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lock on charge, not on dock

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legop3
2025-11-20 22:00:51 -05:00
parent efdef8ff1c
commit ff094c2a2b
7 changed files with 23 additions and 24 deletions
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plans/problems.md
+3 -2
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@@ -11,9 +11,10 @@
## todo ## todo
<!-- 1. battery manager --> <!-- 1. battery manager -->
2. pi-side sensor throttle (1/5th) <!-- 2. pi-side sensor throttle (1/5th) -->
<!-- 3. convert rover roster to a reusable component, unbake it from telemetry and admin panels --> <!-- 3. convert rover roster to a reusable component, unbake it from telemetry and admin panels -->
4. room cameras <!-- 4. room cameras -->
4. fix gamepad input - add manual inversions?
5. home assistant controls 5. home assistant controls
6. nicknames 6. nicknames
7. discord bot 7. discord bot
server/public/assets/index-CzaSKh_t.js → server/public/assets/index-Bd5JgrUJ.js
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server/public/assets/index-Cc0W7UiH.css
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server/public/assets/index-DIvshFK3.css
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server/public/index.html
+2 -2
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@@ -5,8 +5,8 @@
<link rel="icon" type="image/svg+xml" href="/vite.svg" /> <link rel="icon" type="image/svg+xml" href="/vite.svg" />
<meta name="viewport" content="width=device-width, initial-scale=1.0" /> <meta name="viewport" content="width=device-width, initial-scale=1.0" />
<title>webui</title> <title>webui</title>
<script type="module" crossorigin src="/assets/index-CzaSKh_t.js"></script> <script type="module" crossorigin src="/assets/index-Bd5JgrUJ.js"></script>
<link rel="stylesheet" crossorigin href="/assets/index-DIvshFK3.css"> <link rel="stylesheet" crossorigin href="/assets/index-Cc0W7UiH.css">
</head> </head>
<body> <body>
<div id="root"></div> <div id="root"></div>
server/src/services/batteryManager.js
+11 -13
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@@ -20,7 +20,7 @@ function getState(roverId) {
lastPercent: null, lastPercent: null,
warned: false, warned: false,
urgent: false, urgent: false,
docked: false, dockedCharging: false,
batteryLocked: false, batteryLocked: false,
}); });
} }
@@ -62,20 +62,18 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
const chargingState = sensors?.chargingState?.code; const chargingState = sensors?.chargingState?.code;
const chargingSources = sensors?.chargingSources; const chargingSources = sensors?.chargingSources;
const docked = const onDock = Boolean(chargingSources?.homeBase);
Boolean(chargingSources?.homeBase) || const isCharging = chargingState === 1 || chargingState === 2 || chargingState === 3;
chargingState === 2 || const dockedCharging = onDock && isCharging;
chargingState === 3 || if (dockedCharging && !state.dockedCharging) {
chargingState === 4; state.dockedCharging = true;
if (docked && !state.docked) {
state.docked = true;
publishEvent({ publishEvent({
source: 'batteryManager', source: 'batteryManager',
type: 'battery.docked', type: 'battery.docked',
payload: { roverId, batteryState }, payload: { roverId, batteryState },
}); });
} else if (!docked && state.docked) { } else if (!dockedCharging && state.dockedCharging) {
state.docked = false; state.dockedCharging = false;
} }
const fullThreshold = const fullThreshold =
@@ -84,7 +82,7 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
(batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) || (batteryState?.charge != null && fullThreshold != null && batteryState.charge >= fullThreshold) ||
(batteryState?.percent != null && batteryState.percent >= 0.99); (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 }); logger.info('Auto-locking rover for charging', { roverId });
lockRover(roverId, true, { reason: 'battery' }); lockRover(roverId, true, { reason: 'battery' });
state.batteryLocked = true; state.batteryLocked = true;
@@ -95,8 +93,8 @@ function handleSensorEvent({ roverId, sensors, batteryState }) {
}); });
} }
if (state.batteryLocked && (isFull || !docked)) { if (state.batteryLocked && (isFull || !dockedCharging)) {
logger.info('Unlocking rover after charge', { roverId, isFull, docked }); logger.info('Unlocking rover after charge', { roverId, isFull, docked: dockedCharging });
lockRover(roverId, false, { reason: 'battery' }); lockRover(roverId, false, { reason: 'battery' });
state.batteryLocked = false; state.batteryLocked = false;
publishEvent({ publishEvent({
webui/src/components/VideoTile.jsx
+5 -5
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@@ -247,9 +247,9 @@ function OvercurrentOverlay({ motors }) {
if (!motors?.length) return null; if (!motors?.length) return null;
const labels = motors.map((name) => OVERCURRENT_LABELS[name] || name); const labels = motors.map((name) => OVERCURRENT_LABELS[name] || name);
return ( return (
<div className="pointer-events-none absolute inset-0 flex items-center justify-center bg-red-900/60"> <div className="pointer-events-none absolute flex items-center justify-center bg-red-900/60 top-1/2 left-1/2 -translate-x-1/2 -translate-y-1/2 p-4">
<div className="text-center text-2xl font-semibold text-white animate-pulse"> <div className="text-center text-4xl font-semibold text-white animate-pulse">
<div>Overcurrent</div> <div>OVERCURRENT</div>
<div className="mt-0.5 text-xl font-medium text-white">{labels.join(', ')}</div> <div className="mt-0.5 text-xl font-medium text-white">{labels.join(', ')}</div>
</div> </div>
</div> </div>
@@ -270,10 +270,10 @@ function LowBatteryOverlay({ charge, config }) {
const warnTriggered = urgent != null && charge <= urgent; const warnTriggered = urgent != null && charge <= urgent;
if (!warnTriggered && !depleted) return null; if (!warnTriggered && !depleted) return null;
const message = depleted ? 'BATTERY VERY LOW, PLEASE DOCK THE ROVER AND CHARGE IMMEDIATELY!!' : 'Battery low! please dock and charge the rover soon.'; const message = depleted ? 'Battery low! please dock and charge the rover soon.' : 'BATTERY VERY LOW, PLEASE DOCK THE ROVER AND CHARGE IMMEDIATELY!!';
return ( return (
<div className="pointer-events-none absolute inset-0 flex items-center justify-center bg-amber-900/60"> <div className="pointer-events-none absolute flex items-center justify-center bg-amber-900/60 top-10 left-1/2 -translate-x-1/2 p-4">
<div className="text-center text-2xl font-semibold text-white animate-pulse"> <div className="text-center text-2xl font-semibold text-white animate-pulse">
<div>{message}</div> <div>{message}</div>
</div> </div>