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better DRD (dead rover detection)

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legop3
2026-01-23 16:46:09 -05:00
parent ec4e969340
commit b718de1e88
1 changed files with 20 additions and 0 deletions
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server/src/services/roverConnectionService.js
+20
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@@ -5,6 +5,8 @@ const { sendAlert } = require('./alertService');
const ALERT_COLOR = '#00bcd4'; const ALERT_COLOR = '#00bcd4';
const { handleAck } = require('./commandService'); const { handleAck } = require('./commandService');
const HEARTBEAT_INTERVAL_MS = 15000;
function handleMessage(roverId, msg) { function handleMessage(roverId, msg) {
switch (msg.type) { switch (msg.type) {
case 'hello': case 'hello':
@@ -24,7 +26,24 @@ function handleMessage(roverId, msg) {
roverWSS.on('connection', (ws) => { roverWSS.on('connection', (ws) => {
let roverId = null; let roverId = null;
ws.isAlive = true;
const heartbeat = setInterval(() => {
if (!ws.isAlive) {
logger.warn('Rover websocket unresponsive', roverId || 'unknown');
ws.terminate();
return;
}
ws.isAlive = false;
ws.ping();
}, HEARTBEAT_INTERVAL_MS);
ws.on('pong', () => {
ws.isAlive = true;
});
ws.on('message', (raw) => { ws.on('message', (raw) => {
ws.isAlive = true;
let msg; let msg;
try { try {
msg = JSON.parse(raw.toString()); msg = JSON.parse(raw.toString());
@@ -55,6 +74,7 @@ roverWSS.on('connection', (ws) => {
}); });
ws.on('close', () => { ws.on('close', () => {
clearInterval(heartbeat);
if (roverId) { if (roverId) {
roverManager.removeRover(roverId); roverManager.removeRover(roverId);
sendAlert({ color: ALERT_COLOR, title: 'Rover Offline', message: roverId }); sendAlert({ color: ALERT_COLOR, title: 'Rover Offline', message: roverId });