legop3/MultiRoombaRover
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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/socketGateway.js
+11 -6
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@@ -1,4 +1,4 @@
// One complete card snapshot per subscriber; no telemetry-frequency UI events.
// Complete card snapshots; live diagnostics opt into 10 Hz, ordinary cards use 1 Hz.
const io = require('../../globals/io');
const roverManager = require('../roverManager');
const { isVerified } = require('../verificationService');
@@ -13,6 +13,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
let lastCatalog = 0;
let closed = false;
let refreshing = false;
let lastOrdinary = 0;
function stateFor(socket, roverId) {
if (!isVerified(socket)) return { available: false };
@@ -30,7 +31,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
.map((model) => ({ id: model.id, name: model.name, createdAt: model.createdAt,
trainingSteps: model.trainingSteps, examplesProcessed: model.examplesProcessed,
weightBytes: model.weightBytes, parameters: model.parameters, trainingLoss: model.trainingLoss,
evaluation: model.evaluation, controls: model.specification?.commands?.length || 0,
evaluation: model.evaluation, validation: model.validation, distinctMinutes: model.distinctMinutes, controls: model.specification?.commands?.length || 0,
compatible: Boolean(id && compatible(model, roverManager.rovers.get(id))) })),
catalogError: modelError,
recording: { ...system.recording, sessions: system.recording.sessions.filter((s) => roverManager.canSeeRover(s.roverId, socket)) },
@@ -50,7 +51,11 @@ function createGateway({ root, driving, getSystemState, activity }) {
catch (error) { modelError = error.message; }
}
if (closed) return;
for (const [socket, roverId] of viewers) socket.emit('roverLearning:state', stateFor(socket, roverId));
const ordinary = Date.now() - lastOrdinary >= 1000;
if (ordinary) lastOrdinary = Date.now();
for (const [socket, view] of viewers) {
if (ordinary || view.live) socket.volatile.emit('roverLearning:state', stateFor(socket, view.roverId));
}
} finally { refreshing = false; }
}
@@ -59,7 +64,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
const respond = typeof reply === 'function' ? reply : () => {};
if (!isVerified(socket)) { respond({ error: 'Verification required' }); return; }
const roverId = typeof payload?.roverId === 'string' ? payload.roverId : null;
viewers.set(socket, roverId);
viewers.set(socket, { roverId, live: payload.live === true });
respond({ state: stateFor(socket, roverId) });
refresh().catch((error) => activity('Card update failed', { error: error.message }));
};
@@ -74,7 +79,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
if (!session || !(driving.canControl(socket, roverId) || session.socketId === socket.id)) throw new Error('You cannot stop this controller');
await driving.stop(roverId);
} else throw new Error('Unknown action');
viewers.set(socket, roverId);
viewers.set(socket, { roverId, live: viewers.get(socket)?.live || false });
respond({ state: stateFor(socket, roverId) });
} catch (error) { respond({ error: error.message }); }
refresh().catch((error) => activity('Card update failed', { error: error.message }));
@@ -94,7 +99,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
io.on('connection', connect);
for (const socket of io.sockets.sockets.values()) connect(socket);
const timer = setInterval(() => { refresh().catch((error) => activity('Card update failed', { error: error.message })); }, 1000);
const timer = setInterval(() => { refresh().catch((error) => activity('Card update failed', { error: error.message })); }, 100);
refresh().catch((error) => activity('Catalog unavailable', { error: error.message }));
return {
close() {