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legop3
2026-05-01 18:41:10 -04:00
parent 7180d3352d
commit fa981ef298
9 changed files with 53 additions and 12 deletions
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server/public/assets/index-CGvUXLso.css
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server/public/assets/index-DYarsG-0.css
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server/public/assets/index-BQtp08e2.js → server/public/assets/index-FrukTaHm.js
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server/public/index.html
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@@ -11,8 +11,8 @@
<meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" /> <meta name="apple-mobile-web-app-status-bar-style" content="black-translucent" />
<meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" /> <meta name="apple-mobile-web-app-title" content="Multi Roomba Rover" />
<title>Multi Roomba Rover</title> <title>Multi Roomba Rover</title>
<script type="module" crossorigin src="/assets/index-BQtp08e2.js"></script> <script type="module" crossorigin src="/assets/index-FrukTaHm.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-CGvUXLso.css"> <link rel="stylesheet" crossorigin href="/assets/index-DYarsG-0.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/services/neatoService/index.js
+10
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@@ -275,6 +275,13 @@ function broadcastLidarScan(payload) {
} }
} }
function broadcastLidarLine(payload) {
for (const socket of io.sockets.sockets.values()) {
if (!isVerified(socket)) continue;
socket.volatile.emit('neato:lidarLine', payload);
}
}
lidarRuntime = lidarRuntime =
brainslugHost && brainslugKey brainslugHost && brainslugKey
? createLidarRuntime({ ? createLidarRuntime({
@@ -292,6 +299,9 @@ if (lidarRuntime) {
lidarRuntime.on('scan', (payload) => { lidarRuntime.on('scan', (payload) => {
broadcastLidarScan(payload); broadcastLidarScan(payload);
}); });
lidarRuntime.on('line', (payload) => {
broadcastLidarLine(payload);
});
lidarRuntime.on('status', () => { lidarRuntime.on('status', () => {
emitUpdate(); emitUpdate();
}); });
server/src/services/neatoService/lidarRuntime.js
+4
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@@ -212,6 +212,10 @@ function createLidarRuntime({ logger, host, port = 6053, key, logFile = '', shou
const lines = state[bufferKey].split(/\r?\n/); const lines = state[bufferKey].split(/\r?\n/);
state[bufferKey] = lines.pop() || ''; state[bufferKey] = lines.pop() || '';
for (const line of lines) { for (const line of lines) {
events.emit('line', {
source: sourceLabel || 'unknown',
line: sanitizeLogText(line),
});
const payload = parsePayloadFromLine(line); const payload = parsePayloadFromLine(line);
handlePayload(payload); handlePayload(payload);
} }
webui/src/components/VipPanel/index.jsx
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@@ -16,6 +16,7 @@ export default function VipPanel() {
const { const {
session, session,
neatoLidar, neatoLidar,
neatoLidarLines,
identifySession, identifySession,
requestVerification, requestVerification,
requestPrivateRoverAccess, requestPrivateRoverAccess,
@@ -80,6 +81,7 @@ export default function VipPanel() {
<VipNeatoCard <VipNeatoCard
neato={session?.neato || null} neato={session?.neato || null}
lidar={neatoLidar} lidar={neatoLidar}
lidarLines={neatoLidarLines}
onStart={neatoStart} onStart={neatoStart}
onSendHome={neatoSendHome} onSendHome={neatoSendHome}
onLocate={neatoLocate} onLocate={neatoLocate}
webui/src/components/vip/VipNeatoCard.jsx
+14
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@@ -58,6 +58,7 @@ function buildLidarDots(points = []) {
export default function VipNeatoCard({ export default function VipNeatoCard({
neato, neato,
lidar, lidar,
lidarLines,
onStart, onStart,
onSendHome, onSendHome,
onLocate, onLocate,
@@ -84,6 +85,7 @@ export default function VipNeatoCard({
