump) return 'bumps_recent';
|
||||
const light = sensors?.lightBumper || {};
|
||||
const wallBrush =
|
||||
Boolean(sensors?.wall) ||
|
||||
Boolean(light.left || light.frontLeft || light.centerLeft || light.centerRight || light.frontRight || light.right);
|
||||
if (wallBrush) return 'wall_brush';
|
||||
return 'clear';
|
||||
}
|
||||
|
||||
function deriveHazardState(sensors = {}, docked = false) {
|
||||
if (docked) return 'normal';
|
||||
if (Boolean(sensors?.virtualWall)) return 'virtual_wall_seen';
|
||||
if (
|
||||
Boolean(sensors?.cliffLeft) ||
|
||||
Boolean(sensors?.cliffFrontLeft) ||
|
||||
Boolean(sensors?.cliffFrontRight) ||
|
||||
Boolean(sensors?.cliffRight)
|
||||
) {
|
||||
return 'cliff_alert';
|
||||
}
|
||||
return 'normal';
|
||||
}
|
||||
|
||||
function deriveMobilityState(sensors = {}, wheelsOffGround = false) {
|
||||
if (wheelsOffGround) return 'wheels_off_ground';
|
||||
return 'normal';
|
||||
}
|
||||
|
||||
function buildRoversNow(nowMs = Date.now()) {
|
||||
const activeDrivers = getActiveDrivers();
|
||||
const roster = roverManager
|
||||
.getRoster()
|
||||
.filter((entry) => roverManager.canReplayRoverId(entry.id))
|
||||
.slice(0, MAX_ROVERS);
|
||||
const nextRoverStateById = new Map();
|
||||
const rovers = roster.map((entry) => {
|
||||
const roverId = String(entry.id);
|
||||
const record = roverManager.rovers.get(roverId);
|
||||
const sensors = record?.lastSensor?.decoded || {};
|
||||
const batteryState = entry.batteryState || null;
|
||||
const driverSocketId = activeDrivers[roverId] || null;
|
||||
const wheelsOffGround = Boolean(
|
||||
sensors?.bumpsAndWheelDrops?.wheelDropLeft && sensors?.bumpsAndWheelDrops?.wheelDropRight,
|
||||
);
|
||||
const activity30s = getActivity30s(roverId, nowMs);
|
||||
const previousActivity30s = getActivityWindow(
|
||||
roverId,
|
||||
ACTIVITY_SCORE_WINDOW_MS,
|
||||
ACTIVITY_SCORE_WINDOW_MS,
|
||||
nowMs,
|
||||
);
|
||||
const charging = isChargingFromSensors(sensors);
|
||||
const docked = Boolean(sensors?.chargingSources?.homeBase);
|
||||
const isMoving = activity30s.distance_m > 0.1 || activity30s.turn_deg > 20;
|
||||
let statusTag = 'idle';
|
||||
if (charging) statusTag = 'charging';
|
||||
else if (docked) statusTag = 'docked';
|
||||
else if (driverSocketId && isMoving) statusTag = 'driving';
|
||||
else if (driverSocketId) statusTag = 'active-idle';
|
||||
const rover = {
|
||||
id: roverId,
|
||||
name: entry.name || roverId,
|
||||
driver_nickname: driverSocketId ? resolveDriverNickname(driverSocketId) : null,
|
||||
docked,
|
||||
charging,
|
||||
wheels_off_ground: wheelsOffGround,
|
||||
battery_low: Boolean(batteryState?.warnActive || batteryState?.urgentActive),
|
||||
activity_30s: activity30s,
|
||||
status_tag: statusTag,
|
||||
contact_state: deriveContactState(sensors, activity30s, docked),
|
||||
hazard_state: deriveHazardState(sensors, docked),
|
||||
mobility_state: deriveMobilityState(sensors, wheelsOffGround),
|
||||
};
|
||||
const currentBaseScore = computeBaseActivityScore(activity30s);
|
||||
const previousBaseScore = computeBaseActivityScore(previousActivity30s);
|
||||
let activityScore = currentBaseScore;
|
||||
