Harden BLE host link and expose latency tools in the dashboard.
Add BLE RTT/stream tests and live tick median in the UI, fix concurrent WebSocket writes and late BATTERY replies, and skip 2M PHY updates that assert under ESP-NOW coexistence. Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Cursor
+135
-12
@@ -77,15 +77,80 @@ type DashboardState struct {
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SerialError string `json:"serial_error,omitempty"`
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/** Host: fast CACHE_STATUS poll (~16 ms) for accel + tap. */
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LiveStream bool `json:"live_stream"`
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Master MasterView `json:"master"`
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Clients []ClientView `json:"clients"`
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/** BLE live path: inter-tick stats from BleStreamTick.esp_timestamp_us. */
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BleTick *BleTickView `json:"ble_tick,omitempty"`
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Master MasterView `json:"master"`
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Clients []ClientView `json:"clients"`
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}
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// BleTickView is median/mean inter-departure of BLE_STREAM_TICK (ESP timer).
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type BleTickView struct {
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PeriodMs uint32 `json:"period_ms"`
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MedianMs float64 `json:"median_ms"`
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MeanMs float64 `json:"mean_ms"`
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MinMs float64 `json:"min_ms"`
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MaxMs float64 `json:"max_ms"`
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Samples int `json:"samples"`
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LastEspUs uint64 `json:"last_esp_us,omitempty"`
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}
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const bleTickDeltaCap = 64
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type bleTickTracker struct {
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lastEspUs uint64
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haveLast bool
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periodMs uint32
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deltas [bleTickDeltaCap]float64
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next int
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count int
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}
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func (t *bleTickTracker) reset() {
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*t = bleTickTracker{}
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}
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func (t *bleTickTracker) add(espUs uint64, periodMs uint32) BleTickView {
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if periodMs != 0 {
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t.periodMs = periodMs
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}
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if t.haveLast && espUs > t.lastEspUs {
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dt := float64(espUs-t.lastEspUs) / 1000.0
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t.deltas[t.next] = dt
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t.next = (t.next + 1) % bleTickDeltaCap
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if t.count < bleTickDeltaCap {
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t.count++
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}
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}
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t.lastEspUs = espUs
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t.haveLast = true
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samples := make([]float64, 0, t.count)
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if t.count < bleTickDeltaCap {
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samples = append(samples, t.deltas[:t.count]...)
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} else {
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samples = append(samples, t.deltas[t.next:]...)
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samples = append(samples, t.deltas[:t.next]...)
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}
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st := makeLatencyStats(samples)
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return BleTickView{
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PeriodMs: t.periodMs,
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MedianMs: st.MedMs,
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MeanMs: st.MeanMs,
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MinMs: st.MinMs,
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MaxMs: st.MaxMs,
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Samples: st.N,
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LastEspUs: espUs,
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}
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}
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type wsHub struct {
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mu sync.RWMutex
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writeMu sync.Mutex // gorilla websocket: one writer at a time
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clients map[*websocket.Conn]struct{}
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state DashboardState
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liveStream bool
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bleTicks bleTickTracker
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lastPush time.Time // throttle BLE tick WS pushes
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}
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func newWSHub() *wsHub {
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@@ -96,6 +161,10 @@ func (h *wsHub) setState(st DashboardState) {
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h.mu.Lock()
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prev := h.state
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st.LiveStream = prev.LiveStream
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if st.BleTick == nil && prev.BleTick != nil && st.LiveStream {
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cp := *prev.BleTick
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st.BleTick = &cp
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}
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st.Clients = preserveClientAccel(st.Clients, prev.Clients, st.LiveStream)
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st.Clients = preserveClientBattery(st.Clients, prev.Clients)
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st.Clients = preserveClientTap(st.Clients, prev.Clients)
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@@ -140,15 +209,25 @@ func (h *wsHub) unregister(c *websocket.Conn) {
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h.mu.Unlock()
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}
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// writeJSON sends to one client; removes it on error or panic (closed connection).
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// dropClient removes the client and closes the socket so the browser reconnects.
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func (h *wsHub) dropClient(c *websocket.Conn) {
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h.unregister(c)
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_ = c.Close()
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}
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// writeJSON sends to one client; removes+closes it on error or panic.
