legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-16 17:40:46 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

decode sensors!

Browse Source
This commit is contained in:
legop3
2025-11-11 22:40:56 -05:00
parent beea4453dd
commit b5ce6706d6
4 changed files with 259 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
server/src/index.js
+6 -3
View File
@@ -5,6 +5,7 @@ const morgan = require('morgan');
const { Server: SocketIOServer } = require('socket.io');
const { WebSocketServer } = require('ws');
const { v4: uuidv4 } = require('uuid');
const { parseSensorFrame } = require('./sensorDecoder');
const PORT = process.env.PORT || 8080;
@@ -62,9 +63,11 @@ function handleRoverConnection(ws) {
if (!roverId || !rovers.has(roverId)) {
return;
}
rovers.get(roverId).lastSensor = msg;
rovers.get(roverId).lastSeen = Date.now();
io.emit('sensorFrame', { roverId, frame: msg });
const rover = rovers.get(roverId);
const decoded = parseSensorFrame(msg.data);
rover.lastSensor = { raw: msg, decoded };
rover.lastSeen = Date.now();
io.emit('sensorFrame', { roverId, frame: msg, sensors: decoded });
break;
case 'ack':
if (msg.id && pendingCommands.has(msg.id)) {