From 8aead128f6de566c5ff51129400eb095c79acac6 Mon Sep 17 00:00:00 2001 From: mmxm Date: Sun, 26 Mar 2017 15:53:26 +0200 Subject: [PATCH 01/74] Gestion d'un seul hokuyo par raspi --- hokuyo/src/communication.c | 2 +- hokuyo/src/global.h | 4 +- hokuyo/src/hokuyo_config.c | 31 ++++++------ hokuyo/src/main.c | 101 ++++++------------------------------- 4 files changed, 34 insertions(+), 104 deletions(-) diff --git a/hokuyo/src/communication.c b/hokuyo/src/communication.c index 4ddf0e4..fbb498e 100644 --- a/hokuyo/src/communication.c +++ b/hokuyo/src/communication.c @@ -40,7 +40,7 @@ void pushData(Hok_t hok, long* data) { } char type[10]; char message[MAX_DATA*50]; - if (hok.c == 'c') + if (hok.c == 'e') strcpy(type, "one"); else strcpy(type, "two"); diff --git a/hokuyo/src/global.h b/hokuyo/src/global.h index eecfa2c..104388d 100644 --- a/hokuyo/src/global.h +++ b/hokuyo/src/global.h @@ -28,14 +28,14 @@ #define CALIB_X (TABLE_X/2) #define CALIB_Y (TABLE_Y/2) -#define HOK1_SERIAL "1102605"//"1102605" +#define HOK1_SERIAL "1102605"//one-enemy #define HOK1_X -40 // old : 25 #define HOK1_Y -40 // old : 25 #define HOK1_A M_PI // orientation #define HOK1_CONE_MIN (-M_PI/2) #define HOK1_CONE_MAX (M_PI/2)//(M_PI/2) -#define HOK2_SERIAL "1320252" +#define HOK2_SERIAL "1320252"//two-corner 1320252 #define HOK2_X 3040 // old 3025 #define HOK2_Y 1000 #define HOK2_A M_PI diff --git a/hokuyo/src/hokuyo_config.c b/hokuyo/src/hokuyo_config.c index 7f6bcd1..814c395 100644 --- a/hokuyo/src/hokuyo_config.c +++ b/hokuyo/src/hokuyo_config.c @@ -17,8 +17,8 @@ extern FILE* logfile; char expected_serial[2][20] = { - HOK1_SERIAL, - HOK2_SERIAL, + HOK1_SERIAL, //one - enemy + HOK2_SERIAL, //two - corner }; #define NR_ACM_TRY 4 @@ -26,15 +26,11 @@ char expected_serial[2][20] = { int detectHokuyos1(Hok_t *hok1, Hok_t *hok2) { char base_path[] = "/dev/ttyACMx"; - int i; + int i = 42; int j; int found = 0; //hok1->path = "/dev/ttyACMx"; - if (hok1->c == 'c') - i = 0; - else - i = 1; - fprintf(stderr, "Searching hokuyo %d\n", i); + fprintf(stderr, "Searching hokuyo \n"); for (j=0; jc); + fprintf(stderr, "Found serial %s on port %s\n i = %d\n", serial_nr, try_path, i); //fprintf(stderr, "i = %d\n", i); #endif // check if it is the right hokuyo - if (strcmp(serial_nr, expected_serial[i]) == 0) { + if (strcmp(serial_nr, expected_serial[0]) == 0) { + strcpy(hok1->path, try_path); + hok1->c = 'e'; + + i = 0; + found = 1; + } + else if (strcmp(serial_nr, expected_serial[1]) == 0) { strcpy(hok1->path, try_path); + hok1->c = 'c'; + i = 1; found = 1; } @@ -120,7 +121,7 @@ int detectHokuyos1(Hok_t *hok1, Hok_t *hok2) { } if (found) { #if DEBUG - fprintf(stderr, "Found hokuyo %d (%s) on port %s\n", i, expected_serial[i], try_path); + fprintf(stderr, "Found hokuyo (%s) on port %s, c = %c\n", expected_serial[i], try_path, hok1->c); #endif break; } diff --git a/hokuyo/src/main.c b/hokuyo/src/main.c index 01c153a..d0d1ff4 100644 --- a/hokuyo/src/main.c +++ b/hokuyo/src/main.c @@ -49,11 +49,10 @@ int main(int argc, char **argv){ // int nb_robots_to_find = 4; hok1.urg = 0; - hok2.urg = 0; // Open log file logfile = fopen("/var/log/hokuyo.log", "a+"); - //logfile = stderr; +// logfile = stderr; if (logfile == NULL) { fprintf(stderr, "Can't open log file (what do you think about beeing a sudoer ? :P )\n"); exit(EXIT_FAILURE); @@ -93,12 +92,15 @@ int main(int argc, char **argv){ fflush(logfile); hok1 = initHokuyo( HOK1_A, HOK1_CONE_MIN, HOK1_CONE_MAX, (Pt_t){HOK1_X, HOK1_Y}, 'c'); - if (detectHokuyos1(&hok1, &hok2)) { + if (detectHokuyos1(&hok1,&hok2)) { fprintf(stderr, "Failed to detect hokuyos paths\n"); //exit(EXIT_FAILURE); } else checkAndConnect(&hok1); +/***** +A remettre si deux hokuyos sur une raspi +***** hok2 = initHokuyo( HOK2_A, HOK2_CONE_MIN, HOK2_CONE_MAX, (Pt_t){HOK2_X, HOK2_Y}, 'e'); if (detectHokuyos1(&hok2, &hok1)) { @@ -107,7 +109,7 @@ int main(int argc, char **argv){ } else checkAndConnect(&hok2); - +*/ //hok2 = initHokuyo(paths[1], HOK2_A, HOK2_CONE_MIN, HOK2_CONE_MAX, (Pt_t){HOK2_X, HOK2_Y} ); //checkAndConnect(&hok2); @@ -123,9 +125,9 @@ int main(int argc, char **argv){ while(1){ long now = timeMillis(); if (now - time_last_try > TIMEOUT) { - fprintf(logfile, "%sChecking hokuyos\n", PREFIX); - checkAndConnect(&hok1); - checkAndConnect(&hok2); + fprintf(logfile, "%sChecking hokuyos hok1: %d \n", PREFIX, hok1.isWorking); + //checkAndConnect(&hok1); +// checkAndConnect(&hok2); // If an Hokuyo isn't connected, we scan the ports and try to reconect if (!hok1.isWorking) { @@ -138,7 +140,7 @@ int main(int argc, char **argv){ } } } - if (!hok2.isWorking) { +/* if (!hok2.isWorking) { if (detectHokuyos1(&hok2, &hok1)) { fprintf(stderr, "Failed to detect hokuyos paths (looking for Hokuyo 2)\n"); } else { @@ -148,6 +150,7 @@ int main(int argc, char **argv){ } } } + */ /*if (!hok2.isWorking && nb_hokuyo == 2) { if (detectHokuyos(paths, 2)) { fprintf(stderr, "Failed to detect hokuyos paths (looking for Hokuyo 2)\n"); @@ -170,8 +173,8 @@ int main(int argc, char **argv){ } void frame(){ - int nPts1 = 0, nPts2 =0; - long data1[MAX_DATA], data2[MAX_DATA]; + int nPts1 = 0 ; + long data1[MAX_DATA] ; if (hok1.isWorking) { nPts1 = urg_receiveData(hok1.urg, data1, MAX_DATA); if (nPts1 < 1){ @@ -181,7 +184,7 @@ void frame(){ } if (hok1.isWorking ) pushData(hok1, data1); - +/* if(hok2.isWorking ){ nPts2 = urg_receiveData(hok2.urg, data2, MAX_DATA); if (nPts2 < 1){ @@ -192,6 +195,7 @@ void frame(){ if (hok2.isWorking ) pushData(hok2, data2); //pushInfo('9'); + */ /*for (i=0; i Date: Tue, 28 Mar 2017 17:38:42 +0200 Subject: [PATCH 02/74] Hokuyo name and env var (1st part) --- .gitignore | 1 + hokuyo/client_hok.js | 1 + hokuyo/src/communication.c | 4 ++-- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/.gitignore b/.gitignore index 8b5a19e..70f7a62 100644 --- a/.gitignore +++ b/.gitignore @@ -7,6 +7,7 @@ node_modules/ npm-debug.log *.sublime* hokuyo/bin/hokuyo +Makefile CMakeCache* CMakeFiles* cmake_install* diff --git a/hokuyo/client_hok.js b/hokuyo/client_hok.js index b39eba4..4bfd61d 100644 --- a/hokuyo/client_hok.js +++ b/hokuyo/client_hok.js @@ -209,6 +209,7 @@ // Execute C program // var command = "/home/pi/coupe15/hokuyo/bin/hokuyo"; + var command = "$UTCOUPE_WORKSPACE/hokuyo/bin/hokuyo"; var args = [color]; // var options = // default : { cwd: undefined, env: process.env}; logger.info('Launching : ' + command + ' ' + args); diff --git a/hokuyo/src/communication.c b/hokuyo/src/communication.c index 16e1fb3..389a50a 100644 --- a/hokuyo/src/communication.c +++ b/hokuyo/src/communication.c @@ -41,9 +41,9 @@ void pushData(Hok_t hok, long* data) { char type[10]; char message[MAX_DATA*50]; if (hok.c == 'c') - strcpy(type, "corner"); + strcpy(type, "two"); else - strcpy(type, "enemy"); + strcpy(type, "one"); int i = hok.imin; int fin; int mid = floor((float)(hok.imax-hok.imin)/3); From 42feecb7b95a38b3f1a3a6f45630abc8b23b43f2 Mon Sep 17 00:00:00 2001 From: Mewen Date: Tue, 28 Mar 2017 18:02:26 +0200 Subject: [PATCH 03/74] Cleaning up Hokuyo --- hokuyo/client_hok_old.js | 315 -------------------- hokuyo/{client_hok.js => main.js} | 1 + hokuyo/main.sh | 2 +- hokuyo/{client_hok.simu.js => main.simu.js} | 0 hokuyo/orders.json | 2 +- server/server.class.js | 2 +- 6 files changed, 4 insertions(+), 318 deletions(-) delete mode 100644 hokuyo/client_hok_old.js rename hokuyo/{client_hok.js => main.js} (99%) rename hokuyo/{client_hok.simu.js => main.simu.js} (100%) diff --git a/hokuyo/client_hok_old.js b/hokuyo/client_hok_old.js deleted file mode 100644 index 3df0f66..0000000 --- a/hokuyo/client_hok_old.js +++ /dev/null @@ -1,315 +0,0 @@ -// TODO : -// message/objet erreur ou pas ? - -(function (){ - "use strict"; - - /* JS which will connect to the server, and then - * will execute the C program to control the Hokuyos. - * It will transfer datas from the C Hokuyo controller to AI - */ - - var log4js = require('log4js'); - var logger = log4js.getLogger('Client'); - var spawn = require('child_process').spawn; - var fs = require('fs'); - var match_name = ""; - var child_process = require('child_process'); - var child; - var SocketClient = require('../server/socket_client.class.js'); - var config = require('../config.js'); - var lastT = Date.now(); - var startingT = lastT; - - var FREQ_ENVOI_INFO = 50; // tous les 10 infos (genre 1 seconde) - var nth = 0; - - var server = process.argv[2] || config.server; - var command = process.argv[3] || config.hokuyo_command; - - var client = new SocketClient({ - server_ip: server, - type: "hokuyo", - }); - - var started = false; - var nb_active_hokuyos = -1; - var lastStatus = { - "status": "waiting" - }; - sendChildren(lastStatus); - - logger.info("Starting with pid " + process.pid); - - client.order(function(from, name, params){ - var now = Date.now(); - logger.info("Time since last order : "+(now - lastT)); - if (now - lastT > 500) { // half a second between two orders - logger.info("Just received an order `" + name + "` from " + from + " with params :"); - logger.info(params); - - lastT = now; - switch (name){ - case "start": - if(!!params.color && !started) { - started = true; - start(params.color); - } else - logger.error("ALready started or Missing parameters !"); - break; - case "shutdown": - quitC("stop"); - spawn('sudo', ['halt']); - break; - case "stop": - started = false; - quitC("stop"); - break; - case "sync_git": - spawn('/root/sync_git.sh', [], { - detached: true - }); - break; - default: - logger.warn("Name not understood : " + data); - } - } else { - logger.warn("Received two orders too closely !"); - } - }); - - function matchLogger(name, line){ - fs.appendFile('/var/log/utcoupe/'+name+'.log', line+'\n', function (err) { - if (err) logger.error('Ecriture dans le fichier de log de match "/var/log/utcoupe/'+name+'.log" impossible'); - // logger.debug('The "data to append" was appended to file!'); - }); - } - - function quitC(code){ - if(!!child){ - logger.info("Closing child "+child.pid+" at "+code); - child.kill('SIGINT'); - child = null; - } else { - logger.info("Can't close child at "+code+" : never born :P"); - logger.info("Father's pid : " + process.pid); - // process.kill(process.pid, 'SIGINT'); - } - } - - function uException(code){ - logger.error("uException sent with code "+code); - } - - function start(color){ - // We just an order to start, with the flavour :P (color, number of robots) - - sendChildren({"status": "starting"}); - - // Generates the match name (for the log file) - var tmp = new Date(); - match_name = tmp.toJSON().replace(/T/, ' ').replace(/\..+/, ''); - var now = Date.now() - lastT; - matchLogger(match_name, now+"; color:"+color); - now = lastT; - - // If there's a child, kill it - quitC("start"); - - // Exit handlers - //do something when app is closing - process.on('exit', quitC); - // catches ctrl+c event - // process.on('SIGINT', quitC); - //catches uncaught exceptions - //process.on('uncaughtException', uException); - - // Functions - function parseRobots(string) { - var dots = []; - now = Date.now() - lastT; - - if(!!string){ - var temp = string.split("#"); - for (var i = 0; i <= temp.length - 1; i++) { - temp[i] = temp[i].split(","); - dots.push({x: 0, y: 0}); - dots[i].x = parseInt(temp[i][0]); - dots[i].y = parseInt(temp[i][1]); - - // Log them : - matchLogger(match_name, now+"; dotx:"+dots[i].x+"; doty:"+dots[i].y); - } - logger.info('[J-HOK] Robots'); - logger.info(dots); - } else { - logger.info('[J-HOK] No robot detected !'); - } - - now = lastT; - - // Send all robots - client.send("ia", "hokuyo.position_tous_robots", {dots: dots}); - } - - function parseInfo(string) { - logger.info("Read info..."); - // logger.info(string); - - var prev_n_a_h = nb_active_hokuyos; - - now = Date.now() - lastT; - - switch (string.substring(0,1)){ - case "0": - // Send error : no Hokuyo working - // client.send("ia", "nb_hokuyo", {nb: 0}); - nb_active_hokuyos = 0; - break; - case "1": - // Send warning : one Hokuyo is missing - // client.send("ia", "nb_hokuyo", {nb: 1}); - nb_active_hokuyos = 1; - break; - case "2": - // Send message : Hokuyos are ok - // client.send("ia", "nb_hokuyo", {nb: 2}); - nb_active_hokuyos = 2; - break; - default: - logger.info("Error not understood : " + string); - return; - } - - if ((prev_n_a_h != nb_active_hokuyos) || (nth == FREQ_ENVOI_INFO)){ - logger.info("Info sent to server"); - sendChildren(getStatus()); - nth = 0; - } - - matchLogger(match_name, now+"; nb_hokuyo:"+nb_active_hokuyos); - now = lastT; - nth += 1; - } - - function dataFromCHandler(input) { - // input format (XXXX type and xxxx values) : "[XXXX]xxxxxxxxx" maybe many times, seperated with \n - - var inputAr = input.toString().split('\n'); - - for (var i = 0; i <= inputAr.length - 1; i++) { - if (!!inputAr[i]){ - switch (inputAr[i].substring(1,5)){ - case "HI:)": - // send "C started" to server - logger.info('C Hokuyo software says "Hi !" :)'); - sendChildren({"status": "starting"}); - break; - case "DATA": - logger.info('C Hokuyo software sends datas'); - parseRobots(inputAr[i].substring(6)); - break; - case "INFO": - logger.info('C Hokuyo software sends information :'+inputAr[i].substring(6)); - parseInfo(inputAr[i].substring(6)); - break; - case "WARN": - logger.warn('C Hokuyo software sends a warning :'+inputAr[i].substring(6)); - parseInfo(inputAr[i].substring(6)); - break; - default: - logger.info("Data "+ inputAr[i].substring(1,5) + " not understood at line " + i + " : " + inputAr[i]); - } - } - } - } - - - // Execute C program - // var command = "/home/pi/coupe15/hokuyo/bin/hokuyo"; - var args = [color]; - // var options = // default : { cwd: undefined, env: process.env}; - logger.info('Launching : ' + command + ' ' + args); - child = child_process.spawn(command, args); - - // Events - child.stdout.on('data', function(data) { - logger.debug(data.toString()); - dataFromCHandler(data); - }); - - child.on('error', function(data) { - logger.fatal('Erreur avec le process C : ' + data.toString()); - sendChildren({"status": "error", "children":[]}); - setTimeout(function(){ - sendChildren({"status": "waiting", "children":[]}); - }, 5000); - }); - - child.stderr.on('error', function(data) { - logger.fatal(data.toString()); - sendChildren({"status": "error", "children":[]}); - setTimeout(function(){ - sendChildren({"status": "waiting", "children":[]}); - }, 5000); - }); - - child.stderr.on('data', function(data) { - logger.error(data.toString()); - }); - - - child.on('close', function(code) { - started = false; - if (code == 0) - logger.info('Child closed correctly'); - else - logger.error('Child closed with code: ' + code); - - // Send message - if (code != -1) - sendChildren({"status": "waiting", "children":[]}); - }); - } - - function getStatus(){ - var data = { - "status": "", - "children": [] - }; - - switch (nb_active_hokuyos){ - case 0: - data.status = "error"; - break; - case 1: - data.status = "ok"; - data.children = ["Lonesome hokuyo"]; - break; - case 2: - data.status = "everythingIsAwesome"; - data.children = ["Hokuyo 1", "Hokuyo 2"]; - break; - } - - return data; - } - - - // Sends status to server - function sendChildren(status){ - lastStatus = status; - - client.send("server", "server.childrenUpdate", lastStatus); - client.send("ia", "hokuyo.nb_hokuyo", { nb: nb_active_hokuyos }); - } - - function isOk(){ - if(lastStatus.status != "waiting") - lastStatus = getStatus(); - - client.send("ia", "isOkAnswer", lastStatus); - client.send("server", "server.childrenUpdate", lastStatus); - client.send("ia", "hokuyo.nb_hokuyo", { nb: nb_active_hokuyos }); - } -})(); diff --git a/hokuyo/client_hok.js b/hokuyo/main.js similarity index 99% rename from hokuyo/client_hok.js rename to hokuyo/main.js index 4bfd61d..df67e12 100644 --- a/hokuyo/client_hok.js +++ b/hokuyo/main.js @@ -80,6 +80,7 @@ }); function matchLogger(name, line){ + spawn("mkdir", ["-p", "/var/log/utcoupe"]); fs.appendFile('/var/log/utcoupe/'+name+'.log', line+'\n', function (err) { if (err) logger.error('Ecriture dans le fichier de log de match "/var/log/utcoupe/'+name+'.log" impossible'); // logger.debug('The "data to append" was appended to file!'); diff --git a/hokuyo/main.sh b/hokuyo/main.sh index ab9fef5..861aa74 100644 --- a/hokuyo/main.sh +++ b/hokuyo/main.sh @@ -1,3 +1,3 @@ #!/bin/sh # echo "Launching Hokuyo Node.JS app..." -sudo LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH node /home/mewen/Bureau/UTCoupe/coupe15/hokuyo/client_hok.js & +sudo LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH node $UTCOUPE_WORKSPACE/hokuyo/main.js & diff --git a/hokuyo/client_hok.simu.js b/hokuyo/main.simu.js similarity index 100% rename from hokuyo/client_hok.simu.js rename to hokuyo/main.simu.js diff --git a/hokuyo/orders.json b/hokuyo/orders.json index ed23840..a2b68a2 100644 --- a/hokuyo/orders.json +++ b/hokuyo/orders.json @@ -4,7 +4,7 @@ Please make sure take a look at the "plan.svg" file (part Communication), it's a summary of this part of the structure : - the Raspberry Pi is linked to the server/AI wirelessly - it hosts 2 programs : - ¤ client_hok.js : always running nodeJS script, which starts the + ¤ main.js : always running nodeJS script, which starts the other when it is needed. ¤ hokuyo : (compilation of the src files), connects to the Hokuyos, recieves the spots and sends the computed robots to the nodeJS. diff --git a/server/server.class.js b/server/server.class.js index b58d9ab..a4e5571 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -193,7 +193,7 @@ module.exports = (function () { this.progs[prog] = spawn('node', ['./clients/gr/main.js']); break; case 'hokuyo': - this.progs[prog] = spawn('node', ['./hokuyo/client_hok.js']); + this.progs[prog] = spawn('node', ['./hokuyo/main.js']); break; case 'lidar': this.progs[prog] = spawn('node', ['./lidar/main.js'/*, params.color, params.nb_erobots, params.EGR_d, params.EPR_d*/]); From fd12fed2acf6972e7442d580d27060e06e8f6497 Mon Sep 17 00:00:00 2001 From: mmxm Date: Sat, 1 Apr 2017 14:40:34 +0200 Subject: [PATCH 04/74] improvement of communication on c client --- hokuyo/src/communication.c | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/hokuyo/src/communication.c b/hokuyo/src/communication.c index fbb498e..3bf4b0c 100644 --- a/hokuyo/src/communication.c +++ b/hokuyo/src/communication.c @@ -45,7 +45,7 @@ void pushData(Hok_t hok, long* data) { else strcpy(type, "two"); int i = hok.imin; - int fin; + /*int fin; int mid = floor((float)(hok.imax-hok.imin)/3); //while(i<= hok.imax){ for (j=1 ; j<4 ; j++){ @@ -62,6 +62,14 @@ void pushData(Hok_t hok, long* data) { printf( "%s[0,0]]\n", message); fflush(stdin); } + */ + while(i<= hok.imax){ + sprintf(message, "%s[%lf,%ld]", message, hok.angles[i], data[i]); + sprintf(message, "%s,", message); + i = i +1; + } + printf( "%s[0,0]]\n", message); + fflush(stdin); } void pushInfo(char info){ From 5984b4774104a4abc2c6ee276e64f465a73a1d35 Mon Sep 17 00:00:00 2001 From: mmxm Date: Sat, 1 Apr 2017 14:42:46 +0200 Subject: [PATCH 05/74] Implementation of clustering algorithm (instable) --- lidar/lidar.class.js | 245 ++++++++++++++++++++++++++++++++++--------- lidar/main.js | 108 +++++++++---------- 2 files changed, 249 insertions(+), 104 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 1666a16..a21b0bb 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -1,6 +1,6 @@ /** * Lidar module - * + * * @module ia/Lidar * @see ia/Lidar.Lidar */ @@ -16,7 +16,7 @@ module.exports = (function () { /** * Lidar Constructor - * + * * @exports ia/Lidar.Lidar * @constructor * @param {Object} ia IA @@ -32,6 +32,7 @@ module.exports = (function () { this.sendStatus = sendStatus; this.statusTimer; + this.lastSignOfLife = {}; // of each hokuyo this.hokuyoPositions = { @@ -117,39 +118,91 @@ module.exports = (function () { this.changeStatus("waiting"); }; + function Spot(angle, distance){ + this.angle = angle; + this.distance = distance; + } + Spot.prototype.toCartesian = function(lidar, hokName) { + let ret = []; + let hokPos = lidar.hokuyoPositions[hokName]; + + // For each point, transform it to the table frame + // Get the polar pt (angle, dist) in the hokuyo cartesian frame (xh, yh) + // x is the forward axe + // y is the RIGHT axe looking from the top + // ie : the hokuyo on the back left hand corner, oriented to 0, has the same frame as the table translated a little + // thus, hokuyo positive angles are at its right hand + let cartPt = [ + this.distance * Math.cos(lidar.toRadian(this.angle)), + this.distance * Math.sin(lidar.toRadian(this.angle)) + ] + // Change to table frame + this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), + this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) + + } + + function Cluster(){ + this.spots = []; + } + Cluster.prototype.calculCenter = function() { + let x = 0.0, y =0.0; + let nb = this.spots.length; + for(let i = 0; i < nb ; i++){ + x = x + this.spots[i].x; + y = y + this.spots[i].y; + } + this.x = x/nb; + this.y = y/nb; + + } /** * When Hokuyo data arrives */ Lidar.prototype.onHokuyoPolar = function (hokuyoName, polarSpots) { - - // Filter - let filteredPolar = this.filterPolar(polarSpots); - - // Polar to cartesian - let cartesianSpots = this.toCartesian(hokuyoName, filteredPolar); - + logger.warn("nb points :" + polarSpots.length) + let spots = this.createSpot(polarSpots); + this.toCartesian(hokuyoName, spots); + + //clusterize + let clusters = this.clusterize(spots) + logger.warn("nb clusters" + clusters.length); + + // First Filter - Delete unused clusters and corresponding spots : + // too big or too small clusters + let filteredSpots = this.filterPolar(clusters); + logger.warn("nb spots:" + filteredSpots.length); // Save this.lastCartSpots[hokuyoName] = {}; this.lastCartSpots[hokuyoName].isWorking = function() { return Date.now() - this.time < 2 * DELTA_T; }; // we had some data no long ago this.lastCartSpots[hokuyoName].time = Date.now(); - this.lastCartSpots[hokuyoName].spots = cartesianSpots; + this.lastCartSpots[hokuyoName].spots = filteredSpots; + this.lastCartSpots[hokuyoName].clusters = clusters; + // If we reached the DELTAT, send newly merged data - // console.log(Date.now() - this.lastDataSent); + //console.log(Date.now() - this.lastDataSent); if (Date.now() - this.lastDataSent > DELTA_T) { + // Merge spots + //logger.warn(this.lastCartSpots) this.mergedSpots = this.mergeSpots(this.lastCartSpots); + //logger.warn(this.mergedSpots); + /* Merge very close clusters provided by two different hokuyo */ + + // Filter (bis) - this.mergedSpots = this.filterCart(this.mergedSpots); + //this.mergedSpots = this.filterCart(this.mergedSpots); // Find enemy robots this.robotsSpots = this.findRobots(this.mergedSpots); + this.displaySpots = this.prepareData(this.mergedSpots); //renvoie un tableau de coordonnées prêt à être affiché // Prepare data let toBeSent = { hokuyos: this.hokuyosWorking(), - cartesianSpots: this.mergedSpots, + cartesianSpots: this.displaySpots, robotsSpots: this.robotsSpots }; @@ -159,6 +212,7 @@ module.exports = (function () { } this.updateStatus(); + }; Lidar.prototype.hokuyosWorking = function() { @@ -178,40 +232,114 @@ module.exports = (function () { return hokuyos; }; + Lidar.prototype.createSpot = function(polarSpots){ + let ret = []; + for(let i = 0; i < polarSpots.length ; i ++){ + var point = new Spot(polarSpots[i][0], polarSpots[i][1]); + ret.push(point); + } + return ret; + }; - Lidar.prototype.filterPolar = function(polarSpots) { - let ret; - - logger.warn("TODO: filterPolar"); - ret = polarSpots; // TMP + Lidar.prototype.clusterize = function(spotsIn) { + /***** + classe les points en cluster en fonction des parametres k et D + D : distance maximale entre deux points d'un même cluster + k : la distance est calculée entre le point i et les k points précédents + *****/ + var clusters = [], k = 5; + if(spotsIn.length < k){ + return clusters; + } + var g = 0, D = 3; + var G = []; //le point Spot[i] appartient au groupe G[i] + var d=[]; + + var jmin, dmin, x, y + clusters[0] = new