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fixeses

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legop3
2026-06-12 12:40:00 -04:00
parent cc06709674
commit bcd54c28e1
9 changed files with 162 additions and 153 deletions
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webui/src/context/telemetryViews.js
+29 -20
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@@ -75,6 +75,15 @@ function bucketNumber(value, step) {
return Math.round(Number(value) / step) * step;
}
function sensorNumber(value) {
// Some visual sensors, especially light bumps, need every reported value to
// be eligible for rendering because coarse bucketing can leave the UI looking
// stuck near object edges. This still benefits from selector equality because
// only the specific subscribed field can trigger its consumer.
if (value == null || !Number.isFinite(Number(value))) return value ?? null;
return Number(value);
}
export function mapTelemetryEqual(left, right) {
return shallowObjectEqual(left, right);
}
@@ -105,20 +114,20 @@ export function selectVisualMapTelemetry(frame) {
rightWheelOvercurrent: Boolean(wheelOver.rightWheel),
sideBrushOvercurrent: Boolean(wheelOver.sideBrush),
mainBrushOvercurrent: Boolean(wheelOver.mainBrush),
wheelLeftCurrentMa: bucketNumber(sensors.wheelLeftCurrentMa ?? 0, 25),
wheelRightCurrentMa: bucketNumber(sensors.wheelRightCurrentMa ?? 0, 25),
sideBrushCurrentMa: bucketNumber(sensors.sideBrushCurrentMa ?? 0, 25),
mainBrushCurrentMa: bucketNumber(sensors.mainBrushCurrentMa ?? 0, 25),
lightBumpLeftSignal: bucketNumber(sensors.lightBumpLeftSignal, 25),
lightBumpFrontLeftSignal: bucketNumber(sensors.lightBumpFrontLeftSignal, 25),
lightBumpCenterLeftSignal: bucketNumber(sensors.lightBumpCenterLeftSignal, 25),
lightBumpCenterRightSignal: bucketNumber(sensors.lightBumpCenterRightSignal, 25),
lightBumpFrontRightSignal: bucketNumber(sensors.lightBumpFrontRightSignal, 25),
lightBumpRightSignal: bucketNumber(sensors.lightBumpRightSignal, 25),
cliffLeftSignal: bucketNumber(sensors.cliffLeftSignal, 25),
cliffFrontLeftSignal: bucketNumber(sensors.cliffFrontLeftSignal, 25),
cliffFrontRightSignal: bucketNumber(sensors.cliffFrontRightSignal, 25),
cliffRightSignal: bucketNumber(sensors.cliffRightSignal, 25),
wheelLeftCurrentMa: bucketNumber(sensors.wheelLeftCurrentMa ?? 0, 5),
wheelRightCurrentMa: bucketNumber(sensors.wheelRightCurrentMa ?? 0, 5),
sideBrushCurrentMa: bucketNumber(sensors.sideBrushCurrentMa ?? 0, 5),
mainBrushCurrentMa: bucketNumber(sensors.mainBrushCurrentMa ?? 0, 5),
lightBumpLeftSignal: sensorNumber(sensors.lightBumpLeftSignal),
lightBumpFrontLeftSignal: sensorNumber(sensors.lightBumpFrontLeftSignal),
lightBumpCenterLeftSignal: sensorNumber(sensors.lightBumpCenterLeftSignal),
lightBumpCenterRightSignal: sensorNumber(sensors.lightBumpCenterRightSignal),
lightBumpFrontRightSignal: sensorNumber(sensors.lightBumpFrontRightSignal),
lightBumpRightSignal: sensorNumber(sensors.lightBumpRightSignal),
cliffLeftSignal: bucketNumber(sensors.cliffLeftSignal, 5),
cliffFrontLeftSignal: bucketNumber(sensors.cliffFrontLeftSignal, 5),
cliffFrontRightSignal: bucketNumber(sensors.cliffFrontRightSignal, 5),
cliffRightSignal: bucketNumber(sensors.cliffRightSignal, 5),
cliffLeft: Boolean(sensors.cliffLeft),
cliffFrontLeft: Boolean(sensors.cliffFrontLeft),
cliffFrontRight: Boolean(sensors.cliffFrontRight),
@@ -132,12 +141,12 @@ export function selectLightBumpTelemetry(frame) {
const sensors = frame?.sensors;
if (!sensors) return [];
return [
bucketNumber(sensors.lightBumpLeftSignal, 25),
bucketNumber(sensors.lightBumpFrontLeftSignal, 25),
bucketNumber(sensors.lightBumpCenterLeftSignal, 25),
bucketNumber(sensors.lightBumpCenterRightSignal, 25),
bucketNumber(sensors.lightBumpFrontRightSignal, 25),
bucketNumber(sensors.lightBumpRightSignal, 25),
sensorNumber(sensors.lightBumpLeftSignal),
sensorNumber(sensors.lightBumpFrontLeftSignal),
sensorNumber(sensors.lightBumpCenterLeftSignal),
sensorNumber(sensors.lightBumpCenterRightSignal),
sensorNumber(sensors.lightBumpFrontRightSignal),
sensorNumber(sensors.lightBumpRightSignal),
];
}