diff --git a/pi/roverd/config.go b/pi/roverd/config.go index e2b81030..e4fcc0da 100644 --- a/pi/roverd/config.go +++ b/pi/roverd/config.go @@ -177,17 +177,20 @@ type PrivateConfig struct { } type PrivateSafetyConfig struct { - SpeedLimitEnabled bool `yaml:"speedLimitEnabled" json:"speedLimitEnabled"` - SpeedLimitMaxWheelMMs int `yaml:"speedLimitMaxWheelSpeed" json:"speedLimitMaxWheelSpeed"` - HardOvercurrentEnabled bool `yaml:"hardOvercurrentEnabled" json:"hardOvercurrentEnabled"` - OvercurrentStopMs int `yaml:"overcurrentStopMs" json:"overcurrentStopMs"` - HardBumpEnabled bool `yaml:"hardBumpEnabled" json:"hardBumpEnabled"` - BumpBackoffSpeed int `yaml:"bumpBackoffSpeed" json:"bumpBackoffSpeed"` - BumpBackoffMs int `yaml:"bumpBackoffMs" json:"bumpBackoffMs"` - CliffEnabled bool `yaml:"cliffEnabled" json:"cliffEnabled"` - CliffBackoffSpeed int `yaml:"cliffBackoffSpeed" json:"cliffBackoffSpeed"` - CliffBackoffMs int `yaml:"cliffBackoffMs" json:"cliffBackoffMs"` - TriggerCooldownMs int `yaml:"triggerCooldownMs" json:"triggerCooldownMs"` + SpeedLimitEnabled bool `yaml:"speedLimitEnabled" json:"speedLimitEnabled"` + SpeedLimitMaxWheelMMs int `yaml:"speedLimitMaxWheelSpeed" json:"speedLimitMaxWheelSpeed"` + HardOvercurrentEnabled bool `yaml:"hardOvercurrentEnabled" json:"hardOvercurrentEnabled"` + OvercurrentStopMs int `yaml:"overcurrentStopMs" json:"overcurrentStopMs"` + HardBumpEnabled bool `yaml:"hardBumpEnabled" json:"hardBumpEnabled"` + BumpBackoffSpeed int `yaml:"bumpBackoffSpeed" json:"bumpBackoffSpeed"` + BumpBackoffMs int `yaml:"bumpBackoffMs" json:"bumpBackoffMs"` + CliffEnabled bool `yaml:"cliffEnabled" json:"cliffEnabled"` + CliffBackoffSpeed int `yaml:"cliffBackoffSpeed" json:"cliffBackoffSpeed"` + CliffBackoffMs int `yaml:"cliffBackoffMs" json:"cliffBackoffMs"` + VirtualWallEnabled bool `yaml:"virtualWallEnabled" json:"virtualWallEnabled"` + VirtualWallBackoffSpeed int `yaml:"virtualWallBackoffSpeed" json:"virtualWallBackoffSpeed"` + VirtualWallBackoffMs int `yaml:"virtualWallBackoffMs" json:"virtualWallBackoffMs"` + TriggerCooldownMs int `yaml:"triggerCooldownMs" json:"triggerCooldownMs"` } type Config struct { @@ -303,17 +306,20 @@ func LoadConfig(path string) (*Config, error) { Private: PrivateConfig{ Enabled: false, Safety: PrivateSafetyConfig{ - SpeedLimitEnabled: false, - SpeedLimitMaxWheelMMs: 250, - HardOvercurrentEnabled: false, - OvercurrentStopMs: 300, - HardBumpEnabled: false, - BumpBackoffSpeed: 250, - BumpBackoffMs: 350, - CliffEnabled: false, - CliffBackoffSpeed: 250, - CliffBackoffMs: 500, - TriggerCooldownMs: 800, + SpeedLimitEnabled: false, + SpeedLimitMaxWheelMMs: 250, + HardOvercurrentEnabled: false, + OvercurrentStopMs: 300, + HardBumpEnabled: false, + BumpBackoffSpeed: 250, + BumpBackoffMs: 350, + CliffEnabled: false, + CliffBackoffSpeed: 250, + CliffBackoffMs: 500, + VirtualWallEnabled: true, + VirtualWallBackoffSpeed: 250, + VirtualWallBackoffMs: 500, + TriggerCooldownMs: 800, }, }, } diff --git a/pi/roverd/roverd.debian-laptop.sample.yaml b/pi/roverd/roverd.debian-laptop.sample.yaml index 060224e5..8c3ef4ca 100644 --- a/pi/roverd/roverd.debian-laptop.sample.yaml +++ b/pi/roverd/roverd.debian-laptop.sample.yaml @@ -95,4 +95,10 @@ private: cliffEnabled: false cliffBackoffSpeed: 250 cliffBackoffMs: 500 + # Virtual walls are default-on for private rovers because they mark a + # deliberate boundary, and the server can escape by reversing the last + # commanded wheel directions instead of always backing straight up. + virtualWallEnabled: true + virtualWallBackoffSpeed: 250 + virtualWallBackoffMs: 500 triggerCooldownMs: 800 diff --git a/pi/roverd/roverd.sample.yaml b/pi/roverd/roverd.sample.yaml index 2e0288dc..218c12ca 100644 --- a/pi/roverd/roverd.sample.yaml +++ b/pi/roverd/roverd.sample.yaml @@ -104,4 +104,10 @@ private: cliffEnabled: false cliffBackoffSpeed: 250 cliffBackoffMs: 500 + # Virtual walls are default-on for private rovers because they mark a + # deliberate boundary, and the server can escape by reversing the last + # commanded wheel directions instead of always backing straight up. + virtualWallEnabled: true + virtualWallBackoffSpeed: 250 + virtualWallBackoffMs: 500 triggerCooldownMs: 800 diff --git a/pi/roverd/roverd.yaml b/pi/roverd/roverd.yaml index 814b6733..f7086c29 100644 --- a/pi/roverd/roverd.yaml +++ b/pi/roverd/roverd.yaml @@ -69,4 +69,10 @@ private: cliffEnabled: false cliffBackoffSpeed: 250 cliffBackoffMs: 500 + # Virtual walls are default-on for private rovers because they mark a + # deliberate boundary, and the server can escape by reversing the last + # commanded wheel directions instead of always backing straight up. + virtualWallEnabled: true + virtualWallBackoffSpeed: 250 + virtualWallBackoffMs: 500 triggerCooldownMs: 800 diff --git a/server/public/assets/index-DHQ5vi8_.js b/server/public/assets/index-BnsUBjx0.js similarity index 74% rename from server/public/assets/index-DHQ5vi8_.js rename to 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