Cluster; + clusters[0].spots = new Array; + /* A modifier !! + On met les k premiers points dans un même cluster + */ + + let nulSpot = new Spot; + nulSpot.angle = 0; nulSpot.distance = 0;nulSpot.x = 0; nulSpot.y = 0; + + for (i = 0; i < k; i++){ + spotsIn.unshift(nulSpot); + G.push(0); + clusters[0].spots.push(spotsIn[i]); + } + for (var i = k; i < spotsIn.length; i++){ + G.push(0); + if (spotsIn[i].distance > 1){ + jmin = 1; + dmin = 0; + for (var j = 1; j <= k; j++){ + x = spotsIn[i].x - spotsIn[i - j].x; + y = spotsIn[i].y - spotsIn[i - j].y ; + d[j] =Math.sqrt(x*x + y*y); + if (d[j] <= d[jmin]){ + dmin = d[j]; + jmin = j; + } + } + + if (dmin < D) { + if (G[i - jmin] == 0){ + g = g + 1; + G[i - jmin] = g; + + clusters[g] = new Cluster; + clusters[g].spots = new Array; + } + + g = G[i - jmin]; + G[i] = g; + clusters[g].spots.push(spotsIn[i]) ; + } + } + } + for (i = 0; i < k; i++){ + spotsIn.shift(); + } + clusters.shift(); + return clusters; + }; + /* Delete unused clusters in clusters + Return filteredSpots */ + Lidar.prototype.filterPolar = function(clusters) { + let filteredClusters = []; + let filteredSpots = []; + let count = [], count1 = [], count3 = 0; + for(let i = 0; i < clusters.length ; i++){ + count.push(clusters[i].spots.length); + clusters[i].calculCenter(); + if (clusters[i].spots.length >= 3 && clusters[i].spots.length <= 10 + && clusters[i].x <300 && clusters[i].x > 0 + && clusters[i].y <200 && clusters[i].y > 0){ + count3 = count3 +1; + count1.push(clusters[i].spots.length); + filteredClusters.push(clusters[i]); + for(let j = 0; j < clusters[i].spots.length ; j++){ + filteredSpots.push(clusters[i].spots[j]) + } - return ret; + } + } + clusters = filteredClusters; + //logger.warn(count, count1, count3); + return filteredSpots; }; - Lidar.prototype.toCartesian = function(hokName, polarSpots) { - let ret = []; + Lidar.prototype.toCartesian = function(hokName, spots) { let hokPos = this.hokuyoPositions[hokName]; // For each point, transform it to the table frame - for(let pt of polarSpots){ - // Get the polar pt (angle, dist) in the hokuyo cartesian frame (xh, yh) - // x is the forward axe - // y is the RIGHT axe looking from the top - // ie : the hokuyo on the back left hand corner, oriented to 0, has the same frame as the table translated a little - // thus, hokuyo positive angles are at its right hand - let cartPt = [ - pt[1] * Math.cos(this.toRadian(pt[0])), - pt[1] * Math.sin(this.toRadian(pt[0])) - ] - - // Change to table frame - ret.push([ - hokPos.x + cartPt[0] * Math.cos(this.toRadian(hokPos.w)) + cartPt[1] * Math.sin(this.toRadian(hokPos.w)), - hokPos.y + cartPt[0] * Math.sin(this.toRadian(hokPos.w)) + cartPt[1] * Math.cos(this.toRadian(hokPos.w)) - ]); + for(let i = 0; i < spots.length ; i++){ + spots[i].toCartesian(this,hokName); } - return ret; }; Lidar.prototype.filterCart = function(cartSpots) { @@ -235,43 +363,60 @@ module.exports = (function () { return ret; }; + Lidar.prototype.mergeSpots = function(cartSpots) { let ret = []; let workingHokuyos = this.hokuyosWorking(); - logger.warn("TODO: take half of the points"); - logger.warn("TODO: check that cartSpots[workingHokuyos[0].name].spots works"); + //logger.warn("TODO: take half of the points"); + //logger.warn("TODO: check that cartSpots[workingHokuyos[0].name].spots works"); if (workingHokuyos.length == 2) { for(let spot of cartSpots.one.spots) { - ret.push( spot ); + if(spot.x < 300 && spot.y < 200){ + ret.push(spot); + } } for(let spot of cartSpots.two.spots) { - ret.push( spot ); + if(spot.x < 300 && spot.y < 200 ){ + ret.push(spot); + } } } else if (workingHokuyos.length == 1) { for(let spot of cartSpots[workingHokuyos[0].name].spots) { - ret.push( spot ); + if(spot.x < 300 && spot.x > 0 && spot.y < 200 && spot.y > 0){ + ret.push(spot); + } } } else if (workingHokuyos.length == 0) { logger.warn("Trying to merge point without active hokuyo"); } - return ret; }; Lidar.prototype.findRobots = function(cartSpots) { - let ret; + let ret = []; + let clusters = this.clusterize(cartSpots); - logger.warn("TODO: findRobots"); - ret = [ + for (let i = 0 ; i < clusters.length ; i++){ + clusters[i].calculCenter(); + ret.push([clusters[i].x, clusters[i].y]); + } + /*ret = [ [ 150, 100 ], [ 100, 135 ] - ]; // TMP - + ]; // TMP */ + //logger.warn(ret); return ret; }; + Lidar.prototype.prepareData = function(spots){ + let ret = []; + for(let i = 0; i < spots.length ; i++){ + ret.push([spots[i].x, spots[i].y]) + } + return ret; + } Lidar.prototype.toRadian = function(angleInDegree) { let angleInRadian; @@ -290,4 +435,4 @@ module.exports = (function () { }; return Lidar; -})(); \ No newline at end of file +})(); diff --git a/lidar/main.js b/lidar/main.js index 5171e54..a832d26 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -32,57 +32,57 @@ }); client.connect(function(){ - - // setTimeout(function() { - // client.send("lidar", "start", { - // color: "yellow" - // }); // TMP - // }, 300); - - // setTimeout(function() { - // client.send("lidar", "hokuyo.polar_raw_data", { - // hokuyo: "one", - // polarSpots: [ - // [ -40, 200 ], - // [ -35, 200 ], - // [ -30, 200 ], - // [ -25, 230 ], - // [ -20, 100 ], - // [ -15, 105 ], - // [ -5, 120 ], - // [ 0, 100 ], - // [ 5, 90 ], - // [ 10, 95 ], - // [ 15, 100 ], - // [ 20, 100 ], - // [ 25, 130 ], - // [ 30, 135 ] - // ] - // }); // TMP - // }, 1000); - - - // setTimeout(function() { - // client.send("lidar", "hokuyo.polar_raw_data", { - // hokuyo: "two", - // polarSpots: [ - // [ -40, 155 ], - // [ -30, 155 ], - // [ -35, 150 ], - // [ -25, 150 ], - // [ -20, 100 ], - // [ -15, 105 ], - // [ -5, 120 ], - // [ 0, 100 ], - // [ 5, 90 ], - // [ 10, 95 ], - // [ 15, 100 ], - // [ 20, 100 ], - // [ 25, 230 ], - // [ 30, 235 ] - // ] - // }); // TMP - // }, 1100); +/* + setTimeout(function() { + client.send("lidar", "start", { + color: "yellow" + }); // TMP + }, 300); + + setTimeout(function() { + client.send("lidar", "hokuyo.polar_raw_data", { + hokuyo: "one", + polarSpots: [ + [ -40, 200 ], + [ -35, 200 ], + [ -30, 200 ], + [ -25, 230 ], + [ -20, 100 ], + [ -15, 105 ], + [ -5, 120 ], + [ 0, 100 ], + [ 5, 90 ], + [ 10, 95 ], + [ 15, 100 ], + [ 20, 100 ], + [ 25, 130 ], + [ 30, 135 ] + ] + }); // TMP + }, 1000); + + + setTimeout(function() { + client.send("lidar", "hokuyo.polar_raw_data", { + hokuyo: "two", + polarSpots: [ + [ -40, 155 ], + [ -30, 155 ], + [ -35, 150 ], + [ -25, 150 ], + [ -20, 100 ], + [ -15, 105 ], + [ -5, 120 ], + [ 0, 100 ], + [ 5, 90 ], + [ 10, 95 ], + [ 15, 100 ], + [ 20, 100 ], + [ 25, 230 ], + [ 30, 235 ] + ] + }); // TMP + }, 1100);*/ client.order(function(from, name, params){ @@ -90,8 +90,8 @@ // var now = Date.now(); // logger.info("Time since last order : "+(now - lastT)); // if (now - lastT > 500) { // half a second between two orders - logger.info("Just received an order `" + name + "` from " + from + " with params :"); - logger.info(params); + //logger.info("Just received an order `" + name + "` from " + from + " with params :"); + //logger.info(params); // lastT = now; switch (name){ @@ -106,7 +106,7 @@ } break; case "hokuyo.polar_raw_data": - if (hokMng.started) { + if (hokMng.started = 1) { //a modifier hokMng.onHokuyoPolar(params.hokuyo, params.polarSpots); } else { logger.warn("Start the Lidar before sending data !"); From 9730d50c802fe777c7c03f0bc108c13e6a4583c3 Mon Sep 17 00:00:00 2001 From: mmxm Date: Sat, 1 Apr 2017 16:36:01 +0200 Subject: [PATCH 06/74] send one block of data --- hokuyo/src/communication.c | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/hokuyo/src/communication.c b/hokuyo/src/communication.c index 3bf4b0c..cc971cc 100644 --- a/hokuyo/src/communication.c +++ b/hokuyo/src/communication.c @@ -45,8 +45,8 @@ void pushData(Hok_t hok, long* data) { else strcpy(type, "two"); int i = hok.imin; + //int mid = floor((float)(hok.imax-hok.imin)/3); /*int fin; - int mid = floor((float)(hok.imax-hok.imin)/3); //while(i<= hok.imax){ for (j=1 ; j<4 ; j++){ strcpy(message, "[DATA]"); @@ -63,12 +63,15 @@ void pushData(Hok_t hok, long* data) { fflush(stdin); } */ - while(i<= hok.imax){ + strcpy(message, "[DATA]"); + sprintf(message, "%s%s#[", message, type); + while(i < hok.imax){ sprintf(message, "%s[%lf,%ld]", message, hok.angles[i], data[i]); sprintf(message, "%s,", message); i = i +1; } printf( "%s[0,0]]\n", message); + //printf("ok"); fflush(stdin); } From 10c3a01fcc66151f57379e4b3cef927e871a2d86 Mon Sep 17 00:00:00 2001 From: Mewen Date: Sat, 1 Apr 2017 16:37:33 +0200 Subject: [PATCH 07/74] Removing hokuyo color --- hokuyo/main.js | 20 ++++--- hokuyo/src/main.c | 12 ++-- ia/hokuyo.class.js | 57 ------------------- webclient/pages/telecommande/telecommande.js | 4 +- .../pages/telecommande/telecommande.tpl.html | 4 +- 5 files changed, 22 insertions(+), 75 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index df67e12..81f09e3 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -27,6 +27,12 @@ var server = process.argv[2] || config.server; var command = process.argv[3] || config.hokuyo_command; + + if (!process.env.UTCOUPE_WORKSPACE) { + logger.error("Missing UTCOUPE_WORKSPACE environment variable. Make sure to call 'sudo -E node ...'"); + process.exit(1); + } + var client = new SocketClient({ server_ip: server, type: "hokuyo", @@ -51,12 +57,12 @@ lastT = now; switch (name){ case "start": - if(!!params.color && !started) { + if(!started) { started = true; logger.info("Receive order to start"); - start(params.color); + start(); } else - logger.error("ALready started or Missing parameters !"); + logger.error("ALready started !"); break; case "shutdown": quitC("stop"); @@ -103,7 +109,7 @@ logger.error("uException sent with code "+code); } - function start(color){ + function start(){ // We just an order to start, with the flavour :P (color, number of robots) sendChildren({"status": "starting"}); @@ -112,7 +118,7 @@ var tmp = new Date(); match_name = tmp.toJSON().replace(/T/, ' ').replace(/\..+/, ''); var now = Date.now() - lastT; - matchLogger(match_name, now+"; color:"+color); + matchLogger(match_name, now); now = lastT; // If there's a child, kill it @@ -210,8 +216,8 @@ // Execute C program // var command = "/home/pi/coupe15/hokuyo/bin/hokuyo"; - var command = "$UTCOUPE_WORKSPACE/hokuyo/bin/hokuyo"; - var args = [color]; + var command = process.env.UTCOUPE_WORKSPACE + "/bin/hokuyo"; + var args = []; // [color]; // var options = // default : { cwd: undefined, env: process.env}; logger.info('Launching : ' + command + ' ' + args); child = child_process.spawn(command, args); diff --git a/hokuyo/src/main.c b/hokuyo/src/main.c index d0d1ff4..3b265c5 100644 --- a/hokuyo/src/main.c +++ b/hokuyo/src/main.c @@ -62,11 +62,11 @@ int main(int argc, char **argv){ atexit(exit_handler); // en cas de signal de fermeture, on déconnecte proprement - if(argc <= 1 || ( strcmp(argv[1], "green") != 0 && strcmp(argv[1], "yellow") ) ){ - // fprintf(stderr, "usage: hokuyo {green|yellow} [nbr_robots]\n"); - fprintf(stderr, "usage: hokuyo {green|yellow}\n"); - exit(EXIT_FAILURE); - } + // if(argc <= 1 || ( strcmp(argv[1], "green") != 0 && strcmp(argv[1], "yellow") ) ){ + // // fprintf(stderr, "usage: hokuyo {green|yellow} [nbr_robots]\n"); + // fprintf(stderr, "usage: hokuyo {green|yellow}\n"); + // exit(EXIT_FAILURE); + // } if (signal(SIGINT, catch_SIGINT) == SIG_ERR) { fprintf(stderr, "An error occurred while setting a signal handler for SIGINT.\n"); @@ -117,7 +117,7 @@ A remettre si deux hokuyos sur une raspi initSDL(); #endif - fprintf(logfile, "%sStarting hokuyo :\n%sLooking for %s robots\n", PREFIX, PREFIX, argv[1]); + fprintf(logfile, "%sStarting hokuyo :\n" /*"%sLooking for %s robots\n"*/, PREFIX/*, PREFIX, argv[1]*/); fflush(stdout); timeStart = timeMillis(); long time_last_try = 0; diff --git a/ia/hokuyo.class.js b/ia/hokuyo.class.js index 66890e9..e3eecca 100644 --- a/ia/hokuyo.class.js +++ b/ia/hokuyo.class.js @@ -460,63 +460,6 @@ module.exports = (function () { } }; - // Hokuyo.prototype.detectCollision = function() { - // var collision = false; - // var pf = this.ia.pr.path; - // var ebots = [{ // estimated positions - // x:this.ia.data.erobot[0].pos.x + this.ia.data.erobot[0].speed.x*DELTA_T, - // y:this.ia.data.erobot[0].pos.y + this.ia.data.erobot[0].speed.y*DELTA_T, - // d:this.ia.data.erobot[0].d - // }]; - - // if (this.ia.data.nb_erobots == 2) { - // ebots.push = { - // x:this.ia.data.erobot[1].pos.x + this.ia.data.erobot[1].speed.x*DELTA_T, - // y:this.ia.data.erobot[1].pos.y + this.ia.data.erobot[1].speed.y*DELTA_T, - // d:this.ia.data.erobot[1].d - // }; - // } - - // // for each path segment - // var complete_path = [this.ia.pr.pos].concat(this.ia.pr.path); - // for (var i = 0; i < complete_path.length-1 && !collision; (i++) ) { - // var segment = [complete_path[i], complete_path[i+1]]; // so segment[0][0] is the x value of the beginning of the segment - // var segLength = this.getDistance({x:segment[0].x , y:segment[0].y }, {x:segment[1].x , y:segment[1].y }); - // var nthX = (segment[1].x-segment[0].x)*SEGMENT_DELTA_D/segLength; // segment X axis length nth - // var nthY = (segment[1].y-segment[0].y)*SEGMENT_DELTA_D/segLength; - - // // for each X cm of the segment - // for (var j = 0; (j*SEGMENT_DELTA_D) < segLength && !collision; (j++)) { - - // var segPoint = { - // x: segment[0].x + nthX*j, - // y: segment[0].y + nthY*j - // }; - - // // distance to each estimated position of the ennemi robots - // var minDist = this.getDistance(ebots[0], segPoint); - - // /* - // if (ebots.length == 2) { - // var tmp = this.getDistance(ebots[1], segPoint); - // if (tmp < minDist) { - // minDist = tmp; - // } - // }*/ - - // // if one of the dist < security diameter, there will be a collision - // if (minDist < SECURITY_COEF*ebots[0].d/2.0) { - // collision = true; - // } - - // } - // } - - // if (collision) { - // this.ia.pr.collision(); - // } - // }; - /** * Updates number of robots * diff --git a/webclient/pages/telecommande/telecommande.js b/webclient/pages/telecommande/telecommande.js index d4ce546..ad5c91b 100644 --- a/webclient/pages/telecommande/telecommande.js +++ b/webclient/pages/telecommande/telecommande.js @@ -174,9 +174,7 @@ angular.module('app').controller('TelecommandeCtrl', ['$rootScope', '$scope', 'C $(document).on("click", "#rc_hok_start", function(e) { - Client.send("hokuyo", "start", { - "color": $("#rc_hok_color").val(), - "nbrobots": parseInt($("#rc_hok_nbrobots").val())}); + Client.send("hokuyo", "start", {}); console.log("Message `start` sent"); }); diff --git a/webclient/pages/telecommande/telecommande.tpl.html b/webclient/pages/telecommande/telecommande.tpl.html index 1f5ac1a..f018596 100644 --- a/webclient/pages/telecommande/telecommande.tpl.html +++ b/webclient/pages/telecommande/telecommande.tpl.html @@ -89,7 +89,7 @@

PR



Hokuyo

- Nb robots : + From b761516aed070c3638f7d52b497aa46ac981594c Mon Sep 17 00:00:00 2001 From: mmxm Date: Sat, 1 Apr 2017 17:26:15 +0200 Subject: [PATCH 08/74] create buffer to handle data sent by c program --- hokuyo/main.js | 33 +++++++++++++++++++++++++++------ hokuyo/src/communication.c | 18 +++++++++++------- 2 files changed, 38 insertions(+), 13 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index df67e12..c175e04 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -20,6 +20,8 @@ var config = require('../config.js'); var lastT = Date.now(); var startingT = lastT; + var bufferData; + var count = 0; var FREQ_ENVOI_INFO = 50; // tous les 10 infos (genre 1 seconde) var nth = 0; @@ -128,11 +130,30 @@ // Functions function parseData(string) { - + //logger.warn(string.length); var temp = string.split("#") + if(temp[1] == "0" && count == 0){ + bufferData = temp[2]; + count = count + 1; + } + else { + if(temp[1] == "1" && count == 1){ + bufferData = bufferData + temp[2]; + count = count + 1; + } + else { + if(temp[1] == "2" && count == 2){ + bufferData = bufferData + temp[2]; + client.send("lidar", "hokuyo.polar_raw_data", { "hokuyo": temp[0], "polarSpots" : JSON.parse(bufferData) }); + count = 0; + logger.warn(JSON.parse(bufferData)); + } + } + } + // Send all robots - client.send("webclient", "hokuyo.polar_raw_data", { "hokuyo": temp[0], "polarSpots" : JSON.parse(temp[1]) }); - logger.info(string); + + } function parseInfo(string) { @@ -189,7 +210,7 @@ sendChildren({"status": "starting"}); break; case "DATA": - logger.info('C Hokuyo software sends datas'); + //logger.info('C Hokuyo software sends datas'); parseData(inputAr[i].substring(6)); break; case "INFO": @@ -210,7 +231,7 @@ // Execute C program // var command = "/home/pi/coupe15/hokuyo/bin/hokuyo"; - var command = "$UTCOUPE_WORKSPACE/hokuyo/bin/hokuyo"; + var command = "/home/francois/dev/utcoupe/coupe17/bin/hokuyo"; var args = [color]; // var options = // default : { cwd: undefined, env: process.env}; logger.info('Launching : ' + command + ' ' + args); @@ -219,7 +240,7 @@ // Events child.stdout.on('data', function(data) { - logger.debug(data.toString()); + //logger.debug(data.toString()); dataFromCHandler(data); }); diff --git a/hokuyo/src/communication.c b/hokuyo/src/communication.c index cc971cc..7bc354f 100644 --- a/hokuyo/src/communication.c +++ b/hokuyo/src/communication.c @@ -45,13 +45,15 @@ void pushData(Hok_t hok, long* data) { else strcpy(type, "two"); int i = hok.imin; - //int mid = floor((float)(hok.imax-hok.imin)/3); - /*int fin; + int mid = floor((float)(hok.imax-hok.imin)/3); + int fin; //while(i<= hok.imax){ for (j=1 ; j<4 ; j++){ strcpy(message, "[DATA]"); fin = hok.imin + j * mid; - sprintf(message, "%s%s#[", message, type); + sprintf(message, "%s%s#%d#", message, type, j-1); + if(j == 1) + sprintf(message, "%s[", message); while(i<= fin){ @@ -59,11 +61,13 @@ void pushData(Hok_t hok, long* data) { sprintf(message, "%s,", message); i = i +1; } - printf( "%s[0,0]]\n", message); + if(j == 3) + sprintf(message, "%s[0,0]]", message); + printf( "%s\n", message); fflush(stdin); } - */ - strcpy(message, "[DATA]"); + + /*strcpy(message, "[DATA]"); sprintf(message, "%s%s#[", message, type); while(i < hok.imax){ sprintf(message, "%s[%lf,%ld]", message, hok.angles[i], data[i]); @@ -72,7 +76,7 @@ void pushData(Hok_t hok, long* data) { } printf( "%s[0,0]]\n", message); //printf("ok"); - fflush(stdin); + fflush(stdin);*/ } void pushInfo(char info){ From b0780e1314f8fe0c9d9d61168445fcaadbbd6b3c Mon Sep 17 00:00:00 2001 From: Mamal Date: Sat, 1 Apr 2017 18:35:20 +0200 Subject: [PATCH 09/74] Set up of the new struture of Client --- clients/Asserv/Asserv.class.js | 151 +++++ clients/Asserv/AsservReal.class.js | 7 + clients/Asserv/AsservSimu.class.js | 8 + clients/Robot/grobot.class.js | 8 + clients/Robot/robot.class.js | 8 + clients/Robot/tibot.class.js | 8 + clients/client.class.js | 27 + clients/fifo.class.js | 67 ++ clients/old_files/gr/actuators.class.js | 177 +++++ clients/old_files/gr/detect.class.js | 59 ++ clients/old_files/gr/main.js | 199 ++++++ clients/old_files/gr/servos.class.js | 93 +++ clients/old_files/gr/servos.simu.class.js | 41 ++ clients/old_files/pr/actuators.class.js | 605 ++++++++++++++++++ clients/old_files/pr/ax12.class.js | 237 +++++++ clients/old_files/pr/ax12.simu.class.js | 84 +++ clients/old_files/pr/detect.class.js | 93 +++ clients/old_files/pr/elevator.class.js | 123 ++++ clients/old_files/pr/main.js | 184 ++++++ clients/old_files/pr/others.class.js | 313 +++++++++ clients/old_files/pr/others.simu.class.js | 194 ++++++ clients/old_files/shared/asserv.class.js | 437 +++++++++++++ clients/old_files/shared/asserv.simu.class.js | 359 +++++++++++ clients/old_files/shared/defineParser.js | 49 ++ clients/old_files/shared/fifo.class.js | 67 ++ .../shared/genericRobotClient.class.js | 81 +++ clients/old_files/shared/test.js | 12 + 27 files changed, 3691 insertions(+) create mode 100644 clients/Asserv/Asserv.class.js create mode 100644 clients/Asserv/AsservReal.class.js create mode 100644 clients/Asserv/AsservSimu.class.js create mode 100644 clients/Robot/grobot.class.js create mode 100644 clients/Robot/robot.class.js create mode 100644 clients/Robot/tibot.class.js create mode 100644 clients/client.class.js create mode 100644 clients/fifo.class.js create mode 100644 clients/old_files/gr/actuators.class.js create mode 100644 clients/old_files/gr/detect.class.js create mode 100644 clients/old_files/gr/main.js create mode 100644 clients/old_files/gr/servos.class.js create mode 100644 clients/old_files/gr/servos.simu.class.js create mode 100644 clients/old_files/pr/actuators.class.js create mode 100644 clients/old_files/pr/ax12.class.js create mode 100644 clients/old_files/pr/ax12.simu.class.js create mode 100644 clients/old_files/pr/detect.class.js create mode 100644 clients/old_files/pr/elevator.class.js create mode 100644 clients/old_files/pr/main.js create mode 100644 clients/old_files/pr/others.class.js create mode 100644 clients/old_files/pr/others.simu.class.js create mode 100644 clients/old_files/shared/asserv.class.js create mode 100644 clients/old_files/shared/asserv.simu.class.js create mode 100644 clients/old_files/shared/defineParser.js create mode 100644 clients/old_files/shared/fifo.class.js create mode 100644 clients/old_files/shared/genericRobotClient.class.js create mode 100644 clients/old_files/shared/test.js diff --git a/clients/Asserv/Asserv.class.js b/clients/Asserv/Asserv.class.js new file mode 100644 index 0000000..ae66e22 --- /dev/null +++ b/clients/Asserv/Asserv.class.js @@ -0,0 +1,151 @@ + + + +module.exports = class Asserv{ + constructor(client, who, fifo){ + /** @type {Log4js} */ + this.logger = require('log4js').getLogger('asserv'); + + /** @type {Object} */ + this.client = client; + + /** @type {Object} */ + this.who = who; + + /** @type {Object} */ + this.pos = {}; + + /** @type {clients/Asserv/asserv.asserv} */ + this.fifo = fifo; + } + + /** + * Convert Angle + * + * @param {int} a Angle + */ + // Attention, c'est une fonction a la base, pas une methode + convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); } + + /** + * Set Angle + * + * @param {int} a Angle + */ + setA(a) { + this.pos.a = convertA(a); + } + + /** + * Position ? + * + * @param {Object} pos + */ + Pos(pos) { + this.pos.x = pos.x; + this.pos.y = pos.y; + this.setA(pos.a); + } + + /** + * Sets Position + * + * @param {Object} pos + * @param {Object} callback + */ + setPos(pos, callback){} + + /** + * Gets Position + * + * @param {Object} pos + */ + getPos(pos) { + this.client.send('ia', this.who+'.getpos'); + } + + + /** + * Sends Position + */ + sendPos() { + this.client.send('ia', this.who+'.pos', this.pos); + } + + /** + * Calage X + * + * @param {int} x + * @param {int} a Angle + * @param {Object} callback + */ + calageX(x, a, callback){} + + /** + * Calage Y + * + * @param {int} y + * @param {int} a Angle + * @param {Object} callback + */ + calageX(y, a, callback){} + + /** + * Set Vitesse + * + * @param {int} v Speed + * @param {float} r Rotation + * @param {Object} callback + */ + setVitesse(v, r, callback){} + + /** + * Speed ? + * + * @param {int} l + * @param {int} a Angle + * @param {int} ms + * @param {Object} callback + */ + speed(l, a, ms, callback){} + + /** + * Pulse Width Modulation + * + * @param {int} left + * @param {int} right + * @param {int} ms + * @param {Object} callback + */ + pwm(left, right, ms, callback){} + + /** + * Go X Y + * + * @param {int} x + * @param {int} y + * @param {string} sens + * @param {Object} callback + * @param {boolean} no_fifo + */ + goxy(x, y, sens, callback, no_fifo){} + + /** + * Simu Go Angle + * + * @param {int} a Angle + * @param {Object} callback + * @param {boolean} no_fifo + */ + goa(a, callback, no_fifo){} + + /** + * Set P I D + * + * @param {int} p + * @param {int} i + * @param {int} d + * @param {Object} callback + */ + setPid(p, i, d, callback){} +} \ No newline at end of file diff --git a/clients/Asserv/AsservReal.class.js b/clients/Asserv/AsservReal.class.js new file mode 100644 index 0000000..22f5b87 --- /dev/null +++ b/clients/Asserv/AsservReal.class.js @@ -0,0 +1,7 @@ + + +module.exports = class AsservReal extends Asserv{ + constructor(){ + + } +} \ No newline at end of file diff --git a/clients/Asserv/AsservSimu.class.js b/clients/Asserv/AsservSimu.class.js new file mode 100644 index 0000000..b3fe2e5 --- /dev/null +++ b/clients/Asserv/AsservSimu.class.js @@ -0,0 +1,8 @@ + + + +module.exports = class AsservSimu extends Asserv{ + constructor(){ + + } +} \ No newline at end of file diff --git a/clients/Robot/grobot.class.js b/clients/Robot/grobot.class.js new file mode 100644 index 0000000..084e592 --- /dev/null +++ b/clients/Robot/grobot.class.js @@ -0,0 +1,8 @@ + + + +module.exports = class Grobot extends Robot{ + constructor(){ + + } +} \ No newline at end of file diff --git a/clients/Robot/robot.class.js b/clients/Robot/robot.class.js new file mode 100644 index 0000000..3cc9d96 --- /dev/null +++ b/clients/Robot/robot.class.js @@ -0,0 +1,8 @@ + + + +module.exports = class Robot extends Client{ + constructor(){ + + } +} \ No newline at end of file diff --git a/clients/Robot/tibot.class.js b/clients/Robot/tibot.class.js new file mode 100644 index 0000000..63dc1da --- /dev/null +++ b/clients/Robot/tibot.class.js @@ -0,0 +1,8 @@ + + + +module.exports = class Tibot extends Robot{ + constructor(){ + + } +} \ No newline at end of file diff --git a/clients/client.class.js b/clients/client.class.js new file mode 100644 index 0000000..59a9d57 --- /dev/null +++ b/clients/client.class.js @@ -0,0 +1,27 @@ + + + +module.exports = class Client { + constructor(status){ + this.Log4js = require('log4js'); + this.SocketClient = require('../../server/socket_client.class.js'); + this.parser = null; + this.status = status; + } + + send(){ + + } + + start(){ + + } + + stop(){ + + } + + status(){ + + } +} \ No newline at end of file diff --git a/clients/fifo.class.js b/clients/fifo.class.js new file mode 100644 index 0000000..8d359f1 --- /dev/null +++ b/clients/fifo.class.js @@ -0,0 +1,67 @@ +/** + * First In First Out module + * + * @module clients/shared/fifo + * @see {@link clients/shared/fifo.Fifo} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('Fifo'); + + /** + * Fifo Constructor + * + * @exports clients/shared/fifo.Fifo + * @constructor + */ + function Fifo() { + this.clean(); + } + + /** + * Clean + */ + Fifo.prototype.clean = function(callback) { + /** fifo */ + this.fifo = []; + /** @type {boolean} */ + this.order_in_progress = false; + } + + /** + * Order finished + */ + Fifo.prototype.orderFinished = function() { + this.order_in_progress = false; + this.nextOrder(); + } + + /** + * New Order + * + * @param {Object} callback + * @param {string} [name] + */ + Fifo.prototype.newOrder = function(callback, name) { + if (name === undefined) + name = ""; + this.fifo.push({callback: callback, name: name}); + this.nextOrder(); + } + + /** + * Next Order + */ + Fifo.prototype.nextOrder = function() { + if(!this.order_in_progress && this.fifo.length > 0) { + // logger.debug(this.fifo.length); + this.order_in_progress = true; + object = this.fifo.shift(); + // logger.debug("Calling : "+object.name); + object.callback(); + } + } + + + return Fifo; +})(); diff --git a/clients/old_files/gr/actuators.class.js b/clients/old_files/gr/actuators.class.js new file mode 100644 index 0000000..13d64e1 --- /dev/null +++ b/clients/old_files/gr/actuators.class.js @@ -0,0 +1,177 @@ +/** + * Actuators module + * + * @module clients/gr/actuators + * @requires module:clients/shared/fifo + * @requires module:clients/gr/servos + * @requires module:clients/gr/servos-simu + * @requires module:clients/shared/asserv + * @requires module:clients/shared/asserv-simu + * @see {@link clients/gr/actuators.Acts} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('gr.acts'); + /** @type {Object} */ + var SerialPort = require("serialport"); + /** @type {clients/shared/fifo.Fifo} */ + var fifo = new (require('../shared/fifo.class.js'))(); + + /** @type {clients/gr/servos.Servos} */ + var servos = null; + /** @type {clients/gr/asserv.Asserv} */ + var asserv = null; + var date = new Date(); + /** @type {int} */ + var lastSendStatus = date.getTime(); + + /** + * Acts Constructor + * + * @exports clients/gr/actuators.Acts + * @constructor + * @param {Object} client + * @param {Object} sendChildren + */ + function Acts(client, sendChildren) { + /** @type {Object} */ + this.client = client; + /** @type {Object} */ + this.sendChildren = sendChildren; + this.start(); + } + + /** + * Starts (nothing ?) + */ + Acts.prototype.start = function(){ + + }; + + /** + * Cleans fifo and asserv + */ + Acts.prototype.clean = function(){ + fifo.clean(); // A priori déjà vide + asserv.clean(); + }; + + /** + * Connect to the servos + * + * @param {Object} [struct] + */ + Acts.prototype.connectTo = function(struct){ + if (!struct.servos) { + logger.fatal("Lancement des servos gr en mode simu !"); + servos = new (require('./servos.simu.class.js'))(); + } else { + servos = new (require('./servos.class.js'))(struct.servos, this.sendStatus); + } + if (!struct.asserv) { + logger.fatal("Lancement de l'asserv gr en mode simu !"); + asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'gr', fifo); + } else { + asserv = new (require('../shared/asserv.class.js'))( + new SerialPort(struct.asserv, { + baudrate: 57600, + parser:SerialPort.parsers.readline('\n') + }), this.client, 'gr', this.sendStatus, fifo + ); + } + }; + + /** + * Sends Status + */ + Acts.prototype.sendStatus = function() { + if(lastSendStatus < date.getTime()-1000){ + this.sendChildren(this.getStatus); + lastSendStatus = date.getTime(); + } + }; + + /** + * Gets the status + */ + Acts.prototype.getStatus = function(){ + var data = { + "status": "", + "children": [] + }; + + data.status = "everythingIsAwesome"; + + if(servos && servos.ready){ + data.children.push("Arduino servos"); + }else + data.status = "ok"; + + if(asserv && asserv.ready){ + data.children.push("Arduino asserv"); + }else + data.status = "error"; + + return data; + }; + + /** + * Tries to quit + */ + Acts.prototype.quit = function(){ + if (!!servos && servos.ready) + servos.disconnect(); + if (!!asserv && asserv.ready) + asserv.disconnect(); + }; + + /** + * Order switch + * + * @param {string} from + * @param {string} name + * @param {Object} params + * @param {Object} callback + */ + Acts.prototype.orderHandler = function (from, name, params, callback) { + // logger.info("Just received an order `" + name + "` from " + from + " with params :"); + logger.info(name, params); + + switch (name){ + // Others + case "acheter": + servos.acheter(callback); + break; + case "vendre": + servos.vendre(callback); + break; + // Asserv + case "pwm": + asserv.pwm(params.left, params.right, params.ms,callback); + break; + case "setvit": + asserv.setVitesse(params.v, params.r, callback); + break; + case "clean": + asserv.clean(callback); + break; + case "goa": + asserv.goa(params.a,callback); + break; + case "goxy": + asserv.goxy(params.x, params.y, "avant",callback); + break; + case "setpos": + asserv.setPos(params,callback); + break; + case "setpid": + asserv.setPid(params.p, params.i, params.d,callback); + break; + default: + logger.warn("Order name " + name + " " + from + " not understood"); + callback(); + } + }; + + return Acts; +})(); diff --git a/clients/old_files/gr/detect.class.js b/clients/old_files/gr/detect.class.js new file mode 100644 index 0000000..c31e617 --- /dev/null +++ b/clients/old_files/gr/detect.class.js @@ -0,0 +1,59 @@ +/** + * Detect module + * + * @module clients/gr/detect + * @see {@link clients/gr/detect.Detect} + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('pr.detect'); + var serialPort = require("serialport"); + + var sp = []; + + /** + * Detect constructor + * + * @exports clients/gr/detect.Detect + * @constructor + * @param {Object} callback + */ + function Detect(callback) { + /** @type {Object} */ + this.devicesFound = { + asserv: null, + servos: null + }; + /** @type {Object} */ + this.callback = callback; + this.searchArduinos(); + } + + /** + * Send SP + */ + Detect.prototype.sendSP = function (){ + // Sent to acts + this.callback(this.devicesFound); + }; + + /** + * Searches Arduino + */ + Detect.prototype.searchArduinos = function() { + // On check tous les ports disponibles + serialPort.list(function (err, ports) { + for(var i in ports) { + if(ports[i].comName.indexOf('ttyUSB') >= 0) { + this.devicesFound.servos = ports[i].comName; + } else if(ports[i].comName.indexOf('ttyACM') >= 0) { + this.devicesFound.asserv = ports[i].comName; + } + } + this.sendSP(); + }.bind(this)); + }; + + return Detect; +})(); \ No newline at end of file diff --git a/clients/old_files/gr/main.js b/clients/old_files/gr/main.js new file mode 100644 index 0000000..fb42e1c --- /dev/null +++ b/clients/old_files/gr/main.js @@ -0,0 +1,199 @@ +/** + * Main module + * + * @module clients/gr/main + * @requires server/socket_client + * @requires config + * @requires clients/gr/actuators + * @requires clients/gr/detect + */ + +(function () { + "use strict"; + // Requires + var log4js = require('log4js'); + var logger = log4js.getLogger('gr'); + + // logger.info("Started NodeJS client with pid " + process.pid); + + var SocketClient = require('../../server/socket_client.class.js'); + var server = require('../../config.js').server; + /** @type {server/socket_client.SocketClient} */ + var client = new SocketClient({ + server_ip: server, + type: "gr" + }); + + /** @type {Object} */ + var lastStatus = { + "status": "waiting" + }; + sendChildren(lastStatus); + + /** @type {clients/gr/actuators.Acts} */ + var acts = new (require('./actuators.class.js'))(client, sendChildren); + /** @type {clients/gr/detect.Detect} */ + var detect = null; // new (require('./detect.class.js'))(devicesDetected); + + var queue = []; + var orderInProgress = null; + + start(); + + // On message + client.order(function (from, name, params){ + // logger.info("Recieved an order "+name); + switch (name){ + case "collision": + queue = []; + acts.clean(); + orderInProgress = false; + break; + case "stop": + acts.clean(); + logger.fatal("Stop GR"); + process.exit(); + break; + + // useless // + case "start": + queue = []; + start(); + break; + default: + addOrder2Queue(from, name, params); + } + }); + + /** + * Starts the GR + */ + function start(){ + logger.info("Starting :)"); + sendChildren({ + status: "starting", + children:[] + }); + detect = new (require('./detect.class.js'))(devicesDetected); + } + + /** + * Stops the robot + */ + function stop(){ + acts.quit(); + + // Send struct to server + sendChildren({ + status: "waiting", + children:[] + }); + } + + /** + * Devices detected + * + * @param {Object} struct + */ + function devicesDetected(struct){ + // Verify content + if (!struct.servos) + logger.warn("Missing servos Nano"); + if (!struct.asserv) + logger.warn("Missing asserv Nano"); + + // Connect to what's detected + acts.connectTo(struct); + + // Send struct to server + sendChildren(acts.getStatus()); + } + + /** + * Sends status to server + * + * @param {Object} status + */ + function sendChildren(status){ + lastStatus = status; + + client.send("server", "server.childrenUpdate", lastStatus); + } + + /** + * Looks if everything is Ok + */ + function isOk(){ + if(lastStatus.status != "waiting") + lastStatus = acts.getStatus(); + + client.send("ia", "isOkAnswer", lastStatus); + client.send("server", "server.childrenUpdate", lastStatus); + } + + /** + * Push the order (enfiler) + * + * @param {string} f from + * @param {string} n name + * @param {Object} p parameters + */ + function addOrder2Queue(f, n, p){ + if(queue.length < 50) { + // Adds the order to the queue + queue.push({ + from: f, + name: n, + params: p + }); + // logger.info("Order added to queue ! : "); + // logger.info(queue); + executeNextOrder(); + } + } + + /** + * Execute order + */ + function executeNextOrder(){ + if ((queue.length > 0) && (!orderInProgress)){ + var order = queue.shift(); + orderInProgress = order.name; + + logger.info("Going to do '" + orderInProgress + "' "+order.params.toString()); + acts.orderHandler(order.from, order.name, order.params, actionFinished); + + executeNextOrder(); + } + } + + /** + * Launch the next order + */ + function actionFinished(){ + logger.info(orderInProgress + " just finished !"); + + orderInProgress = false; + executeNextOrder(); + } + + /** + * Tries to exit + * + * @todo do something when app is closing + */ + function quit () { + logger.info("Please wait while exiting..."); + // acts.quit(); + process.exit(0); + } + + + // Exiting : + //do something when app is closing + //process.on('exit', quit); + // catches ctrl+c event + //process.on('SIGINT', quit); + // //catches uncaught exceptions + // process.on('uncaughtException', quit); +})(); diff --git a/clients/old_files/gr/servos.class.js b/clients/old_files/gr/servos.class.js new file mode 100644 index 0000000..4d3f98e --- /dev/null +++ b/clients/old_files/gr/servos.class.js @@ -0,0 +1,93 @@ +/** + * Servos module + * + * @module clients/gr/servos + * @see {@link clients/gr/servos.Servos} + * @see module:clients/gr/servos-simu + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('gr.servos'); + var five = require("johnny-five"); + /** @type {Object} */ + var board = null; + /** @type {Object} */ + var servo_gauche, servo_droit; + + /** + * Servos Constructors + * + * @exports clients/gr/servos.Servos + * @constructor + * @param {string} sp Server port + * @param {Object} sendStatus + */ + function Servos(sp, sendStatus) { + /** @type {boolean} */ + this.ready = false; + /** @type {Object} */ + this.sendStatus = sendStatus; + this.connect(sp); + } + + /** + * Connect + * + * @param {string} sp Server port + */ + Servos.prototype.connect = function(sp) { + board = new five.Board({ + port: sp, + repl: false + }); + + board.on("ready", function() { + logger.info("Board servos Ready"); + servo_gauche = new five.Servo(2); + servo_droit = new five.Servo(3); + this.ready = true; + this.sendStatus(); + this.acheter(); + }.bind(this)); + }; + + /** + * Acheter + * + * @param {Object} callback + */ + Servos.prototype.acheter = function(callback) { + servo_gauche.to(170); + servo_droit.to(0); + setTimeout(callback, 500); + }; + /** + * Vendre + * + * @param {Object} callback + */ + Servos.prototype.vendre = function(callback) { + servo_gauche.to(50); + servo_droit.to(120); + setTimeout(function(){ // remontée lente + servo_gauche.to(100, 1000); + servo_droit.to(70, 1000); + }, 500); + setTimeout(function(){ + servo_gauche.to(50); + servo_droit.to(120); + }, 2000); + setTimeout(function(){ // remontée lente + servo_gauche.to(100, 1000); + servo_droit.to(70, 1000); + }, 2500); + setTimeout(function(){ + servo_gauche.to(50); + servo_droit.to(120); + }, 4000); + setTimeout(callback, 6000); + }; + + return Servos; +})(); \ No newline at end of file diff --git a/clients/old_files/gr/servos.simu.class.js b/clients/old_files/gr/servos.simu.class.js new file mode 100644 index 0000000..6afd4f6 --- /dev/null +++ b/clients/old_files/gr/servos.simu.class.js @@ -0,0 +1,41 @@ +/** + * Servos Simulator module + * + * @module clients/gr/servos-simu + * @see clients/gr/servos-simu.Servos + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('gr.servos'); + + /** + * Servos constructor + * + * @exports clients/gr/servos-simu.Servos + * @constructor + * @param {Object} sp + */ + function Servos(sp) { + + } + + /** + * Acheter + * + * @param {Object} callback + */ + Servos.prototype.acheter = function(callback) { + setTimeout(callback, 500); + }; + /** + * Vendre + * + * @param {Object} callback + */ + Servos.prototype.vendre = function(callback) { + setTimeout(callback, 500); + }; + + return Servos; +})(); \ No newline at end of file diff --git a/clients/old_files/pr/actuators.class.js b/clients/old_files/pr/actuators.class.js new file mode 100644 index 0000000..1a45ee8 --- /dev/null +++ b/clients/old_files/pr/actuators.class.js @@ -0,0 +1,605 @@ +/** + * Actuators module + * + * @module clients/pr/actuators + * @requires clients/shared/fifo + * @see {@link clients/pr/actuators.Acts} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('pr.acts'); + var SerialPort = require("serialport"); + var spawn = require('child_process').spawn; + /** @type {clients/shared/fifo.Fifo} */ + var fifo = new (require('../shared/fifo.class.js'))(); + + var others = null; + var asserv = null; + var ax12 = null; + var date = new Date(); + /** @type {int} */ + var lastSendStatus = date.getTime(); + + /** + * Acts Constructor + * + * @exports clients/pr/actuators.Acts + * @constructor + * @param {Object} client + * @param {Object} sendChildren + */ + function Acts(client, sendChildren) { + /** @type {Object} */ + this.client = client; + /** @type {Object} */ + this.sendChildren = sendChildren; + this.start(); + /** @type {int} */ + this.nb_plots = 0; + /** @type {boolean} */ + this.new_has_ball = false; + /** @type {boolean} */ + this.has_gobelet = false; + } + + /** + * Starts (nothing ?) + */ + Acts.prototype.start = function(){ + + }; + + /** + * Cleans all + */ + Acts.prototype.clean = function(){ + fifo.clean(); // A priori déjà vide + asserv.clean(); + ax12.ouvrir(); + others.ouvrirStabilisateurGrand(); + others.ouvrirBloqueurGrand(); + }; + + /** + * Connect to + * + * @param {Object} struct + */ + Acts.prototype.connectTo = function(struct){ + if (!struct.others) { + logger.fatal("Lancement de others pr en mode simu !"); + others = new (require('./others.simu.class.js'))(fifo); + } else { + others = new (require('./others.class.js'))( + new SerialPort(struct.others, { baudrate: 57600 }), + this.sendStatus, + fifo + ); + } + + if (!struct.asserv) { + logger.fatal("Lancement de l'asserv pr en mode simu !"); + asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'pr', fifo); + } else { + asserv = new (require('../shared/asserv.class.js'))( + new SerialPort(struct.asserv, { + baudrate: 57600, + parser:SerialPort.parsers.readline('\n') + }), this.client, 'pr', this.sendStatus, fifo + ); + } + + if (!struct.ax12) { + logger.fatal("Lancement de l'usb2ax pr en mode simu !"); + ax12 = new (require('./ax12.simu.class.js'))(fifo); + } else { + ax12 = new (require('./ax12.class.js'))(struct.ax12, this.sendStatus, fifo); + } + + // Initialisation + setTimeout(function() { + others.ouvrirStabilisateurGrand(); + others.lacherGobelet(); + others.ouvrirBloqueurGrand(); + others.descendreAscenseur(); + ax12.ouvrir(function() { + logger.fatal('BAZOOKA'); + }); + }, 1000); + }; + + /** + * Send status + */ + Acts.prototype.sendStatus = function() { + if(lastSendStatus < date.getTime()-1000){ + this.sendChildren(this.getStatus); + lastSendStatus = date.getTime(); + } + }; + + /** + * Get Status + */ + Acts.prototype.getStatus = function(){ + var data = { + "status": "", + "children": [] + }; + + data.status = "everythingIsAwesome"; + + if(others && !!others.ready) + data.children.push("Arduino others"); + else + data.status = "ok"; + + if(ax12 && !!ax12.ready) + data.children.push("USB2AX"); + else + data.status = "ok"; + + if(asserv && !!asserv.ready) + data.children.push("Arduino asserv"); + else + data.status = "error"; + + return data; + }; + + /** + * Quit + */ + Acts.prototype.quit = function(){ + if (ax12 && ax12.ready) + ax12.disconnect(); + }; + + /** + * fake + */ + function fake() {} + Acts.prototype.delay = function(ms, callback){ + fifo.newOrder(function() { + setTimeout(function() { + if(callback !== undefined) + callback(); + fifo.orderFinished(); + }, ms); + }, 'delay'); + } + + /** + * Prendre plot + * + * @param {Object} [callback] + * @param {int} [monter] + */ + Acts.prototype.prendre_plot = function(callback, monter){ + if(callback === undefined) { + callback = function() {}; + } + if (monter === undefined) { + monter = 1; + } + var that = this; + if (that.new_has_ball) { + that.new_has_ball = false; + others.descendreUnPeuAscenseur(); + ax12.ouvrir(); + others.descendreAscenseur(); + that.prendre_plot(callback); + } + else if (that.nb_plots>=3 || !monter){ + ax12.ouvrir(); + others.fermerStabilisateur(); + ax12.fermer(); + others.monterUnPeuAscenseur(function() { + that.client.send('ia', 'pr.plot++'); + callback(); + }); + others.ouvrirBloqueurMoyen(); + others.fermerBloqueur(); + } + else if (that.nb_plots==0) { + ax12.ouvrir(); + others.ouvrirBloqueurMoyen(); + ax12.fermer(); + others.monterAscenseur(function() { + that.client.send('ia', 'pr.plot++'); + setTimeout(callback, 200); + }); + others.fermerBloqueur(); + ax12.ouvrir(); + others.ouvrirStabilisateurMoyen(function() {}, 0); + others.descendreAscenseur(); + } + else if(that.nb_plots==1){ + ax12.ouvrir(); + others.ouvrirStabilisateurMoyen(); + ax12.fermer(); + others.ouvrirBloqueurMoyen(); + others.monterAscenseur(function() { + that.client.send('ia', 'pr.plot++'); + setTimeout(callback, 200); + }); + others.fermerBloqueur(); + ax12.ouvrir(function() {}); + others.descendreAscenseur(); + } + else { + ax12.ouvrir(); + others.ouvrirStabilisateurMoyen(); + ax12.fermer(); + others.ouvrirBloqueurMoyen(); + others.monterAscenseur(function() { + that.client.send('ia', 'pr.plot++'); + setTimeout(callback, 200); + }); + others.fermerStabilisateur(fake,0); + others.fermerBloqueur(); + ax12.ouvrir(function() {}); + others.descendreAscenseur(); + } + that.nb_plots++; + } + + /** + * Pousser plot + * + * @param {Object} [callback] + */ + Acts.prototype.pousser_plot = function(callback){ + if(callback === undefined) { + callback = function() {}; + } + ax12.ouvrir(); + asserv.goxy(1150, 200, "avant"); + asserv.goxy(1100, 250, "arriere", callback); + } + + /** + * Prendre plot + * + * @param {Object} [callback] + */ + Acts.prototype.prendre_plot2 = function(callback){ + if(callback === undefined) { + callback = function() {}; + } + var that = this; + asserv.speed(300, 0, 750); + if (that.new_has_ball) { + that.new_has_ball = false; + others.descendreUnPeuAscenseur(); + ax12.ouvrir(); + others.descendreAscenseur(); + that.prendre_plot(callback); + } + else { + + ax12.ouvrir(); + ax12.fermer(); + others.monterUnPeuAscenseur(function() { + that.client.send('ia', 'pr.plot++'); + callback(); + }); + } + + that.nb_plots++; + } + + /** + * Monter plot 2 + * + * @param {Object} [callback] + */ + Acts.prototype.monter_plot2 = function(callback){ + if(callback === undefined) { + callback = function() {}; + } + var that = this; + + callback(); + if (that.nb_plots == 1) { + others.ouvrirBloqueurMoyen(); + others.monterAscenseur(); + others.fermerBloqueur(); + others.fermerStabilisateur(); + ax12.ouvrir(); + others.descendreAscenseur(); + } else { + others.ouvrirStabilisateurMoyen(); + others.ouvrirBloqueurMoyen(); + others.monterAscenseur(); + others.fermerBloqueur(); + others.fermerStabilisateur(); + ax12.ouvrir(); + others.descendreAscenseur(); + } + } + + /** + * Order switch + * + * @param {string} from + * @param {string} name + * @param {Object} params + * @param {Object} callback + */ + Acts.prototype.orderHandler = function (from, name, params, callback) { + // logger.info("Just received an order `" + name + "` from " + from + " with params :"); + // logger.info(params); + var that = this; + /** @todo : add a callback parameter to all functions (and call it) */ + switch (name){ + // others + case "placer": + asserv.setPid(0.25, 130, 13); + asserv.goxy(500, 940); + asserv.goa(-0.62); + this.orderHandler('ia','fermer_tout', {}, callback); + break; + case "prendre_plot": + this.prendre_plot(callback); + break; + case "pousser_plot": + this.pousser_plot(callback); + break; + case "prendre_plot2": + this.prendre_plot2(callback); + break; + case "monter_plot2": + this.monter_plot2(callback); + break; + case "reset_nb_plots": + this.nb_plots = 0; + callback(); + break; + case "prendre_plot_rear_left": + asserv.goxy(160, 1800, "avant"); + that.prendre_plot(undefined, 0); + asserv.goxy(270, 1800, "arriere", callback); + break; + case "prendre_plot_rear_left_calage": + asserv.goxy(250, 