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Replaces the mock sensor data on the Sensors page with real values from the existing MQTT topics: - sensor_infos/json for sensor metadata (name, unit, min/max and critical thresholds) - sensors/<id>/data for the live values (plain text payload, not JSON - a number-as-string for DOUBLE sensors, the string itself for STRING sensors) Sensors are grouped by category (battery/charging, temperatures, mow motor, other) and rendered with gauges (vertical bar for voltage/current, horizontal for temperature, radial for RPM) whose color zones are computed from each sensor's own min/max and critical values instead of hardcoded ones. Each sensor card subscribes only to its own value, so one sensor updating doesn't re-render every other card's gauge. No firmware/ROS changes needed - this only consumes topics that were already being published.
Every threshold in the firmware's Power.cfg (battery/charge critical low/high, empty/full) defaults to -1 when unset, and gets resolved to a real value via launch-file fallbacks - but the C++ code that sets has_critical_low/has_critical_high only checks "value != 0", not whether it's still the raw -1 sentinel. If that fallback doesn't run for some reason, an unresolved -1 leaks through as has_critical_high: true, upper_critical_value: -1 - and since every real sensor reading is >= -1, that sensor would show as permanently critical. computeGaugeScale and isCritical now also require the threshold value itself to be non-negative before treating it as set.
xbot_positioning.cpp hardcodes position_accuracy to exactly 999 when there's no absolute GPS fix (EKF running on dead reckoning only, or GPS timed out). Displayed as "999.00 m" that reads like a real, huge accuracy value instead of what it actually means - no fix at all. IdleBehavior.cpp and DockingBehavior.cpp also turn GPS off entirely around IDLE/DOCKING (back on when undocking/mowing starts) to save power while parked/docked, so those two states are shown as "GPS off" instead of the more general "No fix" - it's expected there, not a signal problem. While actually charging (a safe proxy for "physically in the dock" - IDLE alone can also mean paused out on the lawn), an additional "(Docking Station)" caption makes the reason explicit.
Voltage gauges (V Battery, V Charge) turned out to add no real value: the meaningful range is a tiny sliver of whatever domain gets picked, so most of the bar just sits in one color regardless of the actual reading. rovo89's legacy app has the same min/max fields on its sensor model but never actually uses them for a gauge either. V Battery now leads with the precise battery percentage (already computed server-side, from robot_state/json) and shows the raw voltage as a small secondary line - more useful than a voltage number alone. Both V Battery and V Charge lose the vertical gauge; current sensors keep theirs since amps have a genuinely meaningful zero-to-limit range.
Four separate cards (V Battery, V Charge, Charge Current, plus the Charge State chip riding along on Charge Current) made it hard to answer the one question that actually matters: how's the battery doing. Replaced with a single card: battery percentage as the headline (with a phone-style battery icon that fills/empties and switches to the charging variant), the charge state as a chip, and the three raw readings labeled Battery/Charger/Current underneath instead of three separate unlabeled boxes.
The blade motor only spins while actually mowing - Mow Motor Current and Mow Motor Revolutions are always 0 the rest of the time (docked, idle, undocking, ...). A full vertical/radial gauge just to show an expected zero is visual noise; both cards now say "Motor off" and skip the gauge outside the MOWING state, matching the same treatment already used for GPS off/no-fix.
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Same idea as the Battery summary card: showing "Motor off" twice (once for Current, once for RPM) was redundant, since both are always 0 outside of MOWING for the same reason. Now it's a single "Mow Motor" card saying "Motor off" while idle/docked/etc, and the normal two cards with real gauges while actually mowing.
They were landing diagonally opposite in the 2-column grid (arrival order was left, mow, mow-motor, right). Sorting left/right ESC first within Temperatures puts them side by side, which is the more natural pairing to compare at a glance.
mkaaaaay
changed the title
…age reading while not charging
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Replaces the mocked Sensors page with real data from the mower (sensor_infos/json + sensors//data over MQTT).
No firmware changes needed, just consumes topics that are already there.