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legop3
2026-09-28 14:18:35 -04:00
parent 923c04736b
commit eed88983ca
12 changed files with 411 additions and 59 deletions
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server/src/services/roverLearningService/socketGateway.js
+8 -4
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@@ -3,6 +3,7 @@ const io = require('../../globals/io');
const roverManager = require('../roverManager');
const { isVerified } = require('../verificationService');
const { listModels } = require('./models');
const { report } = require('./diagnostics');
const { compatible } = require('./capabilities');
function createGateway({ root, driving, getSystemState, activity }) {
@@ -22,16 +23,16 @@ function createGateway({ root, driving, getSystemState, activity }) {
const session = id ? driving.getState(id) : null;
const canControl = Boolean(id && driving.canControl(socket, id));
const system = getSystemState();
return {
const state = {
available: true, roverId: id, updatedAt: Date.now(),
control: { canStart: canControl && !session, canStop: Boolean(session && (canControl || session.socketId === socket.id)),
control: { canStart: canControl && !session, canAdjust: canControl && Boolean(session), canStop: Boolean(session && (canControl || session.socketId === socket.id)),
reason: !id ? 'Select a rover first' : !canControl ? 'You do not currently have control of this rover' : null },
session,
models: models.filter((model) => model.trainedRovers?.some((rover) => roverManager.canSeeRover(rover, socket)))
.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, validation: model.validation, distinctMinutes: model.distinctMinutes, controls: model.specification?.commands?.length || 0,
formatVersion: model.specification?.version, 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)) },
@@ -39,6 +40,8 @@ function createGateway({ root, driving, getSystemState, activity }) {
limits: system.limits,
activity: system.activity.filter((entry) => !entry.roverId || roverManager.canSeeRover(entry.roverId, socket)),
};
state.diagnostics = viewers.get(socket)?.live ? report(state, id ? driving.getDiagnostics(id) : null) : null;
return state;
}
async function refresh() {
@@ -54,7 +57,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
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));
if (ordinary || view.live || driving.isActive(view.roverId)) socket.volatile.emit('roverLearning:state', stateFor(socket, view.roverId));
}
} finally { refreshing = false; }
}
@@ -74,6 +77,7 @@ function createGateway({ root, driving, getSystemState, activity }) {
if (!isVerified(socket)) throw new Error('Verification required');
const roverId = String(payload.roverId || '');
if (payload.action === 'start') await driving.start(socket, roverId, String(payload.modelId || ''));
else if (payload.action === 'threshold') driving.setThreshold(socket, roverId, payload.value);
else if (payload.action === 'stop') {
const session = driving.getState(roverId);
if (!session || !(driving.canControl(socket, roverId) || session.socketId === socket.id)) throw new Error('You cannot stop this controller');