fix ghost target

orangepi-server/visualizer.py

@@ -135,21 +135,39 @@ class RadarState:
         self.target_count = frame.get("target_count", 0)
         now = time.time()
 
+        # Belt-and-suspenders physical-limits filter.  The ESP32 side
+        # should already have gated these, but in case old firmware is
+        # still running or an ACK frame leaks through, we re-apply the
+        # same sanity rules on the Orange Pi side:
+        #   Y in front of radar (y >= 1 mm), <= 6000 mm rated range
+        #   |X| <= 6000 mm (±60° cone + safety margin)
+        PHYS_Y_MIN = 1
+        PHYS_Y_MAX = 6000
+        PHYS_X_ABS = 6000
+        valid_targets_this_frame = 0
+
         targets_data = frame.get("targets", [])
         for t_data in targets_data:
             slot = t_data.get("id", 0)
             if 1 <= slot <= 3:
                 t = self.targets[slot - 1]
                 t.slot = slot
-                t.valid = t_data.get("valid", False)
-                t.x_mm = t_data.get("x", 0)
-                t.y_mm = t_data.get("y", 0)
-                t.speed_cm_s = t_data.get("speed", 0)
+                t.valid = bool(t_data.get("valid", False))
+                t.x_mm = int(t_data.get("x", 0))
+                t.y_mm = int(t_data.get("y", 0))
+                t.speed_cm_s = int(t_data.get("speed", 0))
 
                 # If ESP32 parser already gives distance/angle, use them
                 t.distance_mm = float(t_data.get("distance", 0.0))
                 t.angle_deg = float(t_data.get("angle", 0.0))
 
+                # Sanity overrides: strip validity if coordinates lie
+                # outside the radar's measurable physical envelope.
+                y_ok = PHYS_Y_MIN <= t.y_mm <= PHYS_Y_MAX
+                x_ok = -PHYS_X_ABS <= t.x_mm <= PHYS_X_ABS
+                if not (y_ok and x_ok):
+                    t.valid = False
+
                 # Derive distance / angle if missing, for convenience
                 if t.valid and (t.distance_mm == 0 or t.angle_deg == 0):
                     t.distance_mm = math.hypot(t.x_mm, t.y_mm)
@@ -158,7 +176,11 @@ class RadarState:
 
                 if t.valid:
                     t.last_seen = now
+                    valid_targets_this_frame += 1
 
+        # Keep the browser-side counters honest even if the ESP32 told
+        # us a target_count that included the now-filtered ACK ghost.
+        self.target_count = valid_targets_this_frame
         self.frames_received += 1
         self.last_update = now