legop3/MultiRoombaRover
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legop3
2026-07-16 23:30:01 -04:00
parent 06aeca660b
commit c228bb107f
4 changed files with 218 additions and 665 deletions
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server/src/services/balanceBoardService/index.js
+8 -31
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@@ -42,8 +42,9 @@ function roundedWeight(value) {
}
function rawWeightKg(corners = {}) {
// hid-wiimote reports each calibrated load cell in centi-kilograms. The UI
// only needs total scale weight, so sum and convert at this single boundary.
// The native wiiuse bridge reports each calibrated load cell in
// centi-kilograms. The UI only needs total scale weight, so sum and convert
// at this single boundary.
return ['topRight', 'bottomRight', 'topLeft', 'bottomLeft']
.reduce((total, key) => total + Math.max(0, Number(corners[key]) || 0), 0) / 100;
}
@@ -107,16 +108,6 @@ function processFrame(message = {}) {
io.to(FRAME_ROOM).emit('balanceBoard:frame', latestFrame);
}
function diagnosticDetail(message = {}) {
if (message.inputError) return `Input device: ${message.inputError}`;
if (message.bluetoothError) return `Bluetooth: ${message.bluetoothError}`;
// The native worker now reduces controller events and the matching journal
// entry to one concrete stage-specific sentence. Preserve that evidence
// verbatim instead of replacing it with generic retry wording here.
if (message.reconnectDetail) return String(message.reconnectDetail);
return 'Press the front power button. The server will keep trying to connect.';
}
function handleWorkerMessage(message = {}) {
if (message.type === 'frame') {
processFrame(message);
@@ -134,24 +125,6 @@ function handleWorkerMessage(message = {}) {
return;
}
if (message.type === 'diagnostics') {
const bluetoothConnected = Boolean(message.bluetooth?.connected);
const inputReady = message.inputState === 'ready';
const reconnectStage = String(message.reconnectStage || 'waiting');
if (bluetoothConnected && inputReady) {
updateStatus('connected', 'Connected. Waiting for weight readings.');
} else if (bluetoothConnected) {
updateStatus('connecting', message.inputError || 'Bluetooth connected. Waiting for the input device.');
} else if (reconnectStage === 'input-failed' || reconnectStage === 'connection-failed') {
connected = false;
updateStatus('connection-failed', diagnosticDetail(message));
} else if (store.address) {
connected = false;
updateStatus('waiting', diagnosticDetail(message));
}
return;
}
if (message.type !== 'status') return;
const workerState = String(message.state || 'unknown');
if (workerState === 'commissioning') {
@@ -169,7 +142,11 @@ function handleWorkerMessage(message = {}) {
connected = false;
// A controller connection proves the physical board answered, but Bluetooth
// does not identify which physical button woke it. Keep the message exact.
updateStatus('connecting', 'Board responded. Bluetooth connected; creating the input device.');
updateStatus('connecting', 'Board responded. Reading its sensor calibration.');
} else if (workerState === 'connection-failed') {
connected = false;
latestFrame = null;
updateStatus('connection-failed', message.error || 'The direct Balance Board connection failed.');
} else if (workerState === 'waiting') {
connected = false;
latestFrame = null;