Added order for sweeper+canon and fixed fifo issue

utcoupe · May 6, 2017 · 2e6f7cf · 2e6f7cf
1 parent 2086750
commit 2e6f7cf
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Showing 7 changed files with 57 additions and 1 deletion.
diff --git a/clients/Extension/baseconstructor.class.js b/clients/Extension/baseconstructor.class.js
@@ -43,18 +43,22 @@ class BaseConstructor extends Extension {
                 // open
                 // rotate
                 // close
+                this.fifo.orderFinished();
                 break;
 
             case "drop_middle_1":
                 // same thing
+                this.fifo.orderFinished();
                 break;
 
             case "drop_middle_2":
                 // same thing
+                this.fifo.orderFinished();
                 break;
 
             default:
                 this.logger.error("Order " + name + " does not exist !");
+                this.fifo.orderFinished();
         }
     }
 

diff --git a/clients/Extension/canon.class.js b/clients/Extension/canon.class.js
@@ -27,8 +27,16 @@ class Canon extends Extension {
     processFifoOrder (name, param) {
         this.logger.info ("Order received: " + name);
         switch (name) {
+            case "turn_on":
+                this.fifo.orderFinished();
+                break;
+            case "turn_off":
+                this.fifo.orderFinished();
+                break;
+
             default:
-                logger.error ("Order " + name + " does not exist!");
+                this.logger.error ("Order " + name + " does not exist!");
+                this.fifo.orderFinished();
         }
     }
 

diff --git a/clients/Extension/sweeper.class.js b/clients/Extension/sweeper.class.js
@@ -27,8 +27,15 @@ class Sweeper extends Extension {
     processFifoOrder (name, param) {
         this.logger.info("Order received: " + name);
         switch (name) {
+            case "turn_on":
+                this.fifo.orderFinished();
+                break;
+            case "turn_off":
+                this.fifo.orderFinished();
+                break;
             default:
                 this.logger.error("Order " + name + " does not exist!");
+                this.fifo.orderFinished();
         }
     }
 

diff --git a/clients/Extension/unitgrabber.class.js b/clients/Extension/unitgrabber.class.js
@@ -28,9 +28,11 @@ class UnitGrabber extends Extension {
         switch (name) {
             case "open":
                 this.servos.moduleArmOpen();
+                this.fifo.orderFinished();
                 break;
             case "close":
                 this.servos.moduleArmClose();
+                this.fifo.orderFinished();
                 break;
             case "take_1":
                 //add a mechanism to process some functions in sequential order, waiting the first has finished before
@@ -42,14 +44,17 @@ class UnitGrabber extends Extension {
                 // - close arms
                 // - up grabber
                 // - open arms
+                this.fifo.orderFinished();
                 break;
 
             case "take_4":
                 // Order : same thing but 4 times
+                this.fifo.orderFinished();
                 break;
 
             default:
                 this.logger.error("Order " + name + " does not exist !");
+                this.fifo.orderFinished();
         }
     }
 

diff --git a/clients/Robot/grobot.class.js b/clients/Robot/grobot.class.js
@@ -64,6 +64,12 @@ class Grobot extends Robot{
 		super.stop();
 	}
 
+	start () {
+		super.start();
+		this.sweeper.start();
+		this.canon.start();
+	}
+
 	// Exiting :
 	//do something when app is closing
 	//process.on('exit', quit);

diff --git a/webclient/pages/telecommande/grobotdisplay.class.js b/webclient/pages/telecommande/grobotdisplay.class.js
@@ -7,4 +7,20 @@ class GrobotDisplay extends RobotDisplay {
         // Specific to grobot
         // example : this.PID_P = 0.5
     }
+
+    turnOnCanon () {
+        this.client.send("canon", "turn_on");
+    }
+
+    turnOffCanon () {
+        this.client.send("canon", "turn_off");
+    }
+
+    turnOnSweeper () {
+        this.client.send("sweeper", "turn_on");
+    }
+
+    turnOffSweeper () {
+        this.client.send("sweeper", "turn_off");
+    }
 }
diff --git a/webclient/pages/telecommande/telecommande.tpl.html b/webclient/pages/telecommande/telecommande.tpl.html
@@ -142,6 +142,16 @@ <h3>Asserv</h3>
 
 		<div>
 			<h3>Extensions : </h3>
+			<p>
+				Canon :
+				<button type="button" class="btn" ng-click="grobot.turnOnCanon()">Turn on</button>
+				<button type="button" class="btn" ng-click="grobot.turnOffCanon()">Turn off</button>
+			</p>
+			<p>
+				Sweeper :
+				<button type="button" class="btn" ng-click="grobot.turnOnSweeper()">Turn on</button>
+				<button type="button" class="btn" ng-click="grobot.turnOffSweeper()">Turn off</button>
+			</p>
 		</div>
 	</section>