feat: Implement command acknowledgment and improve command polling reliability for turtles

webbridge.lua

@@ -320,6 +320,25 @@ local function pollCommands(turtleID)
     end
 end
 
+-- Function to acknowledge commands were sent
+local function acknowledgeCommands(turtleID)
+    local success = pcall(function()
+        local response = http.post(
+            SERVER_URL .. "/api/turtle/" .. turtleID .. "/commands/ack",
+            "{}",
+            {["Content-Type"] = "application/json"}
+        )
+        
+        if response then
+            response.close()
+            return true
+        end
+        return false
+    end)
+    
+    return success
+end
+
 -- Initial setup
 if hasMonitor then
     drawDashboard()
@@ -333,9 +352,12 @@ end
 addLog("Listening on channels " .. STATUS_CHANNEL .. " and " .. CHANNEL_RECEIVE, colors.lightBlue)
 
 -- Start polling timer
-local POLL_INTERVAL = 1 -- Poll every 1 second
+local POLL_INTERVAL = 2 -- Poll every 2 seconds (reduced frequency for better reliability)
 os.startTimer(POLL_INTERVAL)
 
+-- Track which turtles we've sent commands to recently
+local recentCommandSends = {}
+
 -- Main loop
 local lastRefresh = os.epoch("utc")
 while true do
@@ -346,23 +368,51 @@ while true do
         for turtleID, turtleData in pairs(turtles) do
             local commands = pollCommands(turtleID)
             
-            -- Forward commands back to turtle
-            for _, cmd in ipairs(commands) do
-                stats.commandsSent = stats.commandsSent + 1
-                addLog("CMD: " .. cmd.command .. " -> Turtle #" .. turtleID, colors.yellow)
+            -- Only send commands if we got some
+            if #commands > 0 then
+                addLog("Received " .. #commands .. " command(s) for Turtle #" .. turtleID, colors.cyan)
                 
-                local commandPacket = {
-                    command = cmd.command,
-                    param = cmd.param,
-                    target = turtleID
-                }
-                
-                modem.transmit(COMMAND_CHANNEL, CHANNEL_RECEIVE, commandPacket)
-                
-                -- Debug: show what we're sending
-                if not hasMonitor then
-                    print("  Sent to channel " .. COMMAND_CHANNEL .. ": target=" .. turtleID)
+                -- Forward commands back to turtle
+                for _, cmd in ipairs(commands) do
+                    stats.commandsSent = stats.commandsSent + 1
+                    addLog("  CMD: " .. cmd.command .. " -> Turtle #" .. turtleID, colors.yellow)
+                    
+                    local commandPacket = {
+                        command = cmd.command,
+                        param = cmd.param,
+                        target = turtleID
+                    }
+                    
+                    -- Send command multiple times for reliability
+                    for i = 1, 3 do
+                        modem.transmit(COMMAND_CHANNEL, CHANNEL_RECEIVE, commandPacket)
+                        os.sleep(0.05) -- Small delay between retransmissions
+                    end
+                    
+                    -- Debug: show what we're sending
+                    if not hasMonitor then
+                        print("  Sent to channel " .. COMMAND_CHANNEL .. ": target=" .. turtleID)
+                    end
                 end
+                
+                -- Acknowledge that we sent the commands
+                os.sleep(0.5) -- Give turtle time to receive
+                if acknowledgeCommands(turtleID) then
+                    addLog("  ACK: Commands acknowledged", colors.lime)
+                else
+                    addLog("  WARN: Failed to acknowledge", colors.orange)
+                end
+                
+                -- Mark that we sent commands to this turtle
+                recentCommandSends[turtleID] = os.epoch("utc")
+            end
+        end
+        
+        -- Clean up old command send timestamps (older than 10 seconds)
+        local now = os.epoch("utc")
+        for turtleID, timestamp in pairs(recentCommandSends) do
+            if now - timestamp > 10000 then
+                recentCommandSends[turtleID] = nil
             end
         end