legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-16 01:21:20 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

removing neato lidar in hopes of future actual robot map access/...

Browse Source
This commit is contained in:
legop3
2026-05-14 22:05:03 -04:00
parent e1a48a985a
commit fe91d825d6
11 changed files with 162 additions and 800 deletions
Download Patch File Download Diff File Expand all files Collapse all files
webui/src/components/VipPanel/index.jsx
-3
View File
@@ -15,7 +15,6 @@ import VipProfileImageCard from '../vip/VipProfileImageCard.jsx';
export default function VipPanel({ isActive = true }) {
const session = useSessionSelector((state) => state.session);
const neatoLidar = useSessionSelector((state) => state.neatoLidar);
const {
identifySession,
requestVerification,
@@ -80,8 +79,6 @@ export default function VipPanel({ isActive = true }) {
<div className="space-y-2">
<VipNeatoCard
neato={session?.neato || null}
lidar={neatoLidar}
lidarActive={isActive}
onStart={neatoStart}
onSendHome={neatoSendHome}
onLocate={neatoLocate}
webui/src/components/vip/VipNeatoCard.jsx
+20 -168
View File
@@ -1,7 +1,7 @@
// Vip Neato Card
// Purpose: Defines the Vip Neato Card module and the local helpers/components used in this file.
// Scope: Keeps behavior unchanged while isolating this concern into a clear, single-responsibility unit.
import { useEffect, useMemo, useState } from 'react';
import { useState } from 'react';
function normalizeState(value) {
return String(value || '').trim();
@@ -38,83 +38,8 @@ function StatusTile({ label, value, tone = 'muted', valueClass = '', hideLabel =
);
}
function buildLidarRenderPoints(points = []) {
const center = 110;
const plotRadius = 102;
const validPoints = points.filter(
(point) => point && point.valid && Number.isFinite(point.angleDeg) && Number.isFinite(point.distanceMm),
);
const sortedPoints = [...validPoints].sort((a, b) => Number(a.angleDeg) - Number(b.angleDeg));
const groups = [];
let currentGroup = [];
for (const point of sortedPoints) {
if (!currentGroup.length) {
currentGroup.push(point);
continue;
}
const previousPoint = currentGroup[currentGroup.length - 1];
const angleGap = Math.abs(Number(point.angleDeg) - Number(previousPoint.angleDeg));
const prevDistanceMm = Math.max(0, Number(previousPoint.distanceMm));
const distanceMm = Math.max(0, Number(point.distanceMm));
const distanceGap = Math.abs(distanceMm - prevDistanceMm);
if (angleGap <= 2 && distanceGap <= 900) {
currentGroup.push(point);
continue;
}
groups.push(currentGroup);
currentGroup = [point];
}
if (currentGroup.length) groups.push(currentGroup);
const groupStats = groups.map((group) => {
const distances = group.map((point) => Math.max(0, Number(point.distanceMm)));
const avgDistanceMm = distances.reduce((sum, value) => sum + value, 0) / Math.max(1, distances.length);
return {
points: group,
size: group.length,
avgDistanceMm,
};
});
const largestGroup = groupStats.reduce((best, group) => (group.size > (best?.size || 0) ? group : best), null);
const referenceDistanceMm = largestGroup?.avgDistanceMm || 1000;
const filteredPoints = groupStats
.filter((group) => {
const tinyCluster = group.size <= 3;
const farFromMainBody =
group.avgDistanceMm > referenceDistanceMm * 1.8 && group.avgDistanceMm - referenceDistanceMm > 1400;
return !(tinyCluster && farFromMainBody);
})
.flatMap((group) => group.points);
const scaleDistances = filteredPoints.map((point) => Math.max(0, Number(point.distanceMm))).sort((a, b) => a - b);
const percentileIndex = Math.max(0, Math.floor((scaleDistances.length - 1) * 0.95));
const maxDistanceMm = Math.max(1000, scaleDistances[percentileIndex] || 1000);
return filteredPoints
.map((point) => {
const angleRad = ((Number(point.angleDeg) - 90) * Math.PI) / 180;
const distanceMm = Math.max(0, Number(point.distanceMm));