if (rover.contact_state === 'wall_brush') activityScore += 6;
|
||||
if (rover.contact_state === 'bumps_recent') activityScore += 12;
|
||||
if (rover.hazard_state !== 'normal') activityScore += 8;
|
||||
if (rover.status_tag === 'driving') activityScore += 8;
|
||||
if (rover.status_tag === 'active-idle') activityScore += 4;
|
||||
if (rover.charging || rover.docked) activityScore -= 25;
|
||||
if (rover.wheels_off_ground) activityScore -= 20;
|
||||
activityScore = Math.max(0, Math.min(100, Math.round(activityScore)));
|
||||
rover.activity_score = activityScore;
|
||||
rover.activity_band = computeActivityBand(activityScore);
|
||||
rover.activity_trend = computeActivityTrend(currentBaseScore, previousBaseScore);
|
||||
const prev = lastRoverStateById.get(roverId) || null;
|
||||
const nextState = {
|
||||
driver_nickname: rover.driver_nickname,
|
||||
docked: rover.docked,
|
||||
charging: rover.charging,
|
||||
wheels_off_ground: rover.wheels_off_ground,
|
||||
battery_low: rover.battery_low,
|
||||
activity_30s: rover.activity_30s,
|
||||
status_tag: rover.status_tag,
|
||||
activity_score: rover.activity_score,
|
||||
activity_band: rover.activity_band,
|
||||
activity_trend: rover.activity_trend,
|
||||
};
|
||||
nextRoverStateById.set(roverId, nextState);
|
||||
rover.prev_state = prev;
|
||||
return rover;
|
||||
});
|
||||
lastRoverStateById.clear();
|
||||
nextRoverStateById.forEach((value, roverId) => {
|
||||
lastRoverStateById.set(roverId, value);
|
||||
});
|
||||
return { rovers };
|
||||
}
|
||||
|
||||
function collectActiveDriverEntries() {
|
||||
const fromTurns = Object.entries(getActiveDrivers()).filter(([, socketId]) => Boolean(socketId));
|
||||
if (fromTurns.length > 0) return fromTurns;
|
||||
const fallback = [];
|
||||
roverManager.rovers.forEach((record, roverId) => {
|
||||
const socketId = record?.drivers?.values?.().next?.().value || null;
|
||||
if (socketId) fallback.push([String(roverId), socketId]);
|
||||
});
|
||||
return fallback;
|
||||
}
|
||||
|
||||
function buildSnapshot() {
|
||||
const now = new Date();
|
||||
const nowMs = now.getTime();
|
||||
const driverEntries = collectActiveDriverEntries();
|
||||
const { rovers } = buildRoversNow(nowMs);
|
||||
const roverById = new Map(rovers.map((rover) => [String(rover.id), rover]));
|
||||
const contextResetAt = getContextResetAt();
|
||||
const allRecentMessages = getRecentMessages(300, { includeSystem: true })
|
||||
.filter((entry) => Number(entry?.ts) >= contextResetAt)
|
||||
.filter((entry) => {
|
||||
const roverId = entry?.roverId ? String(entry.roverId) : null;
|
||||
if (!roverId) return true;
|
||||
return roverManager.canReplayRoverId(roverId);
|
||||
});
|
||||
const chatRecent = allRecentMessages
|
||||
.filter((entry) => !entry?.system)
|
||||
.slice(-MAX_CHAT_MESSAGES)
|
||||
.map((entry) => ({
|
||||
nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
|
||||
text: entry.text || '',
|
||||
}));
|
||||
|
||||
const botRecentWindow = allRecentMessages
|
||||
.filter((entry) => Number(entry?.ts) >= contextResetAt)
|
||||
.filter((entry) => entry?.system);
|
||||
const lastBotMessage = botRecentWindow.length ? botRecentWindow[botRecentWindow.length - 1] : null;
