battery manager progress

2026-09-16 09:31:20 -04:00 · 2025-11-20 13:48:26 -05:00
parent a4cc514b9a
commit d09c63ca7d
6 changed files with 132 additions and 14 deletions
@@ -20,4 +20,5 @@ require('./src/services/videoAuthService');
 require('./src/services/videoSocketService');
 require('./src/services/logStreamService');
 require('./src/services/sessionService');
+require('./src/services/batteryManager');
 require('./src/services/httpServer');
@@ -5,7 +5,7 @@
    <link rel="icon" type="image/svg+xml" href="/vite.svg" />
    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
    <title>webui</title>
-    <script type="module" crossorigin src="/assets/index-DN5ZA6hs.js"></script>
+    <script type="module" crossorigin src="/assets/index-DBNvZqXA.js"></script>
    <link rel="stylesheet" crossorigin href="/assets/index-DP0zs3Oi.css">
  </head>
  <body>
@@ -0,0 +1,112 @@
+const logger = require('../globals/logger').child('batteryManager');
+const { publishEvent } = require('./eventBus');
+const { managerEvents, lockRover, rovers } = require('./roverManager');
+
+const STATES = {
+  NORMAL: 'normal',
+  WARN: 'warn',
+  URGENT: 'urgent',
+  DOCKED: 'docked',
+  CHARGING: 'charging',
+  FULL: 'full',
+  LOCKED: 'locked',
+};
+
+const roverState = new Map(); // roverId -> state snapshot
+
+function getState(roverId) {
+  if (!roverState.has(roverId)) {
+    roverState.set(roverId, {
+      lastPercent: null,
+      warned: false,
+      urgent: false,
+      docked: false,
+      batteryLocked: false,
+    });
+  }
+  return roverState.get(roverId);
+}
+
+function shouldLock(record) {
+  return record.lockReason == null || record.lockReason === 'battery';
+}
+
+function handleSensorEvent({ roverId, sensors, batteryState }) {
+  if (!roverId) return;
+  const record = rovers.get(roverId);
+  if (!record) return;
+  const state = getState(roverId);
+  const config = record.meta?.battery || {};
+  const lockable = shouldLock(record);
+
+  if (batteryState?.percent != null) {
+    state.lastPercent = batteryState.percent;
+  }
+
+  if (!state.warned && batteryState?.warnActive) {
+    state.warned = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.warn',
+      payload: { roverId, batteryState },
+    });
+  }
+  if (!state.urgent && batteryState?.urgentActive) {
+    state.urgent = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.urgent',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const chargingState = sensors?.chargingState?.code;
+  const chargingSources = sensors?.chargingSources;
+  const docked =
+    Boolean(chargingSources?.homeBase) ||
+    chargingState === 2 ||
+    chargingState === 3 ||
+    chargingState === 4;
+  if (docked && !state.docked) {
+    state.docked = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.docked',
+      payload: { roverId, batteryState },
+    });
+  } else if (!docked && state.docked) {
+    state.docked = false;
+  }
+
+  if (docked && lockable && !record.locked) {
+    logger.info('Auto-locking rover for charging', { roverId });
+    lockRover(roverId, true, { reason: 'battery' });
+    state.batteryLocked = true;
+    publishEvent({
+      source: 'batteryManager',
+      type: 'battery.locked',
+      payload: { roverId, batteryState },
+    });
+  }
+
+  const fullThreshold =
+    typeof config?.Full === 'number' ? config.Full : batteryState?.full ?? null;
+  const isFull =
+    (batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
+    (batteryState?.percent != null && batteryState.percent >= 0.99);
+
+  if (record.locked && record.lockReason === 'battery') {
+    if (isFull || !docked) {
+      logger.info('Unlocking rover after charge', { roverId, isFull, docked });
+      lockRover(roverId, false, { reason: 'battery' });
+      state.batteryLocked = false;
+      publishEvent({
+        source: 'batteryManager',
+        type: 'battery.unlocked',
+        payload: { roverId, batteryState },
+      });
+    }
+  }
+}
+
+managerEvents.on('sensor', handleSensorEvent);
@@ -223,9 +223,14 @@ export default function KeyboardInputManager() {
    };
  }, [actionTokens, driveFromKeys, ensureServoLoop, keymap.dockMacro, keymap.driveMacro, resetAll, runMacro, setMode]);

+  const latestResetAllRef = useRef(resetAll);
  useEffect(() => {
-    resetAll();
-  }, [state.roverId, resetAll]);
+    latestResetAllRef.current = resetAll;
+  }, [resetAll]);
+
+  useEffect(() => {
+    latestResetAllRef.current();
+  }, [state.roverId]);

  useEffect(
    () => () => {