1450, "arriere"); + asserv.goa(1.5708); + asserv.pwm(-70, -70, 1500); + asserv.calageY(1288, 1.5708); + asserv.goxy(250, 1450, 500); + asserv.goa(0); + asserv.pwm(-70, -70, 1500); + asserv.calageX(65, 0); + asserv.goxy(120, 1450, "avant"); + asserv.goxy(120, 1790, "avant"); + that.prendre_plot(); + asserv.goa(-1); + asserv.speed(500, 0, 750, callback); + break; + case "prendre_gobelet_et_2_plots_front": + others.lacherGobelet(fake,0); + asserv.goxy(275, 260, "arriere"); + others.prendreGobelet(function() { + that.has_gobelet = true; + that.client.send('ia', 'pr.gobelet1'); + }); + asserv.speed(500, 0, 500); + asserv.goxy(165, 270, "avant"); //100 au lieu de 90 pos plot + that.prendre_plot(undefined, 1); + //asserv.speed(-300, -300, 600); + asserv.goxy(285, 310, "arriere"); + asserv.goxy(155, 180, "avant"); + that.prendre_plot(callback); + break; + + case "deposer_pile_left_2": + asserv.goxy(650, 1000, "avant"); + others.descendreAscenseur(); + ax12.ouvrir(); + others.ouvrirBloqueurMoyen(fake,0); + others.ouvrirStabilisateurMoyen(); + that.delay(500); + others.ouvrirBloqueurGrand(fake,0); + others.ouvrirStabilisateurGrand(function() { + that.nb_plots = 0; + that.client.send('ia', 'pr.plot0'); + }); + asserv.speed(-300, 0, 1000); + break; + + case "recalage_stairs": + asserv.goxy(250, 1450, "arriere"); + asserv.goa(1.5708); + asserv.pwm(-80, -80, 1500); + asserv.calageY(1288, 1.5708); + asserv.goxy(250, 1450, 500); + asserv.goa(0); + asserv.pwm(-80, -80, 1500); + asserv.calageY(65, 0); + asserv.goxy(120, 1450, "avant"); + break; + + case "prendre_2_plots_stairs": + asserv.goxy(800, 1740, "avant"); + that.prendre_plot(undefined, 1); + that.delay(1000); + asserv.goxy(830, 1850, "avant"); + that.prendre_plot(undefined, 0); + asserv.speed(-300, 0, 1000, callback); + break; + + case "prendre_gobelet": + others.lacherGobelet(fake,0); + asserv.speed(-300, 0, 500); + others.prendreGobelet(function() { + that.client.send('ia', 'pr.gobelet1'); + that.has_gobelet = true; + callback(); + }); + break; + + case "deposer_pile_et_gobelet": + asserv.goxy(250, 1000, "avant"); + others.descendreUnPeuAscenseur(); + ax12.ouvrir(); + others.ouvrirBloqueurMoyen(fake,0); + others.ouvrirStabilisateurMoyen(); + that.delay(500); + others.ouvrirBloqueurGrand(fake,0); + others.ouvrirStabilisateurGrand(function() { + that.nb_plots = 0; + that.client.send('ia', 'pr.plot0'); + }); + asserv.speed(-300, 0, 1000); + asserv.goa(0); + others.lacherGobelet(function() { + that.client.send('ia', 'pr.gobelet0'); + }); + that.delay(300); + asserv.speed(300, 0, 750, callback); + others.ouvrirStabilisateurMoyen(fake,0); + others.ouvrirBloqueurMoyen(fake,0); + others.descendreAscenseur(); + break; + + case "deposer_pile_gobelet_prendre_balle_gauche": + asserv.goxy(300, 1000, "avant"); + //asserv.goa(-2.3562); + others.descendreUnPeuAscenseur(); + ax12.ouvrir(); + others.ouvrirBloqueurGrand(fake,0); + others.ouvrirStabilisateurMoyen(); + that.delay(500); + others.ouvrirStabilisateurGrand(); + asserv.speed(-300, 0, 1000); + asserv.goa(0); + others.lacherGobelet(); + that.delay(300); + asserv.speed(300, 0, 750); + /*asserv.goxy(700, 1300, "arriere", function() { + that.client.send('ia', 'data.add_dynamic', {pos:{x:450, y:880}, d:8}); + }); + others.ouvrirBloqueurMoyen(fake,0); + others.ouvrirStabilisateurMoyen(fake,0); + others.monterMoyenAscenseur(); + + asserv.goxy(260, 1050, "osef"); + asserv.goa(3.1416/2); + asserv.pwm(50, 50, 1500); + asserv.calageY(1126, 3.1416/2); + asserv.goxy(260, 1000, "arriere"); + asserv.goa(3.1416); + + asserv.goxy(200, 1000, "avant"); + asserv.goa(3.1416); + asserv.pwm(50, 50, 1500); + asserv.calageX(145, 3.1416); + ax12.fermerBalle(); + asserv.goxy(260, 1000, "arriere"); + others.descendreMoyenAscenseur(); + ax12.fermerBalle2(); + asserv.goxy(260, 1000, "arriere"); + others.monterAscenseur(); + asserv.goxy(330, 1000, "avant"); + asserv.goa(0.1863); + others.lacherGobelet(); + that.delay(100); + that.new_has_ball = true; + that.client.send('ia', 'pr.plot0'); + that.client.send('ia', 'pr.gobelet0'); + that.nb_plots = 0; + that.has_gobelet = false; + asserv.goxy(600, 1050, "avant", callback);*/ + break; + + case "deposer_gobelet": + asserv.goa(3.1416); + that.delay(100); + others.lacherGobelet(); + that.client.send('ia', 'pr.gobelet0'); + asserv.speed(500, 0, 800, callback); + break; + + case "fermer_tout": + others.lacherGobelet(); + others.fermerBloqueur(); + others.descendreAscenseur(); + others.rangerClap(); + others.fermerStabilisateur(); + ax12.fermer(callback); + break; + case "ouvrir_ax12": + ax12.ouvrir(callback); + break; + case "monter_ascenseur": + others.monterAscenseur(callback); + break; + case "clap_1": + others.sortirClap(); + asserv.goxy(330, 140, "osef", function() { + callback(); + others.rangerClap(); + }); + break; + case "clap_3": + others.sortirClap(); + asserv.goxy(1000, 140, "osef", function() { + callback(); + others.rangerClap(); + }); + break; + case "clap_5": + others.sortirClap(); + asserv.goxy(2300, 140, "osef", function() { + callback(); + others.rangerClap(); + }); + break; + + // Asserv + case "pwm": + asserv.pwm(params.left, params.right, params.ms, callback); + break; + case "setvit": + asserv.setVitesse(params.v, params.r, callback); + break; + case "clean": + asserv.clean(callback); + break; + case "goa": + asserv.goa(params.a, callback, true); + break; + case "goxy": + asserv.goxy(params.x, params.y, params.sens, callback, true); + break; + case "setpos": + asserv.setPos(params, callback); + break; + case "setacc": + asserv.setAcc(params.acc, callback); + break; + case "setpid": + asserv.setPid(params.p, params.i, params.d, callback); + break; + case "sync_git": + spawn('/root/sync_git.sh', [], { + detached: true + }); + break; + + + // Debug + case "AX12_close": + ax12.fermer(callback); + break; + case "AX12_open": + ax12.ouvrir(callback); + break; + default: + logger.warn("Order name " + name + " " + from + " not understood"); + callback(); + } + }; + + return Acts; +})(); diff --git a/clients/old_files/pr/ax12.class.js b/clients/old_files/pr/ax12.class.js new file mode 100644 index 0000000..e65a963 --- /dev/null +++ b/clients/old_files/pr/ax12.class.js @@ -0,0 +1,237 @@ +/** + * AX12 module + * + * @module clients/pr/ax12 + * @see clients/pr/ax12.Ax12 + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('pr.ax12'); + var ffi = require('ffi'); + var libusb2ax = ffi.Library('./libs/dynamixel/lib/libusb2ax', { + 'dxl_initialize': ['int', ['int', 'int']], + 'dxl_write_word': ['void', ['int', 'int', 'int']], + 'dxl_read_word': ['int', ['int', 'int']], + 'dxl_terminate': ['void', ['void']], + 'dxl_get_result': ['int', ['void']] + }); + + // Constants + var AX12_COUPLE = 800; + var P_GOAL_POSITION_L = 30; + var P_POSITION = 36; + var P_SPEED = 0x26; + var P_COUPLE = 34; + var MARGE_POS = 80; + var MARGE_POS_MVT = 5; + var ax12s = { + '2':{ + id: 2, + obj: 0, pos: 0, arrived: false + }, + '3':{ + id: 3, + obj: 0, pos: 0, arrived: false + } + }; + + /** + * Ax12 Constructor + * + * @exports clients/pr/ax12.Ax12 + * @constructor + * @param {string} sp Serial Port NAME + * @param {Object} sendStatus + * @param {clients/shared/fifo.Fifo} fifo + */ + function Ax12(sp, sendStatus, fifo) { + /** @type {boolean} */ + this.ready = false; + /** @type {Object} */ + this.sendStatus = sendStatus; + /** @type {Object} */ + this.orders_sent = []; + /** @type {clients/shared/fifo.Fifo} */ + this.fifo = fifo; + + this.connect(sp); + } + + + // ====== General actions ====== + + POS_OPENED = 40; + POS_CLOSED = 10; + POS_BALL_1 = 0; + POS_BALL_2 = 0; + + + /** + * Connect + * + * @param {string} sp Serial Port NAME + */ + Ax12.prototype.connect = function(sp) { + if(libusb2ax.dxl_initialize(sp.substring("/dev/ttyACM".length), 1) <= 0) { + logger.error("Impossible de se connecter à l'USB2AX"); + } else { + logger.info("Connecté à l'USB2AX !"); + } + this.ready = true; + this.sendStatus(); + /** @type {array} */ + this.ax12s = {}; + /** @type {Object} */ + this.type_callback = null; + + libusb2ax.dxl_write_word(2, P_COUPLE, 400); + libusb2ax.dxl_write_word(3, P_COUPLE, 400); + + this.ouvrir(); + this.loopAX12(); + }; + + /** + * Disconnect + * + * @param {} x + */ + Ax12.prototype.disconnect = function(x) { + this.ready = false; + this.sendStatus(); + }; + + /** + * Loop AX12 + */ + Ax12.prototype.loopAX12 = function() { + var speed; + for(var i in ax12s) { + // S'il n'est pas à la bonne position + ax12s[i].pos = libusb2ax.dxl_read_word(ax12s[i].id, P_POSITION); + speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED); + + if (!ax12s[i].started) { + libusb2ax.dxl_write_word(ax12s[i].id, P_COUPLE, AX12_COUPLE); + libusb2ax.dxl_write_word(ax12s[i].id, P_GOAL_POSITION_L, ax12s[i].obj); + if (Math.abs(speed) > MARGE_POS_MVT) { + ax12s[i].started = true; + } + } else { + speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED); + if (Math.abs(speed) < MARGE_POS_MVT) { + ax12s[i].arrived = true; + } + } + if(Math.abs(ax12s[i].pos - ax12s[i].obj) < MARGE_POS) { + ax12s[i].arrived = true; + } + } + // logger.debug(ax12s['2'].pos + ' ; ' + ax12s['3'].pos); + if(ax12s['2'].started && ax12s['3'].started && this.type_callback == "ouvrir" || + ax12s['2'].arrived && ax12s['3'].arrived && this.type_callback) { + this.type_callback = null; + this.callback(); + this.fifo.orderFinished(); + } + + setTimeout(function() { this.loopAX12(); }.bind(this), 50); + }; + + /** + * Deg to AX12 + * + * @param {int} deg + */ + Ax12.prototype.degToAx12 = function(deg) { + return parseInt((deg+150)*1024/300); + }; + + /** + * Ouvrir + * + * @param {Object} [callback] + */ + Ax12.prototype.ouvrir = function(callback) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + ax12s['2'].obj = this.degToAx12(0); + ax12s['3'].obj = this.degToAx12(0); + ax12s['2'].arrived = false; + ax12s['2'].started = false; + ax12s['3'].arrived = false; + ax12s['3'].started = false; + this.callback = callback; + this.type_callback = 'ouvrir'; + }.bind(this), 'AX12-Ouvrir'); + }; + + /** + * Fermer + * + * @param {Object} [callback] + */ + Ax12.prototype.fermer = function(callback) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + ax12s['2'].obj = this.degToAx12(-85); + ax12s['3'].obj = this.degToAx12(85); + // logger.debug(ax12s['2'].obj); + ax12s['2'].arrived = false; + ax12s['2'].started = false; + ax12s['3'].arrived = false; + ax12s['3'].started = false; + this.callback = callback; + this.type_callback = 'fermer'; + }.bind(this), 'AX12-Fermer'); + }; + /** + * Fermer balle + * + * @param {Object} [callback] + */ + Ax12.prototype.fermerBalle = function(callback) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + ax12s['2'].obj = this.degToAx12(-50); + ax12s['3'].obj = this.degToAx12(50); + // logger.debug(ax12s['2'].obj); + ax12s['2'].arrived = false; + ax12s['2'].started = false; + ax12s['3'].arrived = false; + ax12s['3'].started = false; + this.callback = callback; + this.type_callback = 'fermer'; + }.bind(this), 'AX12-Fermer balle'); + }; + /** + * Fermer balle 2 + * + * @param {Object} [callback] + */ + Ax12.prototype.fermerBalle2 = function(callback) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + ax12s['2'].obj = this.degToAx12(-75); + ax12s['3'].obj = this.degToAx12(75); + // logger.debug(ax12s['2'].obj); + ax12s['2'].arrived = false; + ax12s['2'].started = false; + ax12s['3'].arrived = false; + ax12s['3'].started = false; + this.callback = callback; + this.type_callback = 'fermer'; + }.bind(this), 'AX12-Fermer balle 2'); + }; + + return Ax12; +})(); diff --git a/clients/old_files/pr/ax12.simu.class.js b/clients/old_files/pr/ax12.simu.class.js new file mode 100644 index 0000000..70136d2 --- /dev/null +++ b/clients/old_files/pr/ax12.simu.class.js @@ -0,0 +1,84 @@ +/** + * AX12 Simulator module + * + * @module clients/pr/ax12-simu + * @see {@link clients/pr/ax12-simu.Ax12} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('pr.ax12'); + + /** + * Ax12 constructor + * + * @exports clients/pr/ax12-simu.Ax12 + * @constructor + * @param {clients/shared/fifo.Fifo} fifo + */ + function Ax12(fifo) { + this.fifo = fifo; + } + + /** + * Disconnects (nothing ?) + * + * @param {} x + */ + Ax12.prototype.disconnect = function(x) { + + }; + + /** + * Calls callback + * + * @param {Object} [callback] + * @param {int} ms + */ + Ax12.prototype.callCallback = function(callback, ms) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + setTimeout(function() { + callback(); + this.fifo.orderFinished(); + }.bind(this), parseInt(ms/5)); + }.bind(this)); + } + + /** + * Ouvrir + * + * @param {Object} callback + */ + Ax12.prototype.ouvrir = function(callback) { + this.callCallback(callback, 1000); + }; + + /** + * Fermer + * + * @param {Object} callback + */ + Ax12.prototype.fermer = function(callback) { + this.callCallback(callback, 1000); + }; + /** + * Fermer Balle + * + * @param {Object} callback + */ + Ax12.prototype.fermerBalle = function(callback) { + this.callCallback(callback, 800); + }; + /** + * Fermer Balle 2 + * + * @param {Object} callback + */ + Ax12.prototype.fermerBalle2 = function(callback) { + this.callCallback(callback, 900); + }; + + return Ax12; +})(); diff --git a/clients/old_files/pr/detect.class.js b/clients/old_files/pr/detect.class.js new file mode 100644 index 0000000..5f5e7c9 --- /dev/null +++ b/clients/old_files/pr/detect.class.js @@ -0,0 +1,93 @@ +/** + * Detect module + * + * @module clients/pr/detect + * @see {@link clients/pr/detect.Detect} + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('pr.detect'); + var serialPort = require("serialport"); + + + var sp = []; + + /** + * Detect constructor + * + * @exports clients/pr/detect.Detect + * @constructor + * @param {Object} callback + */ + function Detect(callback) { + /** @type {Object} */ + this.devicesFound = { + asserv: null, + others: null, + ax12: null + }; + /** @type {Object} */ + this.callback = callback; + this.searchArduinos(); + } + + /** + * Sends Server port + */ + Detect.prototype.sendSP = function (){ + // Close opened ports & detect other devices + serialPort.list(function (err, ports) { + for(var i in ports) { + if(ports[i].comName.indexOf('ttyUSB') >= 0) { + this.devicesFound.asserv = ports[i].comName; + } else if((ports[i].comName.indexOf('ttyACM') >= 0) && ports[i].comName != this.devicesFound.others) { + // logger.debug(ports[i].comName); + this.devicesFound.ax12 = ports[i].comName; + } + if(sp[i].readable){ + logger.info("Closing "+ports[i].comName); + // this.devicesFound.ax12 = ports[i].comName; + sp[i].close(); + } + } + + // Sent to acts + this.callback(this.devicesFound); + }.bind(this)); + }; + + /** + * Searches Arduino + */ + Detect.prototype.searchArduinos = function() { + // On check tous les ports disponibles + serialPort.list(function (err, ports) { + var nb_found = 0; + for(var i in ports) { + sp[i] = new SerialPort(ports[i].comName, { baudrate: 57600 }); + sp[i].on('open', function (i) { + sp[i].write('O\n'); + }.bind(this, i)); + + sp[i].on("data", function (i, data) { + data = data.toString(); + console.log(ports[i].comName, data); + if (data == 'O' && !this.devicesFound.others){ // Stepper + this.devicesFound.others = ports[i].comName; + clearTimeout(timeout); + this.sendSP(); + } + sp[i].close(); + }.bind(this, i)); + + sp[i].on("error", function() {}); // Node JS Error if it doesn't exist (and if an "error" event is sent) + } + }.bind(this)); + + // On check tous les ports qui ne sont pas enregistrés + timeout = setTimeout(function(){this.sendSP(); }.bind(this), 3000); + }; + + return Detect; +})(); \ No newline at end of file diff --git a/clients/old_files/pr/elevator.class.js b/clients/old_files/pr/elevator.class.js new file mode 100644 index 0000000..d032f6a --- /dev/null +++ b/clients/old_files/pr/elevator.class.js @@ -0,0 +1,123 @@ +/** + * Elevator module + * + * @module clients/pr/elevator + * @see {@link clients/pr/elevator.Elevator} + */ + +module.exports = (function () { + var log4js = require('log4js'); + var logger = log4js.getLogger('pr.elevator'); + + var ORDER_ACHIEVED = 'K'; // Like Ok + var ORDER_UNKNOWN = 'U'; // Like Unknown + + var ELEV_MOVE_UP = 'u'; + var ELEV_MOVE_DOWN = 'd'; + var ELEV_RELEASE = 'r'; + var ELEV_CHOUILLA = 'c'; + + /** + * Elevator constructor + * + * @exports clients/pr/elevator.Elevator + * @constructor + * @param {Object} sp Serial Port OBJECT + */ + function Elevator(sp, sendStatus) { + /** @type {Object} */ + this.sp = sp; + /** @type {boolean} */ + this.ready = false; + /** @type {Object} */ + this.sendStatus = sendStatus; + /** @type {string} */ + this.pos = 'down'; + /** @type {array} */ + this.orders_sent = []; + + this.sp.on("data", function(data) { + this.ready = true; + this.sendStatus(); + this.parseOrder(data.toString()); + }.bind(this)); + } + + /** + * Fonctions for sending orders to the Arduino + * + * @param {string} order + */ + Elevator.prototype.sendOrder = function(order) { + this.sp.write(order); + this.orders_sent.push(order); + }; + + /** + * Disconnects + */ + Elevator.prototype.disconnect = function() { + this.sp.close(); + this.ready = false; + this.sendStatus(); + }; + + + // ====== General actions ====== + + /** + * Monter + */ + Elevator.prototype.monter = function() { + this.sendOrder(ELEV_MOVE_UP); + }; + + /** + * Monter choilla + */ + Elevator.prototype.monterChouilla = function() { + this.sendOrder(ELEV_CHOUILLA); + }; + + /** + * Descendre + */ + Elevator.prototype.descendre = function() { + this.sendOrder(ELEV_MOVE_DOWN); + this.lacher(); + }; + + /** + * Release + */ + Elevator.prototype.release = function() { + this.sendOrder(ELEV_RELEASE); + }; + + /** + * Parse Order + * + * @param {string} order + */ + Elevator.prototype.parseOrder = function(order) { + if(order == ORDER_ACHIEVED) { + switch(this.orders_sent.shift()) { + case ELEV_MOVE_UP: + this.pos = 'up'; + logger.info("Elevator is up"); + break; + case ELEV_MOVE_DOWN: + this.pos1 = 'down'; + logger.info("Elevator is down"); + break; + } + } else if (order == ORDER_UNKNOWN) { + oldest_order = this.orders_sent.shift(); + logger.warn("Order sent unknown: "+this.orders_sent.shift()); + } else { + logger.warn("Order received unknown: "+order); + } + }; + + return Elevator; +})(); \ No newline at end of file diff --git a/clients/old_files/pr/main.js b/clients/old_files/pr/main.js new file mode 100644 index 0000000..5d94b87 --- /dev/null +++ b/clients/old_files/pr/main.js @@ -0,0 +1,184 @@ +/** + * Main module + * + * @module clients/pr/main + * @requires server/socket_client + * @requires config + * @requires clients/pr/actuators + * @requires clients/pr/detect + */ + +(function () { + "use strict"; + + // Requires + var logger = require('log4js').getLogger('pr'); + + // logger.info("Started NodeJS client with pid " + process.pid); + + var SocketClient = require('../../server/socket_client.class.js'); + var server = require('../../config.js').server + var client = new SocketClient({ + server_ip: server, + type: "pr" + }); + + var lastStatus = { + "status": "waiting" + }; + sendChildren(lastStatus); + + var acts = new (require('./actuators.class.js'))(client, sendChildren); + var detect = null; + + var queue = []; + var orderInProgress = false; + + start(); + + // On message + client.order(function (from, name, params){ + // logger.info("Recieved an order "+name); + switch (name){ + case "collision": + queue = []; + acts.clean(); + orderInProgress = false; + break; + case "stop": + acts.clean(); + setTimeout(function() { + logger.fatal("Stop PR"); + process.exit(); + }, 800); + break; + + // useless // + case "start": + queue = []; + start(); + break; + default: + addOrder2Queue(from, name, params); + } + }); + + function start(){ + logger.info("Starting :)"); + sendChildren({ + status: "starting", + children:[] + }); + detect = new (require('./detect.class.js'))(devicesDetected); + } + + // function stop(){ + // acts.quit(); + + // // Send struct to server + // sendChildren({ + // status: "waiting", + // children:[] + // }); + // } + + function devicesDetected(struct){ + // Verify content + if (!struct.others) + logger.warn("Missing others Mega"); + + // if (!struct.servos) + // logger.warn("Missing servos Nano"); + + if (!struct.asserv) + logger.warn("Missing asserv Nano"); + + if (!struct.ax12) + logger.warn("Missing USB2AX"); + + // Connect to what's detected + acts.connectTo(struct); + + // Send struct to server + sendChildren(acts.getStatus()); + } + + // Sends status to server + function sendChildren(status){ + lastStatus = status; + + client.send("server", "server.childrenUpdate", lastStatus); + } + + function isOk(){ + if(lastStatus.status != "waiting") + lastStatus = acts.getStatus(); + + client.send("ia", "isOkAnswer", lastStatus); + client.send("server", "server.childrenUpdate", lastStatus); + } + + + // Push the order (enfiler) + function addOrder2Queue(f, n, p){ + // if(n == 'clean') { + // logger.info(n+" : Begin"); + // acts.orderHandler(f, n, p, actionFinished); + // } else + if(queue.length < 100){ + // Adds the order to the queue + queue.push({ + from: f, + name: n, + params: p + }); + // logger.info("Order added to queue ! : "); + // logger.info(queue); + + executeNextOrder(); + } + } + + // Execute order + function executeNextOrder(){ + if ((queue.length > 0) && (!orderInProgress)) { + var order = queue.shift(); + if(order.name == "send_message") { + // logger.debug("Send message %s", order.params.name); + client.send('ia', order.params.name, order.params || {}); + executeNextOrder(); + } else { + orderInProgress = order.name; + + logger.info(orderInProgress+" : Begin"); + // logger.debug(order.params); + acts.orderHandler(order.from, order.name, order.params, actionFinished); + + // executeNextOrder(); + } + } + } + + function actionFinished(){ + if(orderInProgress !