|
||||
const botRecent30m = botRecentWindow.filter(
|
||||
(entry) => nowMs - Number(entry?.ts || 0) <= SELF_TALK_WINDOW_MS,
|
||||
);
|
||||
|
||||
const roverEvents = roverMajorEvents.filter(
|
||||
(entry) =>
|
||||
Number(entry?.ts) >= contextResetAt &&
|
||||
roverManager.canReplayRoverId(entry?.rover_id || ''),
|
||||
);
|
||||
const timelineEntries = [
|
||||
...allRecentMessages.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'chat', entry })),
|
||||
...roverEvents.map((entry) => ({ ts: Number(entry?.ts || 0), source: 'event', entry })),
|
||||
]
|
||||
.sort((a, b) => a.ts - b.ts)
|
||||
.slice(-MAX_CONTEXT_EVENTS);
|
||||
|
||||
const eventStream = timelineEntries.map(({ source, entry }) => {
|
||||
if (source === 'event') {
|
||||
return {
|
||||
type: 'event',
|
||||
event_type: entry.event_type || 'rover_event',
|
||||
rover_id: entry.rover_id || null,
|
||||
driver_nickname: entry.driver_nickname || null,
|
||||
summary: entry.summary || '',
|
||||
};
|
||||
}
|
||||
if (entry?.system) {
|
||||
return {
|
||||
type: 'bot',
|
||||
nickname: entry.nickname || 'Rover Bot',
|
||||
text: entry.text || '',
|
||||
};
|
||||
}
|
||||
const roverId = entry?.roverId ? String(entry.roverId) : null;
|
||||
const rover = roverId ? roverById.get(roverId) : null;
|
||||
const baseCtx = compactRoverForContext(rover) || {};
|
||||
const storedCtx = entry?.roverCtx || entry?.rover_ctx || {};
|
||||
return {
|
||||
type: 'chat',
|
||||
nickname: entry.nickname || entry.socketId?.slice(0, 6) || 'unknown',
|
||||
text: entry.text || '',
|
||||
rover_id: roverId,
|
||||
rover_ctx: { ...baseCtx, ...storedCtx },
|
||||
};
|
||||
});
|
||||
const hasRecentChat = eventStream.some((event) => event.type === 'chat');
|
||||
|
||||
const currentSnapshot = { rovers };
|
||||
if (!hasRecentChat) {
|
||||
currentSnapshot.chat_recent = chatRecent;
|
||||
}
|
||||
|
||||
return {
|
||||
run_meta: {
|
||||
version: 'commentary_v2',
|
||||
self_talk_recent_30m: botRecent30m.length,
|
||||
skip_streak: getSkipStreak(),
|
||||
last_message_focus: buildLastMessageFocus(lastBotMessage, rovers),
|
||||
active_driver_count: driverEntries.length,
|
||||
driving_rovers: driverEntries.map(([roverId]) => String(roverId)),
|
||||
},
|
||||
event_stream: eventStream,
|
||||
current_snapshot: currentSnapshot,
|
||||
};
|
||||
}
|
||||
|
||||
function refreshFinalSnapshotForSend(snapshot) {
|
||||
const { rovers } = buildRoversNow(Date.now());
|
||||
return {
|
||||
...(snapshot || {}),
|
||||
current_snapshot: {
|
||||
...(snapshot?.current_snapshot || {}),
|
||||
rovers,
|
||||
},
|
||||
};
|
||||
}
|
||||
|
||||
function resetHistory() {
|
||||
roverMajorEvents.length = 0;
|
||||
lastSensorFlagsByRover.clear();
|
||||
roverActivity.clear();
|
||||
lastRoverStateById.clear();
|
||||
}
|
||||
|
||||
function removeRover(roverId) {
|
||||
roverActivity.delete(String(roverId));
|
||||
}
|
||||
|
||||
return {
|
||||
onSensorEvent,
|
||||
buildSnapshot,
|
||||
refreshFinalSnapshotForSend,
|
||||
resetHistory,
|
||||
removeRover,
|
||||
};
|
||||
}
|
||||
|
||||
module.exports = {
|
||||
createSnapshotEngine,
|
||||
};
|
||||
Reference in New Issue
Block a user