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legop3
2026-09-28 12:42:31 -04:00
parent 01354c56e6
commit bdc3eb640d
13 changed files with 374 additions and 120 deletions
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server/src/services/roverLearningService/runtime.js
+13 -4
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@@ -28,9 +28,10 @@ function createRuntime({ config, logger }) {
logger = Object.fromEntries(['info', 'warn', 'error'].map((level) => [level, (message, details) => {
baseLogger[level](message, details); activity(message, details);
}]));
const trainer = createTrainer({ root, config: config.training, logger });
const trainer = createTrainer({ root, config: config.training, actionThreshold: config.driving.actionThreshold, logger });
const driving = createDriving({ root, config, onChange: refreshEligibility, activity });
let gateway;
let dockTimer;
let diskState = { bytes: null, free: null };
const sessions = new Map();
const unsubscribers = [];
@@ -134,8 +135,8 @@ function createRuntime({ config, logger }) {
pendingBytes = pending.reduce((sum, event) => sum + event.bytes, 0);
for (const [roverId, session] of sessions) {
const record = roverManager.rovers.get(roverId);
if (!hasHumanController(roverId) || session.stopping || session.failed || Date.now() - session.startedAt >= config.recording.sessionSeconds * 1000) {
await closeSession(roverId, !record?.ws ? 'offline' : !hasHumanController(roverId) ? 'no-human-controller' : session.failed ? 'recorder-failed' : 'rotation');
if (!hasHumanController(roverId) || session.stopping || session.failed || session.dockTailComplete || (!session.buffered && Date.now() - session.trainingStartedAt >= config.recording.sessionSeconds * 1000)) {
await closeSession(roverId, !record?.ws ? 'offline' : !hasHumanController(roverId) ? 'no-human-controller' : session.failed ? 'recorder-failed' : session.dockTailComplete ? 'docked' : 'rotation');
}
}
if (!running) return;
@@ -160,7 +161,7 @@ function createRuntime({ config, logger }) {
if (!running) break;
const roverId = String(key);
if (!hasHumanController(roverId) || sessions.has(roverId)) continue;
const session = await createRecording({ root: recordingsRoot, roverId, snapshot: snapshot(record), logger });
const session = await createRecording({ root: recordingsRoot, roverId, snapshot: snapshot(record), logger, docked: Boolean(record.lastSensor?.decoded?.chargingSources?.homeBase) });
sessions.set(roverId, session);
// Filesystem awaits can span a disconnect or turn change.
if (!running || !hasHumanController(roverId)) {
@@ -223,6 +224,13 @@ function createRuntime({ config, logger }) {
await trainer.start();
running = true;
driving.attach();
dockTimer = setInterval(() => {
for (const [id, session] of sessions) {
session.updateDock(Boolean(roverManager.rovers.get(id)?.lastSensor?.decoded?.chargingSources?.homeBase));
session.pruneBuffer();
if (session.dockTailComplete) schedule();
}
}, 250);
gateway = createGateway({ root, driving, activity, getSystemState: () => ({
recording: { paused: diskPaused, bytes: diskState.bytes, freeBytes: diskState.free,
pendingBytes, droppedPending, sessions: [...sessions.values()].map((session) => session.getStatus()) },
@@ -277,6 +285,7 @@ function createRuntime({ config, logger }) {
running = false;
gateway?.close();
clearTimeout(timer);
clearInterval(dockTimer);
for (const unsubscribe of unsubscribers.splice(0)) unsubscribe();
stopPromise = (async () => {
const trainingStop = trainer.stop();