== false) { + logger.info(orderInProgress + " : End"); + + orderInProgress = false; + executeNextOrder(); + } + } + function quit () { + logger.info("Please wait while exiting..."); + acts.quit(); + process.exit(); + } + + + // Exiting : + //do something when app is closing + // process.on('exit', quit); + // catches ctrl+c event + // process.on('SIGINT', quit); + // //catches uncaught exceptions + // process.on('uncaughtException', quit); +})(); diff --git a/clients/old_files/pr/others.class.js b/clients/old_files/pr/others.class.js new file mode 100644 index 0000000..577d677 --- /dev/null +++ b/clients/old_files/pr/others.class.js @@ -0,0 +1,313 @@ +/** + * Others module + * + * @module clients/pr/others + * @see {@link clients/pr/others.Others} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('Others'); + + /** + * Others Constructor + * + * @exports clients/pr/others.Others + * @constructor + * @param {Object} sp Server port + * @param {Object} sendStatus + * @param {clients/shared/fifo.Fifo} + */ + function Others(sp, sendStatus, fifo) { + /** @type {Object} */ + this.sp = sp; + // this.client = client; + /** @type {boolean} */ + this.ready = true; + logger.debug(sendStatus); + /** @type {Object} */ + this.sendStatus = sendStatus; + /** @type {clients/shared/fifo.Fifo} */ + this.fifo = fifo; + + this.sp.on("data", function(data){ + if(this.ready === false){ + this.ready = true; + this.sendStatus(); + } + this.parseCommand(data.toString()); + }.bind(this)); + this.sp.on("error", function(data){ + logger.debug(data.toString()); + }); + this.sp.on("close", function(){ + this.ready = false; + this.sendStatus(); + logger.error("Serial port close"); + }.bind(this)); + } + + /** + * Parse command + * + * @param {string} data + */ + Others.prototype.parseCommand = function(data) { + if(this.order_sent == data) { + this.order_sent = ''; + setTimeout(function() { + this.callback(); + this.fifo.orderFinished(); + }.bind(this), this.callback_delay); + } else { + logger.warn("Arduino others unknown: "+data+" (order_sent : "+this.order_sent+")"); + } + }; + + /** + * Send command + * + * @param {Object} [callback] + * @param {string} cmd + * @param {string} args + * @param {int} callback_delay + */ + Others.prototype.sendCommand = function(callback, cmd, args, callback_delay){ + if(callback === undefined) { + callback = function(){}; + } + + this.fifo.newOrder(function() { + this.callback = callback; + this.callback_delay = callback_delay; + this.order_sent = cmd; + + //logger.debug([cmd].concat(args).join(";")); + this.sp.write([cmd].concat(args).join(";")+"\n"); + }.bind(this), 'sendCommandOther('+cmd+':'+args+')'); + }; + + /** + * Fermer stabilisateur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.fermerStabilisateur = function(callback, time) { + if (time === undefined) { + time = 100; + } + this.sendCommand(callback, 'H', [100, 23], time); + }; + + /** + * Ouvrir stabilisateur moyen + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.ouvrirStabilisateurMoyen = function(callback, time) { + if (time === undefined) { + time = 100; + } + this.sendCommand(callback, 'H', [90, 30], time); + }; + + /** + * Ouvrir stabilisateur grand + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.ouvrirStabilisateurGrand = function(callback, time) { + if (time === undefined) { + time = 400; + } + this.sendCommand(callback, 'H', [40, 80], time); + }; + + /** + * Fermer bloqueur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.fermerBloqueur = function(callback, time) { + if (time === undefined) { + time = 200; + } + this.sendCommand(callback, 'M', [32, 68], time); + }; + + /** + * Ouvrir bloqueur moyen + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.ouvrirBloqueurMoyen = function(callback, time) { + if (time === undefined) { + time = 200; + } + this.sendCommand(callback, 'M', [66, 29], time); + }; + + /** + * Ouvrir stabilisateur grand + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.ouvrirBloqueurGrand = function(callback, time) { + if (time === undefined) { + time = 400; + } + this.sendCommand(callback, 'M', [106, 1], time); + }; + + /** + * Prendre gobelet + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.prendreGobelet = function(callback, time) { + if (time === undefined) { + time = 200; + } + this.sendCommand(callback, 'G', [115], time); + }; + + /** + * Lacher gobelet + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.lacherGobelet = function(callback, time) { + if (time === undefined) { + time = 200; + } + this.sendCommand(callback, 'G', [50], time); + }; + + /** + * Sortir Clap + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.sortirClap = function(callback, time) { + if (time === undefined) { + time = 200; + } + this.sendCommand(callback, 'C', [130], time); + }; + + /** + * Ranger Clap + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.rangerClap = function(callback, time) { + if (time === undefined) { + time = 100; + } + this.sendCommand(callback, 'C', [40], time); + }; + + /** + * Monter ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.monterAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [-250], time); + }; + + /** + * Monter un peu ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.monterUnPeuAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [-30], time); + }; + + /** + * Descendre un peu ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.descendreUnPeuAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [30], time); + }; + + /** + * Monter moyen ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.monterMoyenAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [-60], time); + }; + + /** + * Descendre un peu ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.descendreMoyenAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [60], time); + }; + + /** + * Relacher ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.relacherAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(callback, 'S', [0], time); + }; + + /** + * Descendre ascenseur + * + * @param {Object} callback + * @param {int} [time] + */ + Others.prototype.descendreAscenseur = function(callback, time) { + if (time === undefined) { + time = 0; + } + this.sendCommand(function() { + this.relacherAscenseur(callback); + }.bind(this), 'S', [250], time); + }; + + return Others; +})(); diff --git a/clients/old_files/pr/others.simu.class.js b/clients/old_files/pr/others.simu.class.js new file mode 100644 index 0000000..67e5922 --- /dev/null +++ b/clients/old_files/pr/others.simu.class.js @@ -0,0 +1,194 @@ +/** + * Others Simulator module + * + * @module clients/pr/others-simu + * @see {@link clients/pr/others-simu.Others} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('pr.others'); + + /** + * Others constructor + * + * @exports clients/pr/others-simu.Others + * @constructor + * @param {clients/shared/fifo.Fifo} fifo + */ + function Others(fifo) { + /** @type {clients/shared/fifo.Fifo} */ + this.fifo = fifo; + } + + /** + * Disconnects (nothing ?) + */ + Others.prototype.disconnect = function(x) { + + }; + + /** + * Call callback + * + * @param {Object} [callback] + * @param {int} ms + */ + Others.prototype.callCallback = function(callback, ms) { + if(callback === undefined) { + callback = function(){}; + } + this.fifo.newOrder(function() { + setTimeout(function() { + callback(); + this.fifo.orderFinished(); + }.bind(this), parseInt(ms/5)); + }.bind(this)); + }; + + /** + * Fermer stabilisateur + * + * @param {Object} callback + */ + Others.prototype.fermerStabilisateur = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Ouvrir stabilisateur moyen + * + * @param {Object} callback + */ + Others.prototype.ouvrirStabilisateurMoyen = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Ouvrir stabilisateur grand + * + * @param {Object} callback + */ + Others.prototype.ouvrirStabilisateurGrand = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Fermer bloqueur + * + * @param {Object} callback + */ + Others.prototype.fermerBloqueur = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Ouvrir bloqueur moyen + * + * @param {Object} callback + */ + Others.prototype.ouvrirBloqueurMoyen = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Ouvrir bloqueur grand + * + * @param {Object} callback + */ + Others.prototype.ouvrirBloqueurGrand = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Sortir clap + * + * @param {Object} callback + */ + Others.prototype.sortirClap = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Ranger clap + * + * @param {Object} callback + */ + Others.prototype.rangerClap = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Prendre Gobelet + * + * @param {Object} callback + */ + Others.prototype.prendreGobelet = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Lacher Gobelet + * + * @param {Object} callback + */ + Others.prototype.lacherGobelet = function(callback) { + this.callCallback(callback, 200); + }; + + /** + * Monter ascenseur + * + * @param {Object} callback + */ + Others.prototype.monterAscenseur = function(callback) { + this.callCallback(callback, 1000); + }; + + /** + * Monter un peu ascenseur + * + * @param {Object} callback + */ + Others.prototype.monterUnPeuAscenseur = function(callback) { + this.callCallback(callback, 300); + }; + + /** + * Descendre un peu ascenseur + * + * @param {Object} callback + */ + Others.prototype.descendreUnPeuAscenseur = function(callback) { + this.callCallback(callback, 300); + }; + + /** + * Monter moyen ascenseur + * + * @param {Object} callback + */ + Others.prototype.monterMoyenAscenseur = function(callback) { + this.callCallback(callback, 500); + }; + + /** + * Descendre moyen ascenseur + * + * @param {Object} callback + */ + Others.prototype.descendreMoyenAscenseur = function(callback) { + this.callCallback(callback, 500); + }; + + /** + * Descendre ascenseur + * + * @param {Object} callback + */ + Others.prototype.descendreAscenseur = function(callback) { + this.callCallback(callback, 1000); + }; + + + return Others; +})(); diff --git a/clients/old_files/shared/asserv.class.js b/clients/old_files/shared/asserv.class.js new file mode 100644 index 0000000..976b3de --- /dev/null +++ b/clients/old_files/shared/asserv.class.js @@ -0,0 +1,437 @@ +/** + * Asserv module + * + * @module clients/shared/asserv + * @requires module:clients/shared/defineParser + * @see {@link clients/shared/asserv.Asserv} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('asserv'); + var COMMANDS = require('./defineParser.js')('./arduino/asserv/protocol.h'); + var DETECT_SERIAL_TIMEOUT = 100; //ms, -1 to disable + + // function Asserv(sp, client) { + // this.client = client; + // this.getPos(); + // this.sp = sp; + // this.pos = {}; + // this.sentCommands = {}; + // this.currentId = 0; + // } + + /** + * Asserv Constructor + * + * @exports clients/shared/asserv.Asserv + * @constructor + * @param {Object} sp + * @param {Object} client + * @param {Object} who + * @param {Object} sendStatus + * @param {clients/shared/asserv.Asserv} fifo + */ + function Asserv(sp, client, who, sendStatus, fifo) { + /** @type {boolean} */ + this.ready = true; + /** @type {Object} */ + this.sendStatus = sendStatus; + /** @type {Object} */ + this.sp = sp; + /** @type {Object} */ + this.client = client; + /** @type {Object} */ + this.pos = {}; + /** @type {Object} */ + this.who = who; + /** @type {int} */ + this.currentId = 0; + /** @type {string} */ + this.color = "yellow"; + /** @type {clients/shared/asserv.Asserv} */ + this.fifo = fifo; + + this.sp.on("data", function(data){ + if(this.ready === false){ + this.ready = true; + this.sendStatus(); + } + this.parseCommand(data.toString()); + }.bind(this)); + this.sp.on("error", function(data){ + this.ready = false; + this.sendStatus(); + logger.debug("error", data.toString()); + }.bind(this)); + this.sp.on("close", function(data){ + this.ready = false; + this.sendStatus(); + logger.error("Serial port close"); + }.bind(this)); + + setTimeout(function() { + this.getPos(); + }.bind(this), 2000); + } + /** + * Convert color x + * + * @param {int} x + */ + Asserv.prototype.convertColorX = function(x) { + if(this.color == "yellow") { + return x; + } else { + return 3000-x; + } + } + /** + * Convert color y + * + * @param {int} y + */ + Asserv.prototype.convertColorY = function(y) { + if(this.color == "yellow") { + return y; + } else { + return y; + } + } + /** + * Convert color Angle + * + * @param {int} a + */ + Asserv.prototype.convertColorA = function(a) { + if(this.color == "yellow") { + return convertA(a); + } else { + return convertA(Math.PI - a); + } + } + + /** + * Convert Angle + * + * @param {int} a + */ + function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); } + /** + * Set Angle + * + * @param {int} a + */ + Asserv.prototype.setA = function(a) { + // logger.debug(a, convertA(a)); + this.pos.a = convertA(a); + } + /** + * Position ? + * + * @param {Object} pos + */ + Asserv.prototype.Pos = function(pos) { + this.pos.x = pos.x; + this.pos.y = pos.y; + this.setA(pos.a); + } + /** + * Sets Position + * + * @param {Object} pos + * @param {Object} callback + */ + Asserv.prototype.setPos = function(pos, callback) { + logger.debug(pos); + if(pos.color !== undefined) + this.color = pos.color; + this.sendCommand(COMMANDS.SET_POS, [ + parseInt(this.convertColorX(pos.x)), + parseInt(this.convertColorY(pos.y)), + myWriteFloat(this.convertColorA(pos.a)) + ], false, callback); + } + /** + * Gets Potition + * + * @param {Object} pos + */ + Asserv.prototype.getPos = function(pos) { + this.client.send('ia', this.who+'.getpos'); + } + /** + * Sends Position + */ + Asserv.prototype.sendPos = function() { + this.client.send('ia', this.who+'.pos', this.pos); + } + + /** + * Set position calage + * + * @param {Object} pos + * @param {Object} callback + */ + Asserv.prototype.setPosCalage = function(pos, callback) { + this.sendCommand(COMMANDS.SET_POS, [ + parseInt(this.convertColorX(pos.x)), + parseInt(this.convertColorY(pos.y)), + myWriteFloat(this.convertColorA(pos.a)) + ], false, function() { + callback(); + this.fifo.orderFinished(); + }.bind(this), true); + } + + /** + * Calage X + * + * @param {int} x + * @param {int} a Angle + * @param {Object} callback + */ + Asserv.prototype.calageX = function(x, a, callback) { + if(callback === undefined) + callback = function(){}; + this.fifo.newOrder(function() { + this.setPosCalage({x: x, y: this.pos.y, a: a}, callback); + }.bind(this), 'calageX'); + + } + /** + * Calage Y + * + * @param {int} y + * @param {int} a Angle + * @param {Object} callback + */ + Asserv.prototype.calageY = function(y, a, callback) { + if(callback === undefined) + callback = function(){}; + this.fifo.newOrder(function() { + this.setPosCalage({x: this.pos.x, y: y, a: a}, callback, true); + }.bind(this), 'calageY'); + } + + // For float + /** + * My write float + * + * @param {float} f + */ + function myWriteFloat(f){ return Math.round(f*COMMANDS.FLOAT_PRECISION); } + /** + * My Parse float + * + * @param {float} f + */ + function myParseFloat(f){ return parseInt(f)/COMMANDS.FLOAT_PRECISION; } + + + /** + * Parse Command + * + * @param {string} data + */ + Asserv.prototype.parseCommand = function(data){ + // logger.debug(data); + var datas = data.split(';'); + var cmd = datas.shift();//, id = datas.shift(); + if(cmd == COMMANDS.AUTO_SEND && datas.length >= 4) { // periodic position update + var lastFinishedId = parseInt(datas.shift()); // TODO + this.Pos({ + x: this.convertColorX(parseInt(datas.shift())), + y: this.convertColorY(parseInt(datas.shift())), + a: this.convertColorA(myParseFloat(datas.shift())) + }); + + + this.sendPos(); + + // logger.debug(lastFinishedId); + if(this.currentId != lastFinishedId) { + // logger.fatal('finish id', lastFinishedId); + this.currentId = lastFinishedId; + var use_fifo = this.use_fifo; + this.use_fifo = true; + this.callback(); + if(use_fifo) + this.fifo.orderFinished(); + } + } else if(cmd == this.order_sent) { + this.order_sent = ''; + // logger.debug('finish', datas.shift()); + if(!this.wait_for_id) { + var use_fifo = this.use_fifo; + this.use_fifo = true; + this.callback(); + if(use_fifo) + this.fifo.orderFinished(); + } + } else if (cmd == COMMANDS.JACK) { + logger.info("JACK !"); + this.client.send("ia", "ia.jack"); + } else { + // logger.warn(datas); + logger.warn("Command return from Arduino to unknown cmd="+cmd); + } + } + /** + * Sends Command + * + * @param {string} cmd + * @param {string} args + * @param {int} wait_for_id + * @param {Object} [callback] + * @param {boolean} no_fifo + */ + Asserv.prototype.sendCommand = function(cmd, args, wait_for_id, callback, no_fifo){ + function nextOrder() { + if(callback === undefined) + callback = function(){}; + this.callback = callback; + args = args || []; + this.order_sent = cmd; + this.wait_for_id = wait_for_id; + logger.debug([cmd,this.currentId+1].concat(args).join(";")+"\n"); + this.sp.write([cmd,this.currentId+1].concat(args).join(";")+"\n"); + } + + this.use_fifo = !no_fifo; + + if(this.use_fifo) { + this.fifo.newOrder(nextOrder.bind(this), 'sendCommandAsserv('+cmd+':'+args+')'); + } else { + nextOrder.call(this); + } + } + + /** + * Set Vitesse + * + * @param {int} v Speed + * @param {float} r Rotation + * @param {Object} callback + */ + Asserv.prototype.setVitesse = function(v, r, callback) { + // logger.debug(myWriteFloat(r)); + this.sendCommand(COMMANDS.SPDMAX, [ + parseInt(v), + myWriteFloat(r) + ], false, callback); + }; + + /** + * Speed ? + * + * @param {int} l + * @param {int} a Angle + * @param {int} ms + * @param {Object} callback + */ + Asserv.prototype.speed = function(l, a, ms, callback) { + // logger.debug(myWriteFloat(r)); + this.sendCommand(COMMANDS.SPD, [ + parseInt(l), + parseInt(a), + parseInt(ms) + ], true, callback); + }; + + /** + * Set Acceleration + * + * @param {int} acc + * @param {Object} callback + */ + Asserv.prototype.setAcc = function(acc,callback) { + // logger.debug(myWriteFloat(r)); + this.sendCommand(COMMANDS.ACCMAX, [ + parseInt(acc) + ], false, callback); + }; + + /** + * Clean + * + * @param {Object} callback + */ + Asserv.prototype.clean = function(callback){ + this.sendCommand(COMMANDS.CLEANG, false, callback); + }; + + /** + * Pulse Width Modulation + * + * @param {int} left + * @param {int} right + * @param {int} ms + * @param {Object} callback + */ + Asserv.prototype.pwm = function(left, right, ms, callback) { + this.sendCommand(COMMANDS.PWM, [ + parseInt(left), + parseInt(right), + parseInt(ms) + ], true, callback); + + }; + + /** + * Go X Y + * + * @param {int} x + * @param {int} y + * @param {string} sens + * @param {Object} callback + * @param {boolean} no_fifo + */ + Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo){ + if(sens == "avant") sens = 1; + else if(sens == "arriere") sens = -1; + else sens = 0; + + this.sendCommand(COMMANDS.GOTO, [ + parseInt(this.convertColorX(x)), + parseInt(this.convertColorY(y)), + sens + ], true, callback, no_fifo); + }; + /** + * Go Angle + * + * @param {int} a + * @param {Object} callback + * @param {boolean} no_fifo + */ + Asserv.prototype.goa = function(a, callback, no_fifo){ + // this.clean(); + this.sendCommand(COMMANDS.ROT, [ + myWriteFloat(this.convertColorA(a)) + ], true, callback, no_fifo); + }; + + /** + * Set P I D + * @param {float} p + * @param {float} i + * @param {float} d + * @param {Object} callback + */ + Asserv.prototype.setPid = function(p, i, d, callback){ + // this.clean(); + this.sendCommand(COMMANDS.PIDALL, [ + myWriteFloat(p), + myWriteFloat(i), + myWriteFloat(d) + ],false, callback); + }; + + // Asserv.prototype.gotoPath = function(callback, path){ + // this.clean(); + // if(instanceof path !=== "Array") path = path.path; // not sure about Path class right now + // path.forEach(function(item)); + // }; + + return Asserv; +})(); diff --git a/clients/old_files/shared/asserv.simu.class.js b/clients/old_files/shared/asserv.simu.class.js new file mode 100644 index 0000000..21e3a9d --- /dev/null +++ b/clients/old_files/shared/asserv.simu.class.js @@ -0,0 +1,359 @@ +/** + * Asserv Simulator module + * + * @module clients/shared/asserv-simu + * @see {@link clients/shared/asserv-simu.Asserv} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('asserv'); + + // For simu + var SIMU_FACTOR_VIT = 1; + var SIMU_FACTOR_A = 0.3; // Facteur + // var SIMU_PWM_REF = 255; // à une PWM de 80 + function SIMU_DIST(pwm, dt, vitesse) { return (vitesse*SIMU_FACTOR_VIT)*dt; } + function SIMU_DIST_ROT(a) { return Math.abs(a)*100; } // Rayon aproximatif de 10cm + function SIMU_ROT_TIME(a, vitesse) { return SIMU_DIST_ROT(a)/(vitesse*SIMU_FACTOR_VIT*SIMU_FACTOR_A); } + var FPS = 30; + + var timeouts = []; + + /** + * Asserv Constructor + * + * @exports clients/shared/asserv-simu.Asserv + * @constructor + * @param {Object} client + * @param {Object} who + * @param {clients/shared/asserv.Asserv} fifo + */ + function Asserv(client, who, fifo) { + /** @type {Object} */ + this.client = client; + /** @type {Object} */ + this.who = who; + /** @type {Object} */ + this.pos = { + x:0,y:0,a:0 + }; + /** @type {clients/shared/asserv.Asserv} */ + this.fifo = fifo; + /** @type {int} */ + this.vitesse = 800; + this.getPos(); + } + + /** + * New Order + * + * @param {Object} callback + * @param {int} ms + * @param {boolean} no_fifo + */ + Asserv.prototype.newOrder = function(callback, ms, no_fifo, delay_order_finished){ + if(callback === undefined) + callback = function(){}; + var use_fifo = !no_fifo; + if(ms === undefined) ms = 0; + if(delay_order_finished === undefined) delay_order_finished = 0; + + function nextOrder() { + timeouts.push(setTimeout(function() { + callback(); + timeouts.push(setTimeout(function() { + this.fifo.orderFinished(); + }.bind(this), delay_order_finished)); + }.bind(this), ms)); + } + + if(use_fifo) { + // logger.debug('use_fifo'); + this.fifo.newOrder(nextOrder.bind(this)); + } else { + // logger.debug('no_fifo'); + timeouts.push(setTimeout(callback, ms));//.call(this)); + } + } + + /** + * Convert Angle + * + * @param {int} a Angle + */ + function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); } + /** + * Set Angle + * + * @param {int} a Angle + */ + Asserv.prototype.setA = function(a) { + this.pos.a = convertA(a); + } + /** + * Position ? + * + * @param {Object} pos + */ + Asserv.prototype.Pos = function(pos) { + this.pos.x = pos.x; + this.pos.y = pos.y; + this.setA(pos.a); + } + /** + * Sets Position + * + * @param {Object} pos + * @param {Object} callback + */ + Asserv.prototype.setPos = function(pos, callback) { + this.Pos(pos); + this.sendPos(); + if(callback !== undefined) + callback(); + } + /** + * Gets Position + * + * @param {Object} pos + */ + Asserv.prototype.getPos = function(pos) { + this.client.send('ia', this.who+'.getpos'); + } + /** + * Sends Position + */ + Asserv.prototype.sendPos = function() { + this.client.send('ia', this.who+'.pos', this.pos); + } + + /** + * Clean + */ + Asserv.prototype.clean = function(){ + logger.debug('cleaning %d timeouts', timeouts.length); + while(timeouts.length > 0) { + clearTimeout(timeouts.shift()); + } + }; + /** + * Avancer plot + * + * @param {Object} callback + */ + Asserv.prototype.avancerPlot = function(callback) { + this.newOrder(callback, 1200); + } + + /** + * Set vitesse + * + * @param {int} v Speed + * @param {int} r rotation + * @param {Object} callback + */ + Asserv.prototype.setVitesse = function(v, r, callback) { + this.vitesse = parseInt(v); + if(callback !