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legop3
2026-07-16 23:47:32 -04:00
parent c228bb107f
commit e97d4056fa
7 changed files with 55 additions and 5 deletions
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server/public/assets/index-dx-kgaua.js → server/public/assets/index-CIHlBjmn.js
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server/public/assets/index-CIHlBjmn.js.map
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server/public/assets/index-dx-kgaua.js.map
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server/public/index.html
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@@ -78,7 +78,7 @@
<script defer src="https://analytics.otter.land/script.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land"></script>
<script defer src="https://analytics.otter.land/recorder.js" data-website-id="82dd56a5-db44-4279-bd1e-a4d9fee39af7" data-domains="rover.otter.land" data-sample-rate="0.15" data-mask-level="moderate" data-max-duration="300000"></script>
<title>Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-dx-kgaua.js"></script>
<script type="module" crossorigin src="/assets/index-CIHlBjmn.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-Dpy8jv9j.css">
</head>
<body>
server/src/services/balanceBoardService/index.js
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@@ -147,6 +147,10 @@ function handleWorkerMessage(message = {}) {
connected = false;
latestFrame = null;
updateStatus('connection-failed', message.error || 'The direct Balance Board connection failed.');
} else if (workerState === 'sleeping') {
connected = false;
latestFrame = null;
updateStatus('sleeping', message.error || 'Board is asleep. Press the front power button to wake it.');
} else if (workerState === 'waiting') {
connected = false;
latestFrame = null;
server/src/services/balanceBoardService/native/balance_board_worker.cpp
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@@ -65,6 +65,9 @@ constexpr int kDiscoveryRestartDelayMs = 1000;
constexpr const char* kDiscoveryTimeoutSeconds = "86400";
constexpr int kDirectReconnectDelayMs = 1000;
constexpr int kHandshakeWarningMs = 10000;
constexpr int kEmptyWeightThresholdCentiKg = 200;
constexpr int kEmptySleepDelayMs = 2 * 60 * 1000;
constexpr int kSleepDisconnectCooldownMs = 30 * 1000;
std::atomic<bool> running{true};
std::mutex output_mutex;
@@ -700,6 +703,7 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
}
std::string prepared_address;
bool sleeping_after_idle = false;
while (running.load()) {
std::optional<std::string> address;
{
@@ -733,6 +737,10 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
emit_status("connection-failed", *address,
"Direct Balance Board connection failed: " +
std::string(std::strerror(connection_error)));
} else if (sleeping_after_idle) {
// Do not replace an intentional sleep with a generic connection status
// every time the powered-off board correctly ignores a Bluetooth page.
emit_status("sleeping", *address, "Board is asleep. Press the front power button to wake it.");
} else {
emit_status("waiting", *address, "No Bluetooth response from the board yet.");
}
@@ -742,9 +750,14 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
continue;
}
// Any successful response means the board was physically woken. Clear the
// remembered sleep state before publishing connection progress.
sleeping_after_idle = false;
emit_status("link-detected", *address);
bool board_ready = false;
bool handshake_warning_sent = false;
bool intentional_sleep = false;
std::optional<uint64_t> empty_since;
uint64_t connected_at = monotonic_ms();
uint64_t last_frame_at = 0;
while (running.load() && WIIMOTE_IS_CONNECTED(board)) {
@@ -757,6 +770,11 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
if (board->exp.type == EXP_WII_BOARD) {
if (!board_ready) {
board_ready = true;
// The Balance Board has one blue player light. Wiiuse clears all LEDs
// during its handshake, which leaves the light flashing even though
// measurements work. A solid first LED is the unambiguous connected
// indication used for the rest of this session.
wiiuse_set_leds(board, WIIMOTE_LED_1);
emit_status("connected", *address);
}
const uint64_t now = monotonic_ms();
@@ -775,6 +793,22 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
std::clamp(board->battery_level, 0.0F, 1.0F) * 100.0F));
emit_frame(readings, battery);
last_frame_at = now;
const int total_weight = readings.top_right + readings.bottom_right +
readings.top_left + readings.bottom_left;
if (total_weight > kEmptyWeightThresholdCentiKg) {
// A person, rover, or other load immediately restarts the complete
// two-minute idle window. Short empty gaps can never accumulate and
// shut the board down while it is actively being used.
empty_since.reset();
} else if (!empty_since.has_value()) {
empty_since = now;
} else if (now - *empty_since >= kEmptySleepDelayMs) {
intentional_sleep = true;
emit_status("sleeping", *address,
"Board is asleep. Press the front power button to wake it.");
break;
}
}
} else if (!handshake_warning_sent &&
monotonic_ms() - connected_at >= kHandshakeWarningMs) {
@@ -791,7 +825,18 @@ void direct_connection_loop(PairingSharedState* shared, wiimote_t** boards) {
close_wiiuse_sockets(board);
wiiuse_disconnected(board);
prepare_wiiuse_address(board, *address);
emit_status("waiting", *address, "Board disconnected. Press the front power button.");
if (intentional_sleep) {
sleeping_after_idle = true;
// Closing both HID channels makes the board abandon the host connection
// and power itself down. Do not page it again during that transition or
// the worker could reconnect before its firmware finishes shutting off.
for (int elapsed = 0;
elapsed < kSleepDisconnectCooldownMs && running.load(); elapsed += 100) {
std::this_thread::sleep_for(std::chrono::milliseconds(100));
}
} else {
emit_status("waiting", *address, "Board disconnected. Press the front power button.");
}
}
close_wiiuse_sockets(board);
webui/src/components/BalanceBoardPanel/index.jsx
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@@ -21,6 +21,7 @@ function statusPresentation(value) {
if (status === 'pairing') return { label: 'Pairing', tone: 'border-sky-600 bg-sky-950 text-sky-200' };
if (status === 'waiting-for-sync') return { label: 'Waiting for red Sync', tone: 'border-amber-600 bg-amber-950 text-amber-200' };
if (status === 'waiting') return { label: 'Waiting for front button', tone: 'border-amber-600 bg-amber-950 text-amber-200' };
if (status === 'sleeping') return { label: 'Sleeping', tone: 'border-slate-600 bg-slate-900 text-slate-200' };
if (status === 'connecting') return { label: 'Connecting', tone: 'border-sky-600 bg-sky-950 text-sky-200' };
if (status === 'connection-failed') return { label: 'Connection failed', tone: 'border-red-600 bg-red-950 text-red-200' };
if (status === 'error') return { label: 'Error', tone: 'border-red-600 bg-red-950 text-red-200' };