const normalizedDistance = Math.max(0, Math.min(1, distanceMm / maxDistanceMm));
const scaledRadius = normalizedDistance * plotRadius;
const x = center + Math.cos(angleRad) * scaledRadius;
const y = center + Math.sin(angleRad) * scaledRadius;
const intensity = Math.max(0, Math.min(255, Number(point.intensity) || 0));
const colorLightness = 38 + (intensity / 255) * 38;
return {
key: `${point.angleDeg}-${point.distanceMm}-${point.intensity}`,
x,
y,
fill: `hsl(198 100% ${colorLightness}%)`,
};
});
}
export default function VipNeatoCard({
neato,
lidar,
lidarActive = true,
onStart,
onSendHome,
onLocate,
@@ -123,8 +48,6 @@ export default function VipNeatoCard({
fullWidth = false,
}) {
const [working, setWorking] = useState('');
const [lidarFlash, setLidarFlash] = useState(false);
const [showLidarDebug, setShowLidarDebug] = useState(false);
const wrapClass = fullWidth ? 'w-full' : 'w-full max-w-xl';
const configured = Boolean(neato?.configured);
@@ -140,15 +63,6 @@ export default function VipNeatoCard({
const voltageLabel = Number.isFinite(voltage) ? `${voltage.toFixed(2)} V` : '--';
const robotError = normalizeState(neato?.telemetry?.robotError) || '--';
const robotAlert = normalizeState(neato?.telemetry?.robotAlert) || '--';
const lidarPoints = Array.isArray(lidar?.points) ? lidar.points : [];
const lidarRenderPoints = useMemo(
() => (lidarActive ? buildLidarRenderPoints(lidarPoints) : []),
[lidarActive, lidarPoints],
);
const lidarStatus = normalizeState(lidar?.status) || '--';
const lidarDebug = lidar?.debug && typeof lidar.debug === 'object' ? lidar.debug : null;
const lidarReason = normalizeState(lidarDebug?.reason) || '--';
const lidarStats = lidarDebug?.stats && typeof lidarDebug.stats === 'object' ? lidarDebug.stats : null;
const controls = neato?.controls || {};
const canStart = Boolean(controls?.start?.available);
@@ -183,16 +97,6 @@ export default function VipNeatoCard({
const primaryState = docked ? 'Docked' : uiStateLabel !== '--' ? uiStateLabel : 'Away from dock';
useEffect(() => {
if (!lidarActive) return undefined;
if (!lidar || !Array.isArray(lidar.points)) return undefined;
setLidarFlash(true);
const timer = setTimeout(() => {
setLidarFlash(false);
}, 120);
return () => clearTimeout(timer);
}, [lidar, lidarActive]);
return (
<section className={`surface text-sm text-slate-200 ${wrapClass}`}>
<div className="grid gap-0.5">
@@ -277,78 +181,26 @@ export default function VipNeatoCard({
<div className="grid gap-0.5">
<div className="surface-muted grid gap-0.5">
<p className="text-xs text-slate-300 text-center">Robot Status</p>
<div className="grid grid-cols-1 xl:grid-cols-[minmax(0,1fr)_minmax(13rem,15rem)] gap-0.5 items-start">
<div className="grid gap-0.5">
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot state (raw)</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotStateRaw}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Basic state</div>
<div className="font-mono text-sm text-slate-100 break-all">{primaryState}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">UI state</div>
<div className="font-mono text-sm text-slate-100 break-all">{uiStateLabel}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot error</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotError}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot alert</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotAlert}</div>
</div>
<div className="grid gap-0.5">
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot state (raw)</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotStateRaw}</div>
</div>
<div className={`rounded-md px-1 py-0.5 ${lidarFlash ? 'bg-emerald-900' : 'bg-slate-800'}`}>
<button
type="button"
onClick={() => setShowLidarDebug((value) => !value)}
className="w-full text-left text-[0.72rem] text-slate-300"
>
Lidar
</button>
<div className="mt-0.25 text-center text-[0.68rem] text-slate-400">Front of robot</div>