== undefined) + callback(); + }; + /** + * Calage X + * + * @param {int} x + * @param {int} a Angle + * @param {Object} callback + */ + Asserv.prototype.calageX = function(x, a, callback) { + this.setPos({x: x, y: this.pos.y, a: a}, callback); + } + /** + * Calage Y + * + * @param {int} y + * @param {int} a Angle + * @param {Object} callback + */ + Asserv.prototype.calageY = function(y, a, callback) { + this.setPos({x: this.pos.x, y: y, a: a}, callback); + } + + /** + * Simu Speed + * + * @param {int} vit Speed + * @param {int} x + * @param {int} y + * @param {int} a Angle + * @param {int} dt + */ + Asserv.prototype.simu_speed = function(vit, x, y, a, dt) { + return function() { + this.pos = { + x: x + Math.cos(a) * vit*dt/1000, + y: y + Math.sin(a) * vit*dt/1000, + a: a + } + this.sendPos(); + }.bind(this); + } + /** + * Speed ? + * + * @param {int} l + * @param {int} a Angle + * @param {int} ms + * @param {Object} callback + */ + Asserv.prototype.speed = function(l, a, ms,callback) { + this.newOrder(function() { + // this.simu.pwm(callback, l/3, l/3, ms); + for(var t = 0; t < ms; t += 1000/FPS) { + timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, t), t)); + } + timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, ms), ms)); + timeouts.push(setTimeout(callback, ms)); + }.bind(this), 0, false, ms); + }; + + /** + * Simu Pulse Width Modulation + * + * @param {int} x + * @param {int} y + * @param {int} a Angle + * @param {int} dt + */ + Asserv.prototype.simu_pwm = function(pwm, x, y, a, dt) { + return function() { + this.pos = { + x: x + Math.cos(a) * SIMU_DIST(pwm, dt/1000, this.vitesse), + y: y + Math.sin(a) * SIMU_DIST(pwm, dt/1000, this.vitesse), + a: a + } + this.sendPos(); + }.bind(this); + } + /** + * Pulse Width Modulation + * + * @param {string} left + * @param {string} right + * @param {int} ms + * @param {Object} callback + */ + Asserv.prototype.pwm = function(left, right, ms, callback) { + this.newOrder(function() { + var pwm = (left+right)/2; + for(var t = 0; t < ms; t += 1000/FPS) { + timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, t), t)); + } + timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, ms), ms)); + timeouts.push(setTimeout(callback, ms)); + }.bind(this), 0, false, ms); + }; + + /** + * Simu Go X Y + * + * @param {int} x + * @param {int} y + */ + Asserv.prototype.simu_goxy = function(x, y) { + return function() { + this.pos.x = x; + this.pos.y = y; + this.sendPos(); + }.bind(this); + } + /** + * Go X Y + * + * @param {int} x + * @param {int} y + * @param {string} sens + * @param {Object} callback + * @param {boolean} no_fifo + */ + Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo) { + + var dx = x-this.pos.x; + var dy = y-this.pos.y; + var dist = Math.sqrt(Math.pow(dx,2) + Math.pow(dy,2)); + var tf = (dist / (this.vitesse*SIMU_FACTOR_VIT))*1000; // *1000 s->ms + + angle_avant = convertA(Math.atan2(dy,dx)-this.pos.a); + angle_arriere = convertA(angle_avant+Math.PI); + + if(sens == "avant") angle_depart = angle_avant + else if(sens == "arriere") angle_depart = angle_arriere; + else if (Math.abs(angle_avant) < Math.abs(angle_arriere)) angle_depart = angle_avant; + else angle_depart = angle_arriere; + + // logger.debug("dx: ", dx); + // logger.debug("dy: ", dy); + // logger.debug("angle: ", this.pos.a); + // logger.debug("angle avant: ", angle_avant); + // logger.debug("angle arriere: ", angle_arriere); + // logger.debug("angle depart: ", angle_depart); + + this.goa(angle_depart+this.pos.a, function() { + this.newOrder(function() { + for(var t = 0; t < tf; t += 1000/FPS) { + timeouts.push(setTimeout(this.simu_goxy(this.pos.x+dx*t/tf, this.pos.y+dy*t/tf), t)); + } + timeouts.push(setTimeout(this.simu_goxy(x, y), tf)); + timeouts.push(setTimeout(callback, tf)); + }.bind(this), 0, no_fifo, tf); + }.bind(this), no_fifo); + }; + /** + * Simu Go Angle + * + * @param {int} a Angle + */ + Asserv.prototype.simu_goa = function(a) { + return function() { + this.setA(a); + this.sendPos(); + }.bind(this); + } + /** + * Simu Go Angle + * + * @param {int} a Angle + * @param {Object} callback + * @param {boolean} no_fifo + */ + Asserv.prototype.goa = function(a, callback, no_fifo){ + a = convertA(a); + da = convertA(a-this.pos.a); + // logger.debug("depart:", this.pos.a); + // logger.debug("arrivee:", a); + // logger.debug("delta:", da); + + var tf = SIMU_ROT_TIME(da, this.vitesse)*1000; // *1000 s->ms + this.newOrder(function() { + for(var t = 0; t < tf; t += 1000/FPS) { + // logger.debug(this.pos.a+da*t/tf); + timeouts.push(setTimeout(this.simu_goa(this.pos.a+da*t/tf), t)); + } + timeouts.push(setTimeout(this.simu_goa(a), tf)); + timeouts.push(setTimeout(callback, tf)); + }.bind(this), 0, no_fifo, tf); + }; + + /** + * Set P I D + * + * @param {int} p + * @param {int} i + * @param {int} d + * @param {Object} callback + */ + Asserv.prototype.setPid = function(p, i, d, callback){ + this.newOrder(callback); + }; + + return Asserv; +})(); diff --git a/clients/old_files/shared/defineParser.js b/clients/old_files/shared/defineParser.js new file mode 100644 index 0000000..f7052d7 --- /dev/null +++ b/clients/old_files/shared/defineParser.js @@ -0,0 +1,49 @@ +/** + * Define Parser module + * + * @module clients/shared/defineParser + */ + +/* Converts : + * #define VALUEA + * #define VALUEB 'b' + * #define VALUEC 42 + * In : + * { + * VALUEA : null, + * VALUEB : "b", + * VALUEC : 42 + * } + */ + + + +module.exports = (function(){ + var logger = require('log4js').getLogger('DefineParser'); + var fs = require('fs'); + + var reg = /#define[ \t]+(\S+)[ \t]+(\S+)/g; + + + return function parse(file){ + var parsed = {}; + fs.readFile(file, 'utf8', function (err,data) { + if(err) { + logger.fatal("cant read file:\""+file+"\""); + return ; + } + var nb = 0; + while( findings = reg.exec(data) ) { + try { + parsed[findings[1]] = eval(findings[2]); + } catch(e) {} + // try to evaluate calculus... + nb++; + } + logger.info("done parsing \""+file+"\" with "+nb+" defines"); + //should be quick enough + }); + return parsed; + } + +})(); \ No newline at end of file diff --git a/clients/old_files/shared/fifo.class.js b/clients/old_files/shared/fifo.class.js new file mode 100644 index 0000000..8d359f1 --- /dev/null +++ b/clients/old_files/shared/fifo.class.js @@ -0,0 +1,67 @@ +/** + * First In First Out module + * + * @module clients/shared/fifo + * @see {@link clients/shared/fifo.Fifo} + */ + +module.exports = (function () { + var logger = require('log4js').getLogger('Fifo'); + + /** + * Fifo Constructor + * + * @exports clients/shared/fifo.Fifo + * @constructor + */ + function Fifo() { + this.clean(); + } + + /** + * Clean + */ + Fifo.prototype.clean = function(callback) { + /** fifo */ + this.fifo = []; + /** @type {boolean} */ + this.order_in_progress = false; + } + + /** + * Order finished + */ + Fifo.prototype.orderFinished = function() { + this.order_in_progress = false; + this.nextOrder(); + } + + /** + * New Order + * + * @param {Object} callback + * @param {string} [name] + */ + Fifo.prototype.newOrder = function(callback, name) { + if (name === undefined) + name = ""; + this.fifo.push({callback: callback, name: name}); + this.nextOrder(); + } + + /** + * Next Order + */ + Fifo.prototype.nextOrder = function() { + if(!this.order_in_progress && this.fifo.length > 0) { + // logger.debug(this.fifo.length); + this.order_in_progress = true; + object = this.fifo.shift(); + // logger.debug("Calling : "+object.name); + object.callback(); + } + } + + + return Fifo; +})(); diff --git a/clients/old_files/shared/genericRobotClient.class.js b/clients/old_files/shared/genericRobotClient.class.js new file mode 100644 index 0000000..47d099d --- /dev/null +++ b/clients/old_files/shared/genericRobotClient.class.js @@ -0,0 +1,81 @@ +module.exports = (function () { + "use strict"; + + function GenericRobotClient(robotName) { + // Requires + + this.logger = require('log4js').getLogger(robotName); + + // logger.info("Started NodeJS client with pid " + process.pid); + + + this.SocketClient = require('../../server/socket_client.class.js'); + this.server = require('../../config.js').server; + + this.client = new SocketClient({ + server_ip: server; + type: robotName; + }); + + sendChildren(lastStatus); + + this.acts = new (require('./actuators.class.js'))(client, sendChildren); + this.detect = null; + + this.queue = []; + this.orderInProgress = false; + + start(); + + // On message + this.client.order(function (from, name, params){ + switch (name){ + case "collision": + this.queue = []; + this.acts.clean(); + this.orderInProgress = false; + break; + case "stop": + this.acts.clean(); + this.logger.fatal("Stop Robot"); + process.exit(); + break; + + // useless // + case "start": + this.queue = []; + start(); + break; + default: + addOrder2Queue(from, name, params); + } + }); + } + + /** + * Start the Robot + */ + GenericRobotClient.prototype.start = function(){ + this.logger.info("Starting :)"); + sendChildren({ + status: "starting", + children:[] + }); + this.detect = new (require('./detect.class.js'))(devicesDetected); + } + + /** + * Stops the robot + */ + GenericRobotClient.prototype.stop = function(){ + this.acts.quit(); + + // Send struct to server + sendChildren({ + status: "waiting", + children:[] + }); + } + + return GenericRobotClient; +})(); \ No newline at end of file diff --git a/clients/old_files/shared/test.js b/clients/old_files/shared/test.js new file mode 100644 index 0000000..a74dff0 --- /dev/null +++ b/clients/old_files/shared/test.js @@ -0,0 +1,12 @@ + + + +var defineParser = require("./defineParser.js"); +console.log(defineParser); + +var commands = defineParser("./arduino/asserv/protocol.h"); + + +setTimeout(function(){ + console.log(commands); +}, 200); \ No newline at end of file From dc6d9e8c61d2d6d66e757ee155b9a3cc3e0be34b Mon Sep 17 00:00:00 2001 From: Mamal Date: Sat, 1 Apr 2017 18:44:04 +0200 Subject: [PATCH 10/74] Removing all the duplicated files --- clients/gr/actuators.class.js | 177 -------- clients/gr/detect.class.js | 59 --- clients/gr/main.js | 199 --------- clients/gr/servos.class.js | 93 ----- clients/gr/servos.simu.class.js | 41 -- clients/pr/actuators.class.js | 605 ---------------------------- clients/pr/ax12.class.js | 237 ----------- clients/pr/ax12.simu.class.js | 84 ---- clients/pr/detect.class.js | 93 ----- clients/pr/elevator.class.js | 123 ------ clients/pr/main.js | 184 --------- clients/pr/others.class.js | 313 -------------- clients/pr/others.simu.class.js | 194 --------- clients/shared/asserv.class.js | 437 -------------------- clients/shared/asserv.simu.class.js | 359 ----------------- clients/shared/defineParser.js | 49 --- clients/shared/fifo.class.js | 67 --- clients/shared/test.js | 12 - 18 files changed, 3326 deletions(-) delete mode 100644 clients/gr/actuators.class.js delete mode 100644 clients/gr/detect.class.js delete mode 100644 clients/gr/main.js delete mode 100644 clients/gr/servos.class.js delete mode 100644 clients/gr/servos.simu.class.js delete mode 100644 clients/pr/actuators.class.js delete mode 100644 clients/pr/ax12.class.js delete mode 100644 clients/pr/ax12.simu.class.js delete mode 100644 clients/pr/detect.class.js delete mode 100644 clients/pr/elevator.class.js delete mode 100644 clients/pr/main.js delete mode 100644 clients/pr/others.class.js delete mode 100644 clients/pr/others.simu.class.js delete mode 100644 clients/shared/asserv.class.js delete mode 100644 clients/shared/asserv.simu.class.js delete mode 100644 clients/shared/defineParser.js delete mode 100644 clients/shared/fifo.class.js delete mode 100644 clients/shared/test.js diff --git a/clients/gr/actuators.class.js b/clients/gr/actuators.class.js deleted file mode 100644 index 13d64e1..0000000 --- a/clients/gr/actuators.class.js +++ /dev/null @@ -1,177 +0,0 @@ -/** - * Actuators module - * - * @module clients/gr/actuators - * @requires module:clients/shared/fifo - * @requires module:clients/gr/servos - * @requires module:clients/gr/servos-simu - * @requires module:clients/shared/asserv - * @requires module:clients/shared/asserv-simu - * @see {@link clients/gr/actuators.Acts} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('gr.acts'); - /** @type {Object} */ - var SerialPort = require("serialport"); - /** @type {clients/shared/fifo.Fifo} */ - var fifo = new (require('../shared/fifo.class.js'))(); - - /** @type {clients/gr/servos.Servos} */ - var servos = null; - /** @type {clients/gr/asserv.Asserv} */ - var asserv = null; - var date = new Date(); - /** @type {int} */ - var lastSendStatus = date.getTime(); - - /** - * Acts Constructor - * - * @exports clients/gr/actuators.Acts - * @constructor - * @param {Object} client - * @param {Object} sendChildren - */ - function Acts(client, sendChildren) { - /** @type {Object} */ - this.client = client; - /** @type {Object} */ - this.sendChildren = sendChildren; - this.start(); - } - - /** - * Starts (nothing ?) - */ - Acts.prototype.start = function(){ - - }; - - /** - * Cleans fifo and asserv - */ - Acts.prototype.clean = function(){ - fifo.clean(); // A priori déjà vide - asserv.clean(); - }; - - /** - * Connect to the servos - * - * @param {Object} [struct] - */ - Acts.prototype.connectTo = function(struct){ - if (!struct.servos) { - logger.fatal("Lancement des servos gr en mode simu !"); - servos = new (require('./servos.simu.class.js'))(); - } else { - servos = new (require('./servos.class.js'))(struct.servos, this.sendStatus); - } - if (!struct.asserv) { - logger.fatal("Lancement de l'asserv gr en mode simu !"); - asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'gr', fifo); - } else { - asserv = new (require('../shared/asserv.class.js'))( - new SerialPort(struct.asserv, { - baudrate: 57600, - parser:SerialPort.parsers.readline('\n') - }), this.client, 'gr', this.sendStatus, fifo - ); - } - }; - - /** - * Sends Status - */ - Acts.prototype.sendStatus = function() { - if(lastSendStatus < date.getTime()-1000){ - this.sendChildren(this.getStatus); - lastSendStatus = date.getTime(); - } - }; - - /** - * Gets the status - */ - Acts.prototype.getStatus = function(){ - var data = { - "status": "", - "children": [] - }; - - data.status = "everythingIsAwesome"; - - if(servos && servos.ready){ - data.children.push("Arduino servos"); - }else - data.status = "ok"; - - if(asserv && asserv.ready){ - data.children.push("Arduino asserv"); - }else - data.status = "error"; - - return data; - }; - - /** - * Tries to quit - */ - Acts.prototype.quit = function(){ - if (!!servos && servos.ready) - servos.disconnect(); - if (!!asserv && asserv.ready) - asserv.disconnect(); - }; - - /** - * Order switch - * - * @param {string} from - * @param {string} name - * @param {Object} params - * @param {Object} callback - */ - Acts.prototype.orderHandler = function (from, name, params, callback) { - // logger.info("Just received an order `" + name + "` from " + from + " with params :"); - logger.info(name, params); - - switch (name){ - // Others - case "acheter": - servos.acheter(callback); - break; - case "vendre": - servos.vendre(callback); - break; - // Asserv - case "pwm": - asserv.pwm(params.left, params.right, params.ms,callback); - break; - case "setvit": - asserv.setVitesse(params.v, params.r, callback); - break; - case "clean": - asserv.clean(callback); - break; - case "goa": - asserv.goa(params.a,callback); - break; - case "goxy": - asserv.goxy(params.x, params.y, "avant",callback); - break; - case "setpos": - asserv.setPos(params,callback); - break; - case "setpid": - asserv.setPid(params.p, params.i, params.d,callback); - break; - default: - logger.warn("Order name " + name + " " + from + " not understood"); - callback(); - } - }; - - return Acts; -})(); diff --git a/clients/gr/detect.class.js b/clients/gr/detect.class.js deleted file mode 100644 index c31e617..0000000 --- a/clients/gr/detect.class.js +++ /dev/null @@ -1,59 +0,0 @@ -/** - * Detect module - * - * @module clients/gr/detect - * @see {@link clients/gr/detect.Detect} - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('pr.detect'); - var serialPort = require("serialport"); - - var sp = []; - - /** - * Detect constructor - * - * @exports clients/gr/detect.Detect - * @constructor - * @param {Object} callback - */ - function Detect(callback) { - /** @type {Object} */ - this.devicesFound = { - asserv: null, - servos: null - }; - /** @type {Object} */ - this.callback = callback; - this.searchArduinos(); - } - - /** - * Send SP - */ - Detect.prototype.sendSP = function (){ - // Sent to acts - this.callback(this.devicesFound); - }; - - /** - * Searches Arduino - */ - Detect.prototype.searchArduinos = function() { - // On check tous les ports disponibles - serialPort.list(function (err, ports) { - for(var i in ports) { - if(ports[i].comName.indexOf('ttyUSB') >= 0) { - this.devicesFound.servos = ports[i].comName; - } else if(ports[i].comName.indexOf('ttyACM') >= 0) { - this.devicesFound.asserv = ports[i].comName; - } - } - this.sendSP(); - }.bind(this)); - }; - - return Detect; -})(); \ No newline at end of file diff --git a/clients/gr/main.js b/clients/gr/main.js deleted file mode 100644 index fb42e1c..0000000 --- a/clients/gr/main.js +++ /dev/null @@ -1,199 +0,0 @@ -/** - * Main module - * - * @module clients/gr/main - * @requires server/socket_client - * @requires config - * @requires clients/gr/actuators - * @requires clients/gr/detect - */ - -(function () { - "use strict"; - // Requires - var log4js = require('log4js'); - var logger = log4js.getLogger('gr'); - - // logger.info("Started NodeJS client with pid " + process.pid); - - var SocketClient = require('../../server/socket_client.class.js'); - var server = require('../../config.js').server; - /** @type {server/socket_client.SocketClient} */ - var client = new SocketClient({ - server_ip: server, - type: "gr" - }); - - /** @type {Object} */ - var lastStatus = { - "status": "waiting" - }; - sendChildren(lastStatus); - - /** @type {clients/gr/actuators.Acts} */ - var acts = new (require('./actuators.class.js'))(client, sendChildren); - /** @type {clients/gr/detect.Detect} */ - var detect = null; // new (require('./detect.class.js'))(devicesDetected); - - var queue = []; - var orderInProgress = null; - - start(); - - // On message - client.order(function (from, name, params){ - // logger.info("Recieved an order "+name); - switch (name){ - case "collision": - queue = []; - acts.clean(); - orderInProgress = false; - break; - case "stop": - acts.clean(); - logger.fatal("Stop GR"); - process.exit(); - break; - - // useless // - case "start": - queue = []; - start(); - break; - default: - addOrder2Queue(from, name, params); - } - }); - - /** - * Starts the GR - */ - function start(){ - logger.info("Starting :)"); - sendChildren({ - status: "starting", - children:[] - }); - detect = new (require('./detect.class.js'))(devicesDetected); - } - - /** - * Stops the robot - */ - function stop(){ - acts.quit(); - - // Send struct to server - sendChildren({ - status: "waiting", - children:[] - }); - } - - /** - * Devices detected - * - * @param {Object} struct - */ - function devicesDetected(struct){ - // Verify content - if (!struct.servos) - logger.warn("Missing servos Nano"); - if (!struct.asserv) - logger.warn("Missing asserv Nano"); - - // Connect to what's detected - acts.connectTo(struct); - - // Send struct to server - sendChildren(acts.getStatus()); - } - - /** - * Sends status to server - * - * @param {Object} status - */ - function sendChildren(status){ - lastStatus = status; - - client.send("server", "server.childrenUpdate", lastStatus); - } - - /** - * Looks if everything is Ok - */ - function isOk(){ - if(lastStatus.status != "waiting") - lastStatus = acts.getStatus(); - - client.send("ia", "isOkAnswer", lastStatus); - client.send("server", "server.childrenUpdate", lastStatus); - } - - /** - * Push the order (enfiler) - * - * @param {string} f from - * @param {string} n name - * @param {Object} p parameters - */ - function addOrder2Queue(f, n, p){ - if(queue.length < 50) { - // Adds the order to the queue - queue.push({ - from: f, - name: n, - params: p - }); - // logger.info("Order added to queue ! : "); - // logger.info(queue); - executeNextOrder(); - } - } - - /** - * Execute order - */ - function executeNextOrder(){ - if ((queue.length > 0) && (!orderInProgress)){ - var order = queue.shift(); - orderInProgress = order.name; - - logger.info("Going to do '" + orderInProgress + "' "+order.params.toString()); - acts.orderHandler(order.from, order.name, order.params, actionFinished); - - executeNextOrder(); - } - } - - /** - * Launch the next order - */ - function actionFinished(){ - logger.info(orderInProgress + " just finished !"); - - orderInProgress = false; - executeNextOrder(); - } - - /** - * Tries to exit - * - * @todo do something when app is closing - */ - function quit () { - logger.info("Please wait while exiting..."); - // acts.quit(); - process.exit(0); - } - - - // Exiting : - //do something when app is closing - //process.on('exit', quit); - // catches ctrl+c event - //process.on('SIGINT', quit); - // //catches uncaught exceptions - // process.on('uncaughtException', quit); -})(); diff --git a/clients/gr/servos.class.js b/clients/gr/servos.class.js deleted file mode 100644 index 4d3f98e..0000000 --- a/clients/gr/servos.class.js +++ /dev/null @@ -1,93 +0,0 @@ -/** - * Servos module - * - * @module clients/gr/servos - * @see {@link clients/gr/servos.Servos} - * @see module:clients/gr/servos-simu - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('gr.servos'); - var five = require("johnny-five"); - /** @type {Object} */ - var board = null; - /** @type {Object} */ - var servo_gauche, servo_droit; - - /** - * Servos Constructors - * - * @exports clients/gr/servos.Servos - * @constructor - * @param {string} sp Server port - * @param {Object} sendStatus - */ - function Servos(sp, sendStatus) { - /** @type {boolean} */ - this.ready = false; - /** @type {Object} */ - this.sendStatus = sendStatus; - this.connect(sp); - } - - /** - * Connect - * - * @param {string} sp Server port - */ - Servos.prototype.connect = function(sp) { - board = new five.Board({ - port: sp, - repl: false - }); - - board.on("ready", function() { - logger.info("Board servos Ready"); - servo_gauche = new five.Servo(2); - servo_droit = new five.Servo(3); - this.ready = true; - this.sendStatus(); - this.acheter(); - }.bind(this)); - }; - - /** - * Acheter - * - * @param {Object} callback - */ - Servos.prototype.acheter = function(callback) { - servo_gauche.to(170); - servo_droit.to(0); - setTimeout(callback, 500); - }; - /** - * Vendre - * - * @param {Object} callback - */ - Servos.prototype.vendre = function(callback) { - servo_gauche.to(50); - servo_droit.to(120); - setTimeout(function(){ // remontée lente - servo_gauche.to(100, 1000); - servo_droit.to(70, 1000); - }, 500); - setTimeout(function(){ - servo_gauche.to(50); - servo_droit.to(120); - }, 2000); - setTimeout(function(){ // remontée lente - servo_gauche.to(100, 1000); - servo_droit.to(70, 1000); - }, 2500); - setTimeout(function(){ - servo_gauche.to(50); - servo_droit.to(120); - }, 4000); - setTimeout(callback, 6000); - }; - - return Servos; -})(); \ No newline at end of file diff --git a/clients/gr/servos.simu.class.js b/clients/gr/servos.simu.class.js deleted file mode 100644 index 6afd4f6..0000000 --- a/clients/gr/servos.simu.class.js +++ /dev/null @@ -1,41 +0,0 @@ -/** - * Servos Simulator module - * - * @module clients/gr/servos-simu - * @see clients/gr/servos-simu.Servos - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('gr.servos'); - - /** - * Servos constructor - * - * @exports clients/gr/servos-simu.Servos - * @constructor - * @param {Object} sp - */ - function Servos(sp) { - - } - - /** - * Acheter - * - * @param {Object} callback - */ - Servos.prototype.acheter = function(callback) { - setTimeout(callback, 500); - }; - /** - * Vendre - * - * @param {Object} callback - */ - Servos.prototype.vendre = function(callback) { - setTimeout(callback, 500); - }; - - return Servos; -})(); \ No newline at end of file diff --git a/clients/pr/actuators.class.js b/clients/pr/actuators.class.js deleted file mode 100644 index 1a45ee8..0000000 --- a/clients/pr/actuators.class.js +++ /dev/null @@ -1,605 +0,0 @@ -/** - * Actuators module - * - * @module clients/pr/actuators - * @requires clients/shared/fifo - * @see {@link clients/pr/actuators.Acts} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('pr.acts'); - var SerialPort = require("serialport"); - var spawn = require('child_process').spawn; - /** @type {clients/shared/fifo.Fifo} */ - var fifo = new (require('../shared/fifo.class.js'))(); - - var others = null; - var asserv = null; - var ax12 = null; - var date = new Date(); - /** @type {int} */ - var lastSendStatus = date.getTime(); - - /** - * Acts Constructor - * - * @exports clients/pr/actuators.Acts - * @constructor - * @param {Object} client - * @param {Object} sendChildren - */ - function Acts(client, sendChildren) { - /** @type {Object} */ - this.client = client; - /** @type {Object} */ - this.sendChildren = sendChildren; - this.start(); - /** @type {int} */ - this.nb_plots = 0; - /** @type {boolean} */ - this.new_has_ball = false; - /** @type {boolean} */ - this.has_gobelet = false; - } - - /** - * Starts (nothing ?) - */ - Acts.prototype.start = function(){ - - }; - - /** - * Cleans all - */ - Acts.prototype.clean = function(){ - fifo.clean(); // A priori déjà vide - asserv.clean(); - ax12.ouvrir(); - others.ouvrirStabilisateurGrand(); - others.ouvrirBloqueurGrand(); - }; - - /** - * Connect to - * - * @param {Object} struct - */ - Acts.prototype.connectTo = function(struct){ - if (!struct.others) { - logger.fatal("Lancement de others pr en mode simu !"); - others = new (require('./others.simu.class.js'))(fifo); - } else { - others = new (require('./others.class.js'))( - new SerialPort(struct.others, { baudrate: 57600 }), - this.sendStatus, - fifo - ); - } - - if (!struct.asserv) { - logger.fatal("Lancement de l'asserv pr en mode simu !"); - asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'pr', fifo); - } else { - asserv = new (require('../shared/asserv.class.js'))( - new SerialPort(struct.asserv, { - baudrate: 57600, - parser:SerialPort.parsers.readline('\n') - }), this.client, 'pr', this.sendStatus, fifo - ); - } - - if (!struct.ax12) { - logger.fatal("Lancement de l'usb2ax pr en mode simu !"); - ax12 = new (require('./ax12.simu.class.js'))(fifo); - } else { - ax12 = new (require('./ax12.class.js'))(struct.ax12, this.sendStatus, fifo); - } - - // Initialisation - setTimeout(function() { - others.ouvrirStabilisateurGrand(); - others.lacherGobelet(); - others.ouvrirBloqueurGrand(); - others.descendreAscenseur(); - ax12.ouvrir(function() { - logger.fatal('BAZOOKA'); - }); - }, 1000); - }; - - /** - * Send status - */ - Acts.prototype.sendStatus = function() { - if(lastSendStatus < date.getTime()-1000){ - this.sendChildren(this.getStatus); - lastSendStatus = date.getTime(); - } - }; - - /** - * Get Status - */ - Acts.prototype.getStatus = function(){ - var data = { - "status": "", - "children": [] - }; - - data.status = "everythingIsAwesome"; - - if(others && !!others.ready) - data.children.push("Arduino others"); - else - data.status = "ok"; - - if(ax12 && !!ax12.ready) - data.children.push("USB2AX"); - else - data.status = "ok"; - - if(asserv && !!asserv.ready) - data.children.push("Arduino asserv"); - else - data.status = "error"; - - return data; - }; - - /** - * Quit - */ - Acts.prototype.quit = function(){ - if (ax12 && ax12.ready) - ax12.disconnect(); - }; - - /** - * fake - */ - function fake() {} - Acts.prototype.delay = function(ms, callback){ - fifo.newOrder(function() { - setTimeout(function() { - if(callback !