const robotError = normalizeState(neato?.telemetry?.robotError) || '--'; const robotError = normalizeState(neato?.telemetry?.robotError) || '--';
const robotAlert = normalizeState(neato?.telemetry?.robotAlert) || '--'; const robotAlert = normalizeState(neato?.telemetry?.robotAlert) || '--';
const lidarPoints = Array.isArray(lidar?.points) ? lidar.points : []; const lidarPoints = Array.isArray(lidar?.points) ? lidar.points : [];
const recentLidarLines = Array.isArray(lidarLines) ? lidarLines : [];
const lidarDots = buildLidarDots(lidarPoints); const lidarDots = buildLidarDots(lidarPoints);
const lidarStatus = normalizeState(lidar?.status) || '--'; const lidarStatus = normalizeState(lidar?.status) || '--';
const lidarDebug = lidar?.debug && typeof lidar.debug === 'object' ? lidar.debug : null; const lidarDebug = lidar?.debug && typeof lidar.debug === 'object' ? lidar.debug : null;
@@ -288,6 +290,18 @@ export default function VipNeatoCard({
<div>Rotation no scan: {lidarStats?.rotationsWithoutScan ?? '--'}</div> <div>Rotation no scan: {lidarStats?.rotationsWithoutScan ?? '--'}</div>
<div>Parseable payloads: {lidarStats?.parseablePayloads ?? '--'}</div> <div>Parseable payloads: {lidarStats?.parseablePayloads ?? '--'}</div>
<div>Point payloads: {lidarStats?.pointPayloads ?? '--'}</div> <div>Point payloads: {lidarStats?.pointPayloads ?? '--'}</div>
<div className="mt-0.5 border-t border-slate-700 pt-0.5 text-slate-400">Raw ESP lines</div>
<div className="mt-0.25 max-h-40 overflow-y-auto rounded bg-black/30 px-0.5 py-0.5 text-[0.62rem] leading-tight text-slate-300">
{recentLidarLines.length ? (
recentLidarLines.map((entry, index) => (
<div key={`${index}-${entry.source || 'line'}`} className="break-all">
<span className="text-slate-500">[{entry.source || 'line'}]</span> {entry.line}
</div>
))
) : (
<div className="text-slate-500">No raw lines yet</div>
)}
</div>
</div> </div>
) : null} ) : null}
</div> </div>
webui/src/context/SessionContext.jsx
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@@ -9,6 +9,7 @@ const INITIAL_STATE = {
connected: false, connected: false,
session: null, session: null,
neatoLidar: null, neatoLidar: null,
neatoLidarLines: [],
logs: [], logs: [],
adminLogs: [], adminLogs: [],
llmCommentaryState: null, llmCommentaryState: null,
@@ -132,9 +133,18 @@ export function SessionProvider({ children }) {
const next = payload && typeof payload === 'object' ? payload : null; const next = payload && typeof payload === 'object' ? payload : null;
setState((prev) => ({ ...prev, neatoLidar: next })); setState((prev) => ({ ...prev, neatoLidar: next }));
} }
function handleNeatoLidarLine(payload = null) {
const next = payload && typeof payload === 'object' ? payload : null;
if (!next?.line) return;
setState((prev) => ({
...prev,
neatoLidarLines: [...prev.neatoLidarLines.slice(-199), next],
}));
}
socket.on('session:sync', handleSession); socket.on('session:sync', handleSession);
socket.on('neato:lidar', handleNeatoLidar); socket.on('neato:lidar', handleNeatoLidar);
socket.on('neato:lidarLine', handleNeatoLidarLine);
socket.on('log:init', handleLogInit); socket.on('log:init', handleLogInit);
socket.on('log:entry', handleLogEntry); socket.on('log:entry', handleLogEntry);
socket.on('adminlog:init', handleAdminLogInit); socket.on('adminlog:init', handleAdminLogInit);
@@ -144,6 +154,7 @@ export function SessionProvider({ children }) {
return () => { return () => {
socket.off('session:sync', handleSession); socket.off('session:sync', handleSession);
socket.off('neato:lidar', handleNeatoLidar); socket.off('neato:lidar', handleNeatoLidar);
socket.off('neato:lidarLine', handleNeatoLidarLine);
socket.off('log:init', handleLogInit); socket.off('log:init', handleLogInit);
socket.off('log:entry', handleLogEntry); socket.off('log:entry', handleLogEntry);
socket.off('adminlog:init', handleAdminLogInit); socket.off('adminlog:init', handleAdminLogInit);