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func (h *wsHub) writeJSON(c *websocket.Conn, data []byte) {
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defer func() {
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if recover() != nil {
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h.unregister(c)
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h.dropClient(c)
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}
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}()
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if err := c.WriteMessage(websocket.TextMessage, data); err != nil {
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h.unregister(c)
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h.writeMu.Lock()
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_ = c.SetWriteDeadline(time.Now().Add(2 * time.Second))
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err := c.WriteMessage(websocket.TextMessage, data)
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h.writeMu.Unlock()
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if err != nil {
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h.dropClient(c)
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}
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}
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@@ -417,6 +496,8 @@ func (h *wsHub) patchLiveStream(enabled bool) {
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st := h.state
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st.LiveStream = enabled
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if !enabled {
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h.bleTicks.reset()
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st.BleTick = nil
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for i := range st.Clients {
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st.Clients[i].AccelValid = false
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st.Clients[i].AccelX = 0
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@@ -501,6 +582,49 @@ func (h *wsHub) mergeAccel(samples []*pb.AccelSample) {
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}
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}
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// mergeBleStreamTick applies accel/tap from a BLE tick and updates inter-tick stats.
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// State is updated every tick; WebSocket push is throttled (~50 Hz) so concurrent
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// writers (poller/battery) cannot flood or race the gorilla conn.
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func (h *wsHub) mergeBleStreamTick(tick *pb.BleStreamTick) {
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if tick == nil || !h.liveStreamEnabled() {
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return
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}
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cache := &pb.CacheStatusResponse{Clients: tick.GetClients()}
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const minPushGap = 20 * time.Millisecond
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h.mu.Lock()
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view := h.bleTicks.add(tick.GetEspTimestampUs(), tick.GetPeriodMs())
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st := h.state
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st.Clients = applyAccelSamples(st.Clients, accelSamplesFromCacheStatus(cache))
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st.Clients = applyTapEvents(st.Clients, tapEventsFromCacheStatus(cache))
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st.BleTick = &view
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st.UpdatedAt = time.Now().Format(time.RFC3339)
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h.state = st
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push := time.Since(h.lastPush) >= minPushGap
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if push {
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h.lastPush = time.Now()
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}
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var conns []*websocket.Conn
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if push {
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conns = make([]*websocket.Conn, 0, len(h.clients))
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for c := range h.clients {
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conns = append(conns, c)
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}
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}
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h.mu.Unlock()
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if !push {
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return
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}
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data, err := json.Marshal(st)
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if err != nil {
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return
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}
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for _, c := range conns {
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h.writeJSON(c, data)
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}
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}
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func (h *wsHub) mergeTap(events []*pb.TapEvent) {
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if len(events) == 0 || !h.liveStreamEnabled() {
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return
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@@ -673,7 +797,7 @@ func runBatteryPoller(link *managedSerial, hub *wsHub, interval time.Duration, s
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case <-stop:
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return
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case <-ticker.C:
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if !link.IsConnected() {
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if !link.IsConnected() || link.PollPaused() {
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continue
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}
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bat, err := link.BatteryStatusPoll(&pb.BatteryStatusRequest{AllClients: true})
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@@ -694,7 +818,7 @@ func runCacheStatusDashboardPoller(link *managedSerial, hub *wsHub, interval tim
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case <-stop:
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return
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case <-ticker.C:
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if !hub.liveStreamEnabled() {
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if !hub.liveStreamEnabled() || link.PollPaused() {
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continue
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}
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// BLE live path prefers BLE_STREAM_TICK pushes.
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@@ -720,7 +844,7 @@ func runBLEStreamDashboardPoller(link *managedSerial, hub *wsHub, streamCtl *acc
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return
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default:
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}
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if link.Transport() != hostTransportBLE || !hub.liveStreamEnabled() {
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if link.Transport() != hostTransportBLE || !hub.liveStreamEnabled() || link.PollPaused() {
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select {
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case <-stop:
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return
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@@ -732,12 +856,11 @@ func runBLEStreamDashboardPoller(link *managedSerial, hub *wsHub, streamCtl *acc
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if err != nil {
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continue
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}
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cache, err := cacheStatusFromBLEStreamPayload(payload)
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tick, err := parseBleStreamTickPayload(payload)
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if err != nil {
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continue
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}
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hub.mergeAccel(accelSamplesFromCacheStatus(cache))
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hub.mergeTap(tapEventsFromCacheStatus(cache))
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hub.mergeBleStreamTick(tick)
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}
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}
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