== undefined) - callback(); - fifo.orderFinished(); - }, ms); - }, 'delay'); - } - - /** - * Prendre plot - * - * @param {Object} [callback] - * @param {int} [monter] - */ - Acts.prototype.prendre_plot = function(callback, monter){ - if(callback === undefined) { - callback = function() {}; - } - if (monter === undefined) { - monter = 1; - } - var that = this; - if (that.new_has_ball) { - that.new_has_ball = false; - others.descendreUnPeuAscenseur(); - ax12.ouvrir(); - others.descendreAscenseur(); - that.prendre_plot(callback); - } - else if (that.nb_plots>=3 || !monter){ - ax12.ouvrir(); - others.fermerStabilisateur(); - ax12.fermer(); - others.monterUnPeuAscenseur(function() { - that.client.send('ia', 'pr.plot++'); - callback(); - }); - others.ouvrirBloqueurMoyen(); - others.fermerBloqueur(); - } - else if (that.nb_plots==0) { - ax12.ouvrir(); - others.ouvrirBloqueurMoyen(); - ax12.fermer(); - others.monterAscenseur(function() { - that.client.send('ia', 'pr.plot++'); - setTimeout(callback, 200); - }); - others.fermerBloqueur(); - ax12.ouvrir(); - others.ouvrirStabilisateurMoyen(function() {}, 0); - others.descendreAscenseur(); - } - else if(that.nb_plots==1){ - ax12.ouvrir(); - others.ouvrirStabilisateurMoyen(); - ax12.fermer(); - others.ouvrirBloqueurMoyen(); - others.monterAscenseur(function() { - that.client.send('ia', 'pr.plot++'); - setTimeout(callback, 200); - }); - others.fermerBloqueur(); - ax12.ouvrir(function() {}); - others.descendreAscenseur(); - } - else { - ax12.ouvrir(); - others.ouvrirStabilisateurMoyen(); - ax12.fermer(); - others.ouvrirBloqueurMoyen(); - others.monterAscenseur(function() { - that.client.send('ia', 'pr.plot++'); - setTimeout(callback, 200); - }); - others.fermerStabilisateur(fake,0); - others.fermerBloqueur(); - ax12.ouvrir(function() {}); - others.descendreAscenseur(); - } - that.nb_plots++; - } - - /** - * Pousser plot - * - * @param {Object} [callback] - */ - Acts.prototype.pousser_plot = function(callback){ - if(callback === undefined) { - callback = function() {}; - } - ax12.ouvrir(); - asserv.goxy(1150, 200, "avant"); - asserv.goxy(1100, 250, "arriere", callback); - } - - /** - * Prendre plot - * - * @param {Object} [callback] - */ - Acts.prototype.prendre_plot2 = function(callback){ - if(callback === undefined) { - callback = function() {}; - } - var that = this; - asserv.speed(300, 0, 750); - if (that.new_has_ball) { - that.new_has_ball = false; - others.descendreUnPeuAscenseur(); - ax12.ouvrir(); - others.descendreAscenseur(); - that.prendre_plot(callback); - } - else { - - ax12.ouvrir(); - ax12.fermer(); - others.monterUnPeuAscenseur(function() { - that.client.send('ia', 'pr.plot++'); - callback(); - }); - } - - that.nb_plots++; - } - - /** - * Monter plot 2 - * - * @param {Object} [callback] - */ - Acts.prototype.monter_plot2 = function(callback){ - if(callback === undefined) { - callback = function() {}; - } - var that = this; - - callback(); - if (that.nb_plots == 1) { - others.ouvrirBloqueurMoyen(); - others.monterAscenseur(); - others.fermerBloqueur(); - others.fermerStabilisateur(); - ax12.ouvrir(); - others.descendreAscenseur(); - } else { - others.ouvrirStabilisateurMoyen(); - others.ouvrirBloqueurMoyen(); - others.monterAscenseur(); - others.fermerBloqueur(); - others.fermerStabilisateur(); - ax12.ouvrir(); - others.descendreAscenseur(); - } - } - - /** - * Order switch - * - * @param {string} from - * @param {string} name - * @param {Object} params - * @param {Object} callback - */ - Acts.prototype.orderHandler = function (from, name, params, callback) { - // logger.info("Just received an order `" + name + "` from " + from + " with params :"); - // logger.info(params); - var that = this; - /** @todo : add a callback parameter to all functions (and call it) */ - switch (name){ - // others - case "placer": - asserv.setPid(0.25, 130, 13); - asserv.goxy(500, 940); - asserv.goa(-0.62); - this.orderHandler('ia','fermer_tout', {}, callback); - break; - case "prendre_plot": - this.prendre_plot(callback); - break; - case "pousser_plot": - this.pousser_plot(callback); - break; - case "prendre_plot2": - this.prendre_plot2(callback); - break; - case "monter_plot2": - this.monter_plot2(callback); - break; - case "reset_nb_plots": - this.nb_plots = 0; - callback(); - break; - case "prendre_plot_rear_left": - asserv.goxy(160, 1800, "avant"); - that.prendre_plot(undefined, 0); - asserv.goxy(270, 1800, "arriere", callback); - break; - case "prendre_plot_rear_left_calage": - asserv.goxy(250, 1450, "arriere"); - asserv.goa(1.5708); - asserv.pwm(-70, -70, 1500); - asserv.calageY(1288, 1.5708); - asserv.goxy(250, 1450, 500); - asserv.goa(0); - asserv.pwm(-70, -70, 1500); - asserv.calageX(65, 0); - asserv.goxy(120, 1450, "avant"); - asserv.goxy(120, 1790, "avant"); - that.prendre_plot(); - asserv.goa(-1); - asserv.speed(500, 0, 750, callback); - break; - case "prendre_gobelet_et_2_plots_front": - others.lacherGobelet(fake,0); - asserv.goxy(275, 260, "arriere"); - others.prendreGobelet(function() { - that.has_gobelet = true; - that.client.send('ia', 'pr.gobelet1'); - }); - asserv.speed(500, 0, 500); - asserv.goxy(165, 270, "avant"); //100 au lieu de 90 pos plot - that.prendre_plot(undefined, 1); - //asserv.speed(-300, -300, 600); - asserv.goxy(285, 310, "arriere"); - asserv.goxy(155, 180, "avant"); - that.prendre_plot(callback); - break; - - case "deposer_pile_left_2": - asserv.goxy(650, 1000, "avant"); - others.descendreAscenseur(); - ax12.ouvrir(); - others.ouvrirBloqueurMoyen(fake,0); - others.ouvrirStabilisateurMoyen(); - that.delay(500); - others.ouvrirBloqueurGrand(fake,0); - others.ouvrirStabilisateurGrand(function() { - that.nb_plots = 0; - that.client.send('ia', 'pr.plot0'); - }); - asserv.speed(-300, 0, 1000); - break; - - case "recalage_stairs": - asserv.goxy(250, 1450, "arriere"); - asserv.goa(1.5708); - asserv.pwm(-80, -80, 1500); - asserv.calageY(1288, 1.5708); - asserv.goxy(250, 1450, 500); - asserv.goa(0); - asserv.pwm(-80, -80, 1500); - asserv.calageY(65, 0); - asserv.goxy(120, 1450, "avant"); - break; - - case "prendre_2_plots_stairs": - asserv.goxy(800, 1740, "avant"); - that.prendre_plot(undefined, 1); - that.delay(1000); - asserv.goxy(830, 1850, "avant"); - that.prendre_plot(undefined, 0); - asserv.speed(-300, 0, 1000, callback); - break; - - case "prendre_gobelet": - others.lacherGobelet(fake,0); - asserv.speed(-300, 0, 500); - others.prendreGobelet(function() { - that.client.send('ia', 'pr.gobelet1'); - that.has_gobelet = true; - callback(); - }); - break; - - case "deposer_pile_et_gobelet": - asserv.goxy(250, 1000, "avant"); - others.descendreUnPeuAscenseur(); - ax12.ouvrir(); - others.ouvrirBloqueurMoyen(fake,0); - others.ouvrirStabilisateurMoyen(); - that.delay(500); - others.ouvrirBloqueurGrand(fake,0); - others.ouvrirStabilisateurGrand(function() { - that.nb_plots = 0; - that.client.send('ia', 'pr.plot0'); - }); - asserv.speed(-300, 0, 1000); - asserv.goa(0); - others.lacherGobelet(function() { - that.client.send('ia', 'pr.gobelet0'); - }); - that.delay(300); - asserv.speed(300, 0, 750, callback); - others.ouvrirStabilisateurMoyen(fake,0); - others.ouvrirBloqueurMoyen(fake,0); - others.descendreAscenseur(); - break; - - case "deposer_pile_gobelet_prendre_balle_gauche": - asserv.goxy(300, 1000, "avant"); - //asserv.goa(-2.3562); - others.descendreUnPeuAscenseur(); - ax12.ouvrir(); - others.ouvrirBloqueurGrand(fake,0); - others.ouvrirStabilisateurMoyen(); - that.delay(500); - others.ouvrirStabilisateurGrand(); - asserv.speed(-300, 0, 1000); - asserv.goa(0); - others.lacherGobelet(); - that.delay(300); - asserv.speed(300, 0, 750); - /*asserv.goxy(700, 1300, "arriere", function() { - that.client.send('ia', 'data.add_dynamic', {pos:{x:450, y:880}, d:8}); - }); - others.ouvrirBloqueurMoyen(fake,0); - others.ouvrirStabilisateurMoyen(fake,0); - others.monterMoyenAscenseur(); - - asserv.goxy(260, 1050, "osef"); - asserv.goa(3.1416/2); - asserv.pwm(50, 50, 1500); - asserv.calageY(1126, 3.1416/2); - asserv.goxy(260, 1000, "arriere"); - asserv.goa(3.1416); - - asserv.goxy(200, 1000, "avant"); - asserv.goa(3.1416); - asserv.pwm(50, 50, 1500); - asserv.calageX(145, 3.1416); - ax12.fermerBalle(); - asserv.goxy(260, 1000, "arriere"); - others.descendreMoyenAscenseur(); - ax12.fermerBalle2(); - asserv.goxy(260, 1000, "arriere"); - others.monterAscenseur(); - asserv.goxy(330, 1000, "avant"); - asserv.goa(0.1863); - others.lacherGobelet(); - that.delay(100); - that.new_has_ball = true; - that.client.send('ia', 'pr.plot0'); - that.client.send('ia', 'pr.gobelet0'); - that.nb_plots = 0; - that.has_gobelet = false; - asserv.goxy(600, 1050, "avant", callback);*/ - break; - - case "deposer_gobelet": - asserv.goa(3.1416); - that.delay(100); - others.lacherGobelet(); - that.client.send('ia', 'pr.gobelet0'); - asserv.speed(500, 0, 800, callback); - break; - - case "fermer_tout": - others.lacherGobelet(); - others.fermerBloqueur(); - others.descendreAscenseur(); - others.rangerClap(); - others.fermerStabilisateur(); - ax12.fermer(callback); - break; - case "ouvrir_ax12": - ax12.ouvrir(callback); - break; - case "monter_ascenseur": - others.monterAscenseur(callback); - break; - case "clap_1": - others.sortirClap(); - asserv.goxy(330, 140, "osef", function() { - callback(); - others.rangerClap(); - }); - break; - case "clap_3": - others.sortirClap(); - asserv.goxy(1000, 140, "osef", function() { - callback(); - others.rangerClap(); - }); - break; - case "clap_5": - others.sortirClap(); - asserv.goxy(2300, 140, "osef", function() { - callback(); - others.rangerClap(); - }); - break; - - // Asserv - case "pwm": - asserv.pwm(params.left, params.right, params.ms, callback); - break; - case "setvit": - asserv.setVitesse(params.v, params.r, callback); - break; - case "clean": - asserv.clean(callback); - break; - case "goa": - asserv.goa(params.a, callback, true); - break; - case "goxy": - asserv.goxy(params.x, params.y, params.sens, callback, true); - break; - case "setpos": - asserv.setPos(params, callback); - break; - case "setacc": - asserv.setAcc(params.acc, callback); - break; - case "setpid": - asserv.setPid(params.p, params.i, params.d, callback); - break; - case "sync_git": - spawn('/root/sync_git.sh', [], { - detached: true - }); - break; - - - // Debug - case "AX12_close": - ax12.fermer(callback); - break; - case "AX12_open": - ax12.ouvrir(callback); - break; - default: - logger.warn("Order name " + name + " " + from + " not understood"); - callback(); - } - }; - - return Acts; -})(); diff --git a/clients/pr/ax12.class.js b/clients/pr/ax12.class.js deleted file mode 100644 index e65a963..0000000 --- a/clients/pr/ax12.class.js +++ /dev/null @@ -1,237 +0,0 @@ -/** - * AX12 module - * - * @module clients/pr/ax12 - * @see clients/pr/ax12.Ax12 - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('pr.ax12'); - var ffi = require('ffi'); - var libusb2ax = ffi.Library('./libs/dynamixel/lib/libusb2ax', { - 'dxl_initialize': ['int', ['int', 'int']], - 'dxl_write_word': ['void', ['int', 'int', 'int']], - 'dxl_read_word': ['int', ['int', 'int']], - 'dxl_terminate': ['void', ['void']], - 'dxl_get_result': ['int', ['void']] - }); - - // Constants - var AX12_COUPLE = 800; - var P_GOAL_POSITION_L = 30; - var P_POSITION = 36; - var P_SPEED = 0x26; - var P_COUPLE = 34; - var MARGE_POS = 80; - var MARGE_POS_MVT = 5; - var ax12s = { - '2':{ - id: 2, - obj: 0, pos: 0, arrived: false - }, - '3':{ - id: 3, - obj: 0, pos: 0, arrived: false - } - }; - - /** - * Ax12 Constructor - * - * @exports clients/pr/ax12.Ax12 - * @constructor - * @param {string} sp Serial Port NAME - * @param {Object} sendStatus - * @param {clients/shared/fifo.Fifo} fifo - */ - function Ax12(sp, sendStatus, fifo) { - /** @type {boolean} */ - this.ready = false; - /** @type {Object} */ - this.sendStatus = sendStatus; - /** @type {Object} */ - this.orders_sent = []; - /** @type {clients/shared/fifo.Fifo} */ - this.fifo = fifo; - - this.connect(sp); - } - - - // ====== General actions ====== - - POS_OPENED = 40; - POS_CLOSED = 10; - POS_BALL_1 = 0; - POS_BALL_2 = 0; - - - /** - * Connect - * - * @param {string} sp Serial Port NAME - */ - Ax12.prototype.connect = function(sp) { - if(libusb2ax.dxl_initialize(sp.substring("/dev/ttyACM".length), 1) <= 0) { - logger.error("Impossible de se connecter à l'USB2AX"); - } else { - logger.info("Connecté à l'USB2AX !"); - } - this.ready = true; - this.sendStatus(); - /** @type {array} */ - this.ax12s = {}; - /** @type {Object} */ - this.type_callback = null; - - libusb2ax.dxl_write_word(2, P_COUPLE, 400); - libusb2ax.dxl_write_word(3, P_COUPLE, 400); - - this.ouvrir(); - this.loopAX12(); - }; - - /** - * Disconnect - * - * @param {} x - */ - Ax12.prototype.disconnect = function(x) { - this.ready = false; - this.sendStatus(); - }; - - /** - * Loop AX12 - */ - Ax12.prototype.loopAX12 = function() { - var speed; - for(var i in ax12s) { - // S'il n'est pas à la bonne position - ax12s[i].pos = libusb2ax.dxl_read_word(ax12s[i].id, P_POSITION); - speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED); - - if (!ax12s[i].started) { - libusb2ax.dxl_write_word(ax12s[i].id, P_COUPLE, AX12_COUPLE); - libusb2ax.dxl_write_word(ax12s[i].id, P_GOAL_POSITION_L, ax12s[i].obj); - if (Math.abs(speed) > MARGE_POS_MVT) { - ax12s[i].started = true; - } - } else { - speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED); - if (Math.abs(speed) < MARGE_POS_MVT) { - ax12s[i].arrived = true; - } - } - if(Math.abs(ax12s[i].pos - ax12s[i].obj) < MARGE_POS) { - ax12s[i].arrived = true; - } - } - // logger.debug(ax12s['2'].pos + ' ; ' + ax12s['3'].pos); - if(ax12s['2'].started && ax12s['3'].started && this.type_callback == "ouvrir" || - ax12s['2'].arrived && ax12s['3'].arrived && this.type_callback) { - this.type_callback = null; - this.callback(); - this.fifo.orderFinished(); - } - - setTimeout(function() { this.loopAX12(); }.bind(this), 50); - }; - - /** - * Deg to AX12 - * - * @param {int} deg - */ - Ax12.prototype.degToAx12 = function(deg) { - return parseInt((deg+150)*1024/300); - }; - - /** - * Ouvrir - * - * @param {Object} [callback] - */ - Ax12.prototype.ouvrir = function(callback) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - ax12s['2'].obj = this.degToAx12(0); - ax12s['3'].obj = this.degToAx12(0); - ax12s['2'].arrived = false; - ax12s['2'].started = false; - ax12s['3'].arrived = false; - ax12s['3'].started = false; - this.callback = callback; - this.type_callback = 'ouvrir'; - }.bind(this), 'AX12-Ouvrir'); - }; - - /** - * Fermer - * - * @param {Object} [callback] - */ - Ax12.prototype.fermer = function(callback) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - ax12s['2'].obj = this.degToAx12(-85); - ax12s['3'].obj = this.degToAx12(85); - // logger.debug(ax12s['2'].obj); - ax12s['2'].arrived = false; - ax12s['2'].started = false; - ax12s['3'].arrived = false; - ax12s['3'].started = false; - this.callback = callback; - this.type_callback = 'fermer'; - }.bind(this), 'AX12-Fermer'); - }; - /** - * Fermer balle - * - * @param {Object} [callback] - */ - Ax12.prototype.fermerBalle = function(callback) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - ax12s['2'].obj = this.degToAx12(-50); - ax12s['3'].obj = this.degToAx12(50); - // logger.debug(ax12s['2'].obj); - ax12s['2'].arrived = false; - ax12s['2'].started = false; - ax12s['3'].arrived = false; - ax12s['3'].started = false; - this.callback = callback; - this.type_callback = 'fermer'; - }.bind(this), 'AX12-Fermer balle'); - }; - /** - * Fermer balle 2 - * - * @param {Object} [callback] - */ - Ax12.prototype.fermerBalle2 = function(callback) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - ax12s['2'].obj = this.degToAx12(-75); - ax12s['3'].obj = this.degToAx12(75); - // logger.debug(ax12s['2'].obj); - ax12s['2'].arrived = false; - ax12s['2'].started = false; - ax12s['3'].arrived = false; - ax12s['3'].started = false; - this.callback = callback; - this.type_callback = 'fermer'; - }.bind(this), 'AX12-Fermer balle 2'); - }; - - return Ax12; -})(); diff --git a/clients/pr/ax12.simu.class.js b/clients/pr/ax12.simu.class.js deleted file mode 100644 index 70136d2..0000000 --- a/clients/pr/ax12.simu.class.js +++ /dev/null @@ -1,84 +0,0 @@ -/** - * AX12 Simulator module - * - * @module clients/pr/ax12-simu - * @see {@link clients/pr/ax12-simu.Ax12} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('pr.ax12'); - - /** - * Ax12 constructor - * - * @exports clients/pr/ax12-simu.Ax12 - * @constructor - * @param {clients/shared/fifo.Fifo} fifo - */ - function Ax12(fifo) { - this.fifo = fifo; - } - - /** - * Disconnects (nothing ?) - * - * @param {} x - */ - Ax12.prototype.disconnect = function(x) { - - }; - - /** - * Calls callback - * - * @param {Object} [callback] - * @param {int} ms - */ - Ax12.prototype.callCallback = function(callback, ms) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - setTimeout(function() { - callback(); - this.fifo.orderFinished(); - }.bind(this), parseInt(ms/5)); - }.bind(this)); - } - - /** - * Ouvrir - * - * @param {Object} callback - */ - Ax12.prototype.ouvrir = function(callback) { - this.callCallback(callback, 1000); - }; - - /** - * Fermer - * - * @param {Object} callback - */ - Ax12.prototype.fermer = function(callback) { - this.callCallback(callback, 1000); - }; - /** - * Fermer Balle - * - * @param {Object} callback - */ - Ax12.prototype.fermerBalle = function(callback) { - this.callCallback(callback, 800); - }; - /** - * Fermer Balle 2 - * - * @param {Object} callback - */ - Ax12.prototype.fermerBalle2 = function(callback) { - this.callCallback(callback, 900); - }; - - return Ax12; -})(); diff --git a/clients/pr/detect.class.js b/clients/pr/detect.class.js deleted file mode 100644 index 5f5e7c9..0000000 --- a/clients/pr/detect.class.js +++ /dev/null @@ -1,93 +0,0 @@ -/** - * Detect module - * - * @module clients/pr/detect - * @see {@link clients/pr/detect.Detect} - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('pr.detect'); - var serialPort = require("serialport"); - - - var sp = []; - - /** - * Detect constructor - * - * @exports clients/pr/detect.Detect - * @constructor - * @param {Object} callback - */ - function Detect(callback) { - /** @type {Object} */ - this.devicesFound = { - asserv: null, - others: null, - ax12: null - }; - /** @type {Object} */ - this.callback = callback; - this.searchArduinos(); - } - - /** - * Sends Server port - */ - Detect.prototype.sendSP = function (){ - // Close opened ports & detect other devices - serialPort.list(function (err, ports) { - for(var i in ports) { - if(ports[i].comName.indexOf('ttyUSB') >= 0) { - this.devicesFound.asserv = ports[i].comName; - } else if((ports[i].comName.indexOf('ttyACM') >= 0) && ports[i].comName != this.devicesFound.others) { - // logger.debug(ports[i].comName); - this.devicesFound.ax12 = ports[i].comName; - } - if(sp[i].readable){ - logger.info("Closing "+ports[i].comName); - // this.devicesFound.ax12 = ports[i].comName; - sp[i].close(); - } - } - - // Sent to acts - this.callback(this.devicesFound); - }.bind(this)); - }; - - /** - * Searches Arduino - */ - Detect.prototype.searchArduinos = function() { - // On check tous les ports disponibles - serialPort.list(function (err, ports) { - var nb_found = 0; - for(var i in ports) { - sp[i] = new SerialPort(ports[i].comName, { baudrate: 57600 }); - sp[i].on('open', function (i) { - sp[i].write('O\n'); - }.bind(this, i)); - - sp[i].on("data", function (i, data) { - data = data.toString(); - console.log(ports[i].comName, data); - if (data == 'O' && !this.devicesFound.others){ // Stepper - this.devicesFound.others = ports[i].comName; - clearTimeout(timeout); - this.sendSP(); - } - sp[i].close(); - }.bind(this, i)); - - sp[i].on("error", function() {}); // Node JS Error if it doesn't exist (and if an "error" event is sent) - } - }.bind(this)); - - // On check tous les ports qui ne sont pas enregistrés - timeout = setTimeout(function(){this.sendSP(); }.bind(this), 3000); - }; - - return Detect; -})(); \ No newline at end of file diff --git a/clients/pr/elevator.class.js b/clients/pr/elevator.class.js deleted file mode 100644 index d032f6a..0000000 --- a/clients/pr/elevator.class.js +++ /dev/null @@ -1,123 +0,0 @@ -/** - * Elevator module - * - * @module clients/pr/elevator - * @see {@link clients/pr/elevator.Elevator} - */ - -module.exports = (function () { - var log4js = require('log4js'); - var logger = log4js.getLogger('pr.elevator'); - - var ORDER_ACHIEVED = 'K'; // Like Ok - var ORDER_UNKNOWN = 'U'; // Like Unknown - - var ELEV_MOVE_UP = 'u'; - var ELEV_MOVE_DOWN = 'd'; - var ELEV_RELEASE = 'r'; - var ELEV_CHOUILLA = 'c'; - - /** - * Elevator constructor - * - * @exports clients/pr/elevator.Elevator - * @constructor - * @param {Object} sp Serial Port OBJECT - */ - function Elevator(sp, sendStatus) { - /** @type {Object} */ - this.sp = sp; - /** @type {boolean} */ - this.ready = false; - /** @type {Object} */ - this.sendStatus = sendStatus; - /** @type {string} */ - this.pos = 'down'; - /** @type {array} */ - this.orders_sent = []; - - this.sp.on("data", function(data) { - this.ready = true; - this.sendStatus(); - this.parseOrder(data.toString()); - }.bind(this)); - } - - /** - * Fonctions for sending orders to the Arduino - * - * @param {string} order - */ - Elevator.prototype.sendOrder = function(order) { - this.sp.write(order); - this.orders_sent.push(order); - }; - - /** - * Disconnects - */ - Elevator.prototype.disconnect = function() { - this.sp.close(); - this.ready = false; - this.sendStatus(); - }; - - - // ====== General actions ====== - - /** - * Monter - */ - Elevator.prototype.monter = function() { - this.sendOrder(ELEV_MOVE_UP); - }; - - /** - * Monter choilla - */ - Elevator.prototype.monterChouilla = function() { - this.sendOrder(ELEV_CHOUILLA); - }; - - /** - * Descendre - */ - Elevator.prototype.descendre = function() { - this.sendOrder(ELEV_MOVE_DOWN); - this.lacher(); - }; - - /** - * Release - */ - Elevator.prototype.release = function() { - this.sendOrder(ELEV_RELEASE); - }; - - /** - * Parse Order - * - * @param {string} order - */ - Elevator.prototype.parseOrder = function(order) { - if(order == ORDER_ACHIEVED) { - switch(this.orders_sent.shift()) { - case ELEV_MOVE_UP: - this.pos = 'up'; - logger.info("Elevator is up"); - break; - case ELEV_MOVE_DOWN: - this.pos1 = 'down'; - logger.info("Elevator is down"); - break; - } - } else if (order == ORDER_UNKNOWN) { - oldest_order = this.orders_sent.shift(); - logger.warn("Order sent unknown: "+this.orders_sent.shift()); - } else { - logger.warn("Order received unknown: "+order); - } - }; - - return Elevator; -})(); \ No newline at end of file diff --git a/clients/pr/main.js b/clients/pr/main.js deleted file mode 100644 index 5d94b87..0000000 --- a/clients/pr/main.js +++ /dev/null @@ -1,184 +0,0 @@ -/** - * Main module - * - * @module clients/pr/main - * @requires server/socket_client - * @requires config - * @requires clients/pr/actuators - * @requires clients/pr/detect - */ - -(function () { - "use strict"; - - // Requires - var logger = require('log4js').getLogger('pr'); - - // logger.info("Started NodeJS client with pid " + process.pid); - - var SocketClient = require('../../server/socket_client.class.js'); - var server = require('../../config.js').server - var client = new SocketClient({ - server_ip: server, - type: "pr" - }); - - var lastStatus = { - "status": "waiting" - }; - sendChildren(lastStatus); - - var acts = new (require('./actuators.class.js'))(client, sendChildren); - var detect = null; - - var queue = []; - var orderInProgress = false; - - start(); - - // On message - client.order(function (from, name, params){ - // logger.info("Recieved an order "+name); - switch (name){ - case "collision": - queue = []; - acts.clean(); - orderInProgress = false; - break; - case "stop": - acts.clean(); - setTimeout(function() { - logger.fatal("Stop PR"); - process.exit(); - }, 800); - break; - - // useless // - case "start": - queue = []; - start(); - break; - default: - addOrder2Queue(from, name, params); - } - }); - - function start(){ - logger.info("Starting :)"); - sendChildren({ - status: "starting", - children:[] - }); - detect = new (require('./detect.class.js'))(devicesDetected); - } - - // function stop(){ - // acts.quit(); - - // // Send struct to server - // sendChildren({ - // status: "waiting", - // children:[] - // }); - // } - - function devicesDetected(struct){ - // Verify content - if (!struct.others) - logger.warn("Missing others Mega"); - - // if (!struct.servos) - // logger.warn("Missing servos Nano"); - - if (!struct.asserv) - logger.warn("Missing asserv Nano"); - - if (!struct.ax12) - logger.warn("Missing USB2AX"); - - // Connect to what's detected - acts.connectTo(struct); - - // Send struct to server - sendChildren(acts.getStatus()); - } - - // Sends status to server - function sendChildren(status){ - lastStatus = status; - - client.send("server", "server.childrenUpdate", lastStatus); - } - - function isOk(){ - if(lastStatus.status != "waiting") - lastStatus = acts.getStatus(); - - client.send("ia", "isOkAnswer", lastStatus); - client.send("server", "server.childrenUpdate", lastStatus); - } - - - // Push the order (enfiler) - function addOrder2Queue(f, n, p){ - // if(n == 'clean') { - // logger.info(n+" : Begin"); - // acts.orderHandler(f, n, p, actionFinished); - // } else - if(queue.length < 100){ - // Adds the order to the queue - queue.push({ - from: f, - name: n, - params: p - }); - // logger.info("Order added to queue ! : "); - // logger.info(queue); - - executeNextOrder(); - } - } - - // Execute order - function executeNextOrder(){ - if ((queue.length > 0) && (!orderInProgress)) { - var order = queue.shift(); - if(order.name == "send_message") { - // logger.debug("Send message %s", order.params.name); - client.send('ia', order.params.name, order.params || {}); - executeNextOrder(); - } else { - orderInProgress = order.name; - - logger.info(orderInProgress+" : Begin"); - // logger.debug(order.params); - acts.orderHandler(order.from, order.name, order.params, actionFinished); - - // executeNextOrder(); - } - } - } - - function actionFinished(){ - if(orderInProgress !