<div className="mt-0.25 aspect-square rounded-md bg-slate-800 p-0">
{lidarRenderPoints.length ? (
<svg viewBox="0 0 220 220" className="h-full w-full">
<rect x="0" y="0" width="220" height="220" fill="#1e293b" />
<rect x="7" y="7" width="206" height="206" fill="none" stroke="#64748b" strokeWidth="1" />
<rect x="33" y="33" width="154" height="154" fill="none" stroke="#475569" strokeWidth="1" />
<rect x="59" y="59" width="102" height="102" fill="none" stroke="#475569" strokeWidth="1" />
<rect x="85" y="85" width="50" height="50" fill="none" stroke="#334155" strokeWidth="1" />
<line x1="110" y1="7" x2="110" y2="213" stroke="#475569" strokeWidth="1" />
<line x1="7" y1="110" x2="213" y2="110" stroke="#475569" strokeWidth="1" />
<circle cx="110" cy="110" r="4" fill="#e2e8f0" />
{lidarRenderPoints.map((point) => (
<circle key={point.key} cx={point.x} cy={point.y} r="1.8" fill={point.fill} />
))}
</svg>
) : (
<div className="flex h-full items-center justify-center text-center text-xs text-slate-400">
Waiting for scan
</div>
)}
</div>
{showLidarDebug ? (
<div className="mt-0.5 rounded-md bg-slate-900 px-0.75 py-0.5 font-mono text-[0.68rem] text-slate-300">
<div>Status: {lidarStatus}</div>
<div>Reason: {lidarReason}</div>
<div>Points: {lidarPoints.length}</div>
<div>Rotation: {Number.isFinite(lidar?.rotationSpeed) ? lidar.rotationSpeed.toFixed(2) : '--'}</div>
<div>Request in flight: {lidarDebug?.requestInFlight ? 'yes' : 'no'}</div>
<div>Started at: {lidarDebug?.requestStartedAt || '--'}</div>
<div>Headers: {lidarStats?.headersSeen ?? '--'}</div>
<div>Rotations: {lidarStats?.rotationsSeen ?? '--'}</div>
<div>Scans ok: {lidarStats?.scansOk ?? '--'}</div>
<div>Timeouts: {lidarStats?.scansTimedOut ?? '--'}</div>
<div>Restarts: {lidarStats?.scansRestarted ?? '--'}</div>
<div>Rotation no scan: {lidarStats?.rotationsWithoutScan ?? '--'}</div>
<div>Parseable payloads: {lidarStats?.parseablePayloads ?? '--'}</div>
<div>Point payloads: {lidarStats?.pointPayloads ?? '--'}</div>
</div>
) : null}
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Basic state</div>
<div className="font-mono text-sm text-slate-100 break-all">{primaryState}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">UI state</div>
<div className="font-mono text-sm text-slate-100 break-all">{uiStateLabel}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot error</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotError}</div>
</div>
<div className="rounded-md bg-slate-800 px-1 py-0.5">
<div className="text-[0.72rem] text-slate-300">Robot alert</div>
<div className="font-mono text-sm text-slate-100 break-all">{robotAlert}</div>
</div>
</div>
</div>
webui/src/context/SessionContext.jsx
-7
View File
@@ -8,7 +8,6 @@ import { useSocket } from './SocketContext.jsx';
const INITIAL_STATE = {
connected: false,
session: null,
neatoLidar: null,
logs: [],
adminLogs: [],
llmCommentaryState: null,
@@ -133,12 +132,7 @@ export function SessionProvider({ children }) {
const state = payload && typeof payload === 'object' ? payload : null;
setState((prev) => ({ ...prev, overseerControlState: state }));
}
function handleNeatoLidar(payload = null) {
const next = payload && typeof payload === 'object' ? payload : null;
setState((prev) => ({ ...prev, neatoLidar: next }));
}
socket.on('session:sync', handleSession);
socket.on('neato:lidar', handleNeatoLidar);
socket.on('log:init', handleLogInit);
socket.on('log:entry', handleLogEntry);
socket.on('adminlog:init', handleAdminLogInit);
@@ -148,7 +142,6 @@ export function SessionProvider({ children }) {
socket.on('alert:new', handleAlertNew);
return () => {
socket.off('session:sync', handleSession);
socket.off('neato:lidar', handleNeatoLidar);
socket.off('log:init', handleLogInit);
socket.off('log:entry', handleLogEntry);
socket.off('adminlog:init', handleAdminLogInit);