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legop3
2026-09-28 23:22:15 -04:00
parent a395656056
commit ba71106544
13 changed files with 300 additions and 204 deletions
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server/src/services/roverLearningService/driving.js
+4 -6
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@@ -127,21 +127,19 @@ function createDriving({ root, config, onChange, activity }) {
session.latencyMs = message.latencyMs;
session.proposals = Array.isArray(message.proposals) ? message.proposals.slice(0, 64) : [];
session.appliedThreshold = message.threshold;
session.wheelSpeeds = message.wheelSpeeds;
session.sensorPresent = message.sensorPresent;
session.submissions = [];
if (!Array.isArray(message.commands) || message.commands.length > 65) throw new Error('Invalid action batch');
session.predictionStatus = message.wheelSpeeds?.some((value) => value !== 0) ? 'Sending wheel controls' : 'Predicting stopped wheels';
session.predictionStatus = message.commands.length ? `${message.commands.length} command(s) proposed` : 'No command proposed';
// Manual commands intentionally do not stop or pause this controller.
for (const command of message.commands) transmit(session, command);
// Bound report history independently of camera and UI frame rates.
if (!session.history.length || Date.now() - session.history.at(-1).at >= 500) {
session.history.push({ at: Date.now(), wheelSpeeds: session.wheelSpeeds,
session.history.push({ at: Date.now(),
latencyMs: session.latencyMs, frameAgeMs: Date.now() - session.frameAt,
sensorAgeMs: Date.now() - session.sensorAt, threshold: session.appliedThreshold,
proposals: [...session.proposals].sort((a, b) => b.score - a.score).slice(0, 8).map(({ slot, score, reason }) => ({ slot, score, reason })),
submissions: session.submissions.slice(0, 16).map(({ command, result }) => ({ type: command.type, result,
wheels: command.type === 'drive' ? command.driveDirect : undefined })) });
proposals: [...session.proposals].sort((a, b) => b.score - a.score).slice(0, 8).map(({ slot, score, reason, command }) => ({ slot, score, reason, command })),
submissions: session.submissions.slice(0, 16).map(({ command, result }) => ({ type: command.type, result, command })) });
if (session.history.length > 60) session.history.shift();
}
} catch (error) { stop(roverId, error.message); break; }