== false) { - logger.info(orderInProgress + " : End"); - - orderInProgress = false; - executeNextOrder(); - } - } - function quit () { - logger.info("Please wait while exiting..."); - acts.quit(); - process.exit(); - } - - - // Exiting : - //do something when app is closing - // process.on('exit', quit); - // catches ctrl+c event - // process.on('SIGINT', quit); - // //catches uncaught exceptions - // process.on('uncaughtException', quit); -})(); diff --git a/clients/pr/others.class.js b/clients/pr/others.class.js deleted file mode 100644 index 577d677..0000000 --- a/clients/pr/others.class.js +++ /dev/null @@ -1,313 +0,0 @@ -/** - * Others module - * - * @module clients/pr/others - * @see {@link clients/pr/others.Others} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('Others'); - - /** - * Others Constructor - * - * @exports clients/pr/others.Others - * @constructor - * @param {Object} sp Server port - * @param {Object} sendStatus - * @param {clients/shared/fifo.Fifo} - */ - function Others(sp, sendStatus, fifo) { - /** @type {Object} */ - this.sp = sp; - // this.client = client; - /** @type {boolean} */ - this.ready = true; - logger.debug(sendStatus); - /** @type {Object} */ - this.sendStatus = sendStatus; - /** @type {clients/shared/fifo.Fifo} */ - this.fifo = fifo; - - this.sp.on("data", function(data){ - if(this.ready === false){ - this.ready = true; - this.sendStatus(); - } - this.parseCommand(data.toString()); - }.bind(this)); - this.sp.on("error", function(data){ - logger.debug(data.toString()); - }); - this.sp.on("close", function(){ - this.ready = false; - this.sendStatus(); - logger.error("Serial port close"); - }.bind(this)); - } - - /** - * Parse command - * - * @param {string} data - */ - Others.prototype.parseCommand = function(data) { - if(this.order_sent == data) { - this.order_sent = ''; - setTimeout(function() { - this.callback(); - this.fifo.orderFinished(); - }.bind(this), this.callback_delay); - } else { - logger.warn("Arduino others unknown: "+data+" (order_sent : "+this.order_sent+")"); - } - }; - - /** - * Send command - * - * @param {Object} [callback] - * @param {string} cmd - * @param {string} args - * @param {int} callback_delay - */ - Others.prototype.sendCommand = function(callback, cmd, args, callback_delay){ - if(callback === undefined) { - callback = function(){}; - } - - this.fifo.newOrder(function() { - this.callback = callback; - this.callback_delay = callback_delay; - this.order_sent = cmd; - - //logger.debug([cmd].concat(args).join(";")); - this.sp.write([cmd].concat(args).join(";")+"\n"); - }.bind(this), 'sendCommandOther('+cmd+':'+args+')'); - }; - - /** - * Fermer stabilisateur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.fermerStabilisateur = function(callback, time) { - if (time === undefined) { - time = 100; - } - this.sendCommand(callback, 'H', [100, 23], time); - }; - - /** - * Ouvrir stabilisateur moyen - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.ouvrirStabilisateurMoyen = function(callback, time) { - if (time === undefined) { - time = 100; - } - this.sendCommand(callback, 'H', [90, 30], time); - }; - - /** - * Ouvrir stabilisateur grand - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.ouvrirStabilisateurGrand = function(callback, time) { - if (time === undefined) { - time = 400; - } - this.sendCommand(callback, 'H', [40, 80], time); - }; - - /** - * Fermer bloqueur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.fermerBloqueur = function(callback, time) { - if (time === undefined) { - time = 200; - } - this.sendCommand(callback, 'M', [32, 68], time); - }; - - /** - * Ouvrir bloqueur moyen - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.ouvrirBloqueurMoyen = function(callback, time) { - if (time === undefined) { - time = 200; - } - this.sendCommand(callback, 'M', [66, 29], time); - }; - - /** - * Ouvrir stabilisateur grand - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.ouvrirBloqueurGrand = function(callback, time) { - if (time === undefined) { - time = 400; - } - this.sendCommand(callback, 'M', [106, 1], time); - }; - - /** - * Prendre gobelet - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.prendreGobelet = function(callback, time) { - if (time === undefined) { - time = 200; - } - this.sendCommand(callback, 'G', [115], time); - }; - - /** - * Lacher gobelet - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.lacherGobelet = function(callback, time) { - if (time === undefined) { - time = 200; - } - this.sendCommand(callback, 'G', [50], time); - }; - - /** - * Sortir Clap - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.sortirClap = function(callback, time) { - if (time === undefined) { - time = 200; - } - this.sendCommand(callback, 'C', [130], time); - }; - - /** - * Ranger Clap - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.rangerClap = function(callback, time) { - if (time === undefined) { - time = 100; - } - this.sendCommand(callback, 'C', [40], time); - }; - - /** - * Monter ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.monterAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [-250], time); - }; - - /** - * Monter un peu ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.monterUnPeuAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [-30], time); - }; - - /** - * Descendre un peu ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.descendreUnPeuAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [30], time); - }; - - /** - * Monter moyen ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.monterMoyenAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [-60], time); - }; - - /** - * Descendre un peu ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.descendreMoyenAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [60], time); - }; - - /** - * Relacher ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.relacherAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(callback, 'S', [0], time); - }; - - /** - * Descendre ascenseur - * - * @param {Object} callback - * @param {int} [time] - */ - Others.prototype.descendreAscenseur = function(callback, time) { - if (time === undefined) { - time = 0; - } - this.sendCommand(function() { - this.relacherAscenseur(callback); - }.bind(this), 'S', [250], time); - }; - - return Others; -})(); diff --git a/clients/pr/others.simu.class.js b/clients/pr/others.simu.class.js deleted file mode 100644 index 67e5922..0000000 --- a/clients/pr/others.simu.class.js +++ /dev/null @@ -1,194 +0,0 @@ -/** - * Others Simulator module - * - * @module clients/pr/others-simu - * @see {@link clients/pr/others-simu.Others} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('pr.others'); - - /** - * Others constructor - * - * @exports clients/pr/others-simu.Others - * @constructor - * @param {clients/shared/fifo.Fifo} fifo - */ - function Others(fifo) { - /** @type {clients/shared/fifo.Fifo} */ - this.fifo = fifo; - } - - /** - * Disconnects (nothing ?) - */ - Others.prototype.disconnect = function(x) { - - }; - - /** - * Call callback - * - * @param {Object} [callback] - * @param {int} ms - */ - Others.prototype.callCallback = function(callback, ms) { - if(callback === undefined) { - callback = function(){}; - } - this.fifo.newOrder(function() { - setTimeout(function() { - callback(); - this.fifo.orderFinished(); - }.bind(this), parseInt(ms/5)); - }.bind(this)); - }; - - /** - * Fermer stabilisateur - * - * @param {Object} callback - */ - Others.prototype.fermerStabilisateur = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Ouvrir stabilisateur moyen - * - * @param {Object} callback - */ - Others.prototype.ouvrirStabilisateurMoyen = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Ouvrir stabilisateur grand - * - * @param {Object} callback - */ - Others.prototype.ouvrirStabilisateurGrand = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Fermer bloqueur - * - * @param {Object} callback - */ - Others.prototype.fermerBloqueur = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Ouvrir bloqueur moyen - * - * @param {Object} callback - */ - Others.prototype.ouvrirBloqueurMoyen = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Ouvrir bloqueur grand - * - * @param {Object} callback - */ - Others.prototype.ouvrirBloqueurGrand = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Sortir clap - * - * @param {Object} callback - */ - Others.prototype.sortirClap = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Ranger clap - * - * @param {Object} callback - */ - Others.prototype.rangerClap = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Prendre Gobelet - * - * @param {Object} callback - */ - Others.prototype.prendreGobelet = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Lacher Gobelet - * - * @param {Object} callback - */ - Others.prototype.lacherGobelet = function(callback) { - this.callCallback(callback, 200); - }; - - /** - * Monter ascenseur - * - * @param {Object} callback - */ - Others.prototype.monterAscenseur = function(callback) { - this.callCallback(callback, 1000); - }; - - /** - * Monter un peu ascenseur - * - * @param {Object} callback - */ - Others.prototype.monterUnPeuAscenseur = function(callback) { - this.callCallback(callback, 300); - }; - - /** - * Descendre un peu ascenseur - * - * @param {Object} callback - */ - Others.prototype.descendreUnPeuAscenseur = function(callback) { - this.callCallback(callback, 300); - }; - - /** - * Monter moyen ascenseur - * - * @param {Object} callback - */ - Others.prototype.monterMoyenAscenseur = function(callback) { - this.callCallback(callback, 500); - }; - - /** - * Descendre moyen ascenseur - * - * @param {Object} callback - */ - Others.prototype.descendreMoyenAscenseur = function(callback) { - this.callCallback(callback, 500); - }; - - /** - * Descendre ascenseur - * - * @param {Object} callback - */ - Others.prototype.descendreAscenseur = function(callback) { - this.callCallback(callback, 1000); - }; - - - return Others; -})(); diff --git a/clients/shared/asserv.class.js b/clients/shared/asserv.class.js deleted file mode 100644 index 976b3de..0000000 --- a/clients/shared/asserv.class.js +++ /dev/null @@ -1,437 +0,0 @@ -/** - * Asserv module - * - * @module clients/shared/asserv - * @requires module:clients/shared/defineParser - * @see {@link clients/shared/asserv.Asserv} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('asserv'); - var COMMANDS = require('./defineParser.js')('./arduino/asserv/protocol.h'); - var DETECT_SERIAL_TIMEOUT = 100; //ms, -1 to disable - - // function Asserv(sp, client) { - // this.client = client; - // this.getPos(); - // this.sp = sp; - // this.pos = {}; - // this.sentCommands = {}; - // this.currentId = 0; - // } - - /** - * Asserv Constructor - * - * @exports clients/shared/asserv.Asserv - * @constructor - * @param {Object} sp - * @param {Object} client - * @param {Object} who - * @param {Object} sendStatus - * @param {clients/shared/asserv.Asserv} fifo - */ - function Asserv(sp, client, who, sendStatus, fifo) { - /** @type {boolean} */ - this.ready = true; - /** @type {Object} */ - this.sendStatus = sendStatus; - /** @type {Object} */ - this.sp = sp; - /** @type {Object} */ - this.client = client; - /** @type {Object} */ - this.pos = {}; - /** @type {Object} */ - this.who = who; - /** @type {int} */ - this.currentId = 0; - /** @type {string} */ - this.color = "yellow"; - /** @type {clients/shared/asserv.Asserv} */ - this.fifo = fifo; - - this.sp.on("data", function(data){ - if(this.ready === false){ - this.ready = true; - this.sendStatus(); - } - this.parseCommand(data.toString()); - }.bind(this)); - this.sp.on("error", function(data){ - this.ready = false; - this.sendStatus(); - logger.debug("error", data.toString()); - }.bind(this)); - this.sp.on("close", function(data){ - this.ready = false; - this.sendStatus(); - logger.error("Serial port close"); - }.bind(this)); - - setTimeout(function() { - this.getPos(); - }.bind(this), 2000); - } - /** - * Convert color x - * - * @param {int} x - */ - Asserv.prototype.convertColorX = function(x) { - if(this.color == "yellow") { - return x; - } else { - return 3000-x; - } - } - /** - * Convert color y - * - * @param {int} y - */ - Asserv.prototype.convertColorY = function(y) { - if(this.color == "yellow") { - return y; - } else { - return y; - } - } - /** - * Convert color Angle - * - * @param {int} a - */ - Asserv.prototype.convertColorA = function(a) { - if(this.color == "yellow") { - return convertA(a); - } else { - return convertA(Math.PI - a); - } - } - - /** - * Convert Angle - * - * @param {int} a - */ - function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); } - /** - * Set Angle - * - * @param {int} a - */ - Asserv.prototype.setA = function(a) { - // logger.debug(a, convertA(a)); - this.pos.a = convertA(a); - } - /** - * Position ? - * - * @param {Object} pos - */ - Asserv.prototype.Pos = function(pos) { - this.pos.x = pos.x; - this.pos.y = pos.y; - this.setA(pos.a); - } - /** - * Sets Position - * - * @param {Object} pos - * @param {Object} callback - */ - Asserv.prototype.setPos = function(pos, callback) { - logger.debug(pos); - if(pos.color !== undefined) - this.color = pos.color; - this.sendCommand(COMMANDS.SET_POS, [ - parseInt(this.convertColorX(pos.x)), - parseInt(this.convertColorY(pos.y)), - myWriteFloat(this.convertColorA(pos.a)) - ], false, callback); - } - /** - * Gets Potition - * - * @param {Object} pos - */ - Asserv.prototype.getPos = function(pos) { - this.client.send('ia', this.who+'.getpos'); - } - /** - * Sends Position - */ - Asserv.prototype.sendPos = function() { - this.client.send('ia', this.who+'.pos', this.pos); - } - - /** - * Set position calage - * - * @param {Object} pos - * @param {Object} callback - */ - Asserv.prototype.setPosCalage = function(pos, callback) { - this.sendCommand(COMMANDS.SET_POS, [ - parseInt(this.convertColorX(pos.x)), - parseInt(this.convertColorY(pos.y)), - myWriteFloat(this.convertColorA(pos.a)) - ], false, function() { - callback(); - this.fifo.orderFinished(); - }.bind(this), true); - } - - /** - * Calage X - * - * @param {int} x - * @param {int} a Angle - * @param {Object} callback - */ - Asserv.prototype.calageX = function(x, a, callback) { - if(callback === undefined) - callback = function(){}; - this.fifo.newOrder(function() { - this.setPosCalage({x: x, y: this.pos.y, a: a}, callback); - }.bind(this), 'calageX'); - - } - /** - * Calage Y - * - * @param {int} y - * @param {int} a Angle - * @param {Object} callback - */ - Asserv.prototype.calageY = function(y, a, callback) { - if(callback === undefined) - callback = function(){}; - this.fifo.newOrder(function() { - this.setPosCalage({x: this.pos.x, y: y, a: a}, callback, true); - }.bind(this), 'calageY'); - } - - // For float - /** - * My write float - * - * @param {float} f - */ - function myWriteFloat(f){ return Math.round(f*COMMANDS.FLOAT_PRECISION); } - /** - * My Parse float - * - * @param {float} f - */ - function myParseFloat(f){ return parseInt(f)/COMMANDS.FLOAT_PRECISION; } - - - /** - * Parse Command - * - * @param {string} data - */ - Asserv.prototype.parseCommand = function(data){ - // logger.debug(data); - var datas = data.split(';'); - var cmd = datas.shift();//, id = datas.shift(); - if(cmd == COMMANDS.AUTO_SEND && datas.length >= 4) { // periodic position update - var lastFinishedId = parseInt(datas.shift()); // TODO - this.Pos({ - x: this.convertColorX(parseInt(datas.shift())), - y: this.convertColorY(parseInt(datas.shift())), - a: this.convertColorA(myParseFloat(datas.shift())) - }); - - - this.sendPos(); - - // logger.debug(lastFinishedId); - if(this.currentId != lastFinishedId) { - // logger.fatal('finish id', lastFinishedId); - this.currentId = lastFinishedId; - var use_fifo = this.use_fifo; - this.use_fifo = true; - this.callback(); - if(use_fifo) - this.fifo.orderFinished(); - } - } else if(cmd == this.order_sent) { - this.order_sent = ''; - // logger.debug('finish', datas.shift()); - if(!this.wait_for_id) { - var use_fifo = this.use_fifo; - this.use_fifo = true; - this.callback(); - if(use_fifo) - this.fifo.orderFinished(); - } - } else if (cmd == COMMANDS.JACK) { - logger.info("JACK !"); - this.client.send("ia", "ia.jack"); - } else { - // logger.warn(datas); - logger.warn("Command return from Arduino to unknown cmd="+cmd); - } - } - /** - * Sends Command - * - * @param {string} cmd - * @param {string} args - * @param {int} wait_for_id - * @param {Object} [callback] - * @param {boolean} no_fifo - */ - Asserv.prototype.sendCommand = function(cmd, args, wait_for_id, callback, no_fifo){ - function nextOrder() { - if(callback === undefined) - callback = function(){}; - this.callback = callback; - args = args || []; - this.order_sent = cmd; - this.wait_for_id = wait_for_id; - logger.debug([cmd,this.currentId+1].concat(args).join(";")+"\n"); - this.sp.write([cmd,this.currentId+1].concat(args).join(";")+"\n"); - } - - this.use_fifo = !no_fifo; - - if(this.use_fifo) { - this.fifo.newOrder(nextOrder.bind(this), 'sendCommandAsserv('+cmd+':'+args+')'); - } else { - nextOrder.call(this); - } - } - - /** - * Set Vitesse - * - * @param {int} v Speed - * @param {float} r Rotation - * @param {Object} callback - */ - Asserv.prototype.setVitesse = function(v, r, callback) { - // logger.debug(myWriteFloat(r)); - this.sendCommand(COMMANDS.SPDMAX, [ - parseInt(v), - myWriteFloat(r) - ], false, callback); - }; - - /** - * Speed ? - * - * @param {int} l - * @param {int} a Angle - * @param {int} ms - * @param {Object} callback - */ - Asserv.prototype.speed = function(l, a, ms, callback) { - // logger.debug(myWriteFloat(r)); - this.sendCommand(COMMANDS.SPD, [ - parseInt(l), - parseInt(a), - parseInt(ms) - ], true, callback); - }; - - /** - * Set Acceleration - * - * @param {int} acc - * @param {Object} callback - */ - Asserv.prototype.setAcc = function(acc,callback) { - // logger.debug(myWriteFloat(r)); - this.sendCommand(COMMANDS.ACCMAX, [ - parseInt(acc) - ], false, callback); - }; - - /** - * Clean - * - * @param {Object} callback - */ - Asserv.prototype.clean = function(callback){ - this.sendCommand(COMMANDS.CLEANG, false, callback); - }; - - /** - * Pulse Width Modulation - * - * @param {int} left - * @param {int} right - * @param {int} ms - * @param {Object} callback - */ - Asserv.prototype.pwm = function(left, right, ms, callback) { - this.sendCommand(COMMANDS.PWM, [ - parseInt(left), - parseInt(right), - parseInt(ms) - ], true, callback); - - }; - - /** - * Go X Y - * - * @param {int} x - * @param {int} y - * @param {string} sens - * @param {Object} callback - * @param {boolean} no_fifo - */ - Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo){ - if(sens == "avant") sens = 1; - else if(sens == "arriere") sens = -1; - else sens = 0; - - this.sendCommand(COMMANDS.GOTO, [ - parseInt(this.convertColorX(x)), - parseInt(this.convertColorY(y)), - sens - ], true, callback, no_fifo); - }; - /** - * Go Angle - * - * @param {int} a - * @param {Object} callback - * @param {boolean} no_fifo - */ - Asserv.prototype.goa = function(a, callback, no_fifo){ - // this.clean(); - this.sendCommand(COMMANDS.ROT, [ - myWriteFloat(this.convertColorA(a)) - ], true, callback, no_fifo); - }; - - /** - * Set P I D - * @param {float} p - * @param {float} i - * @param {float} d - * @param {Object} callback - */ - Asserv.prototype.setPid = function(p, i, d, callback){ - // this.clean(); - this.sendCommand(COMMANDS.PIDALL, [ - myWriteFloat(p), - myWriteFloat(i), - myWriteFloat(d) - ],false, callback); - }; - - // Asserv.prototype.gotoPath = function(callback, path){ - // this.clean(); - // if(instanceof path !=== "Array") path = path.path; // not sure about Path class right now - // path.forEach(function(item)); - // }; - - return Asserv; -})(); diff --git a/clients/shared/asserv.simu.class.js b/clients/shared/asserv.simu.class.js deleted file mode 100644 index 21e3a9d..0000000 --- a/clients/shared/asserv.simu.class.js +++ /dev/null @@ -1,359 +0,0 @@ -/** - * Asserv Simulator module - * - * @module clients/shared/asserv-simu - * @see {@link clients/shared/asserv-simu.Asserv} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('asserv'); - - // For simu - var SIMU_FACTOR_VIT = 1; - var SIMU_FACTOR_A = 0.3; // Facteur - // var SIMU_PWM_REF = 255; // à une PWM de 80 - function SIMU_DIST(pwm, dt, vitesse) { return (vitesse*SIMU_FACTOR_VIT)*dt; } - function SIMU_DIST_ROT(a) { return Math.abs(a)*100; } // Rayon aproximatif de 10cm - function SIMU_ROT_TIME(a, vitesse) { return SIMU_DIST_ROT(a)/(vitesse*SIMU_FACTOR_VIT*SIMU_FACTOR_A); } - var FPS = 30; - - var timeouts