legop3/MultiRoombaRover
1
0
Fork 0
mirror of https://github.com/legop3/MultiRoombaRover.git synced 2026-09-16 09:31:20 -04:00
Code Issues Actions Packages Projects Releases Wiki Activity

lock on charge, not on dock

Browse Source
This commit is contained in:
legop3
2025-11-20 22:00:51 -05:00
parent efdef8ff1c
commit ff094c2a2b
7 changed files with 23 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
server/src/services/batteryManager.js
+11 -13
View File
@@ -20,7 +20,7 @@ function getState(roverId) {
lastPercent: null,
warned: false,
urgent: false,
docked: false,
dockedCharging: false,
batteryLocked: false,
});
}
@@ -62,20 +62,18 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
const chargingState = sensors?.chargingState?.code;
const chargingSources = sensors?.chargingSources;
const docked =
Boolean(chargingSources?.homeBase) ||
chargingState === 2 ||
chargingState === 3 ||
chargingState === 4;
if (docked && !state.docked) {
state.docked = true;
const onDock = Boolean(chargingSources?.homeBase);
const isCharging = chargingState === 1 || chargingState === 2 || chargingState === 3;
const dockedCharging = onDock && isCharging;
if (dockedCharging && !state.dockedCharging) {
state.dockedCharging = true;
publishEvent({
source: 'batteryManager',
type: 'battery.docked',
payload: { roverId, batteryState },
});
} else if (!docked && state.docked) {
state.docked = false;
} else if (!dockedCharging && state.dockedCharging) {
state.dockedCharging = false;
}
const fullThreshold =
@@ -84,7 +82,7 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
(batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
(batteryState?.percent != null && batteryState.percent >= 0.99);
if (docked && lockable && !state.batteryLocked && !isFull) {
if (dockedCharging && lockable && !state.batteryLocked && !isFull) {
logger.info('Auto-locking rover for charging', { roverId });
lockRover(roverId, true, { reason: 'battery' });
state.batteryLocked = true;
@@ -95,8 +93,8 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
});
}
if (state.batteryLocked && (isFull || !docked)) {
logger.info('Unlocking rover after charge', { roverId, isFull, docked });
if (state.batteryLocked && (isFull || !dockedCharging)) {
logger.info('Unlocking rover after charge', { roverId, isFull, docked: dockedCharging });
lockRover(roverId, false, { reason: 'battery' });
state.batteryLocked = false;
publishEvent({