Get raw battery voltage (unfiltered, from any VESC that has reported).

Get raw total system current (unfiltered). Sums battery-side input current (current_in from STATUS4) across all VESCs. Returns 0.0 until STATUS4 mess

Shared Bresenham raytrace. Marks intermediate cells as free (skipping high-confidence cells) and marks the endpoint as occupied when `hit_obstacle` is

Raytrace with height tracking at the endpoint.

Reads UART packets from serial, parses COMM_GET_VALUES responses, and pushes synthesized CAN STATUS frames into the rx_queue.

Record a CAN transmission error

Attempt to relocalize against a loaded map using scan context + GICP. Uses the wide-tolerance relocalization scan matcher (5m convergence basin) and

Report task completion

Report task failure

Report task progress

Restore state from a loaded map (keyframes, edges, scan context DB). Typically called after `load_map()` succeeds.

Run the 100 Hz control loop on the calling thread (blocks forever).

Run the LiDAR reader with IMU support.

Sample a random action uniformly within bounds.

Build and save to a file.

Save the map index to disk

Save points as a simple PLY file.

Save policy in versioned format using PolicyBuilder.

Send a work mode command (SAMPLING or IDLE) to the Livox Mid-360. Uses SDK2 parameter configuration (cmd_id 0x0100) with work_tgt_mode key.

Serialize a costmap snapshot to binary with RLE encoding.

Serialize a MSG_CAMERA_INFO message (38 bytes). Format: ```text [0] u8 type (0x24) [1] u8 camera_id [2-3] u16 LE width [4-5]

Serialize telemetry for transmission (148 bytes). This is the single source of truth for telemetry serialization. Used by UDP and WebRTC transports.

Set the blink pattern

Set the display state

Set the current timestamp for subsequent logs. Call this once per control loop iteration.

Calculate SHA256 hash of a local file

Simplify path by removing collinear points.

* @param {any} canvas * @returns {Promise<void>}

Start a single camera with H.264 encoding: spawn_h264_capture + sync→async bridge + forwarder. Returns `true` if the camera started successfully. The

Start a new recording session. Does nothing if recording is globally disabled or a session is already active.

Generate current heartbeat status.

Send broadcast if interval has elapsed. Returns true if sent.

Convert to a cost grid (0-254).

Convert to Twist with given velocity limits.

Convert to twist with velocity limits

Scalar uncertainty: sqrt of max eigenvalue of position block.

Update with odometry displacement.

Update obstacle layer from pre-classified points with multi-frame accumulation. Like `update_from_points`, but also stores obstacle points in the acc

Update the current mode animation.

Update odom to world correction (from SLAM).

Update physics based on wheel RPMs with optional world collision. wheel_rpms: [FL, FR, RL, RR] in mechanical RPM Returns the collision result.

Add or update a map entry.

Get uptime in seconds (wraps at 255).

Get current simulated velocity.

Convert world coordinates to grid cell.

Write extracted data to output directory in splat-worker format.

Compute accumulated odometry distance between two keyframe IDs. Walks sequential (non-loop-closure) edges between from_id and to_id.

Get the active tool mutably.

Get the active tool's ToolType (for telemetry).

Add access panel on top of frame (inside shell) Note: Sensors are now housed in the shell's sensor dome, not on a tall mast. The "friendly industrial

Add base tray with all electronics and battery (coplanar at bottom)

Add downtube battery on central spine

Add electronics - taped to frame

Add mounting holes to the flange

Add stereo cameras in the front face "The Face" - two cameras as "eyes" for pareidolia effect Positioned in the visor (forehead), spaced at human IPD

Add LiDAR mounted directly on the lid Livox Mid-360 specs: - 65×65×60mm body with hemispherical scanning window - Mounts flat on surface with 4× M3 s

Add Proxicast 5-in-1 combo antenna on the lid Mounted flush on rear-right of lid, provides: - LTE/4G cellular (MIMO) - WiFi 2.4/5GHz (MIMO) - GPS/GLO

Add sensor mast

Add set-screw bosses around the collar. Each boss is a rectangular pad on the collar exterior with a radial hole for an M4 set screw to clamp onto th

Add 3-panel clam shell enclosure Shell components: - Wall Wrap: Front + sides + rear (single bent piece) - Top Lid: Removable panel for maintenance a

Advance to next waypoint. Returns true if task is complete.

Advance to next waypoint. Returns true if task is complete.

Advance to next waypoint in task. Returns true if task is complete.

Background loop that evaluates rover state and creates/clears alerts. Runs every second, comparing current rover state with previous snapshots.

Apply all accumulated obstacle points (except the most recent scan) to the occupancy grid using mark_occupied.

Apply optimization update to keyframe poses.

Apply wipe with a soft edge (gradient at the transition point).

A* search algorithm.

Get depth at pixel (x, y). Returns None if out of bounds.

Get outer axle length (for mount design)

Get the base color for this mode (used for transitions).

Get current base_link pose in world frame (SLAM-corrected).

Chebyshev distance between two bounding boxes (in grid cells). Returns 0 when boxes overlap or are adjacent.

Bilinear resize RGB u8 buffer.

Blend two colors. blend=255 means full color_a, blend=0 means full color_b.

Build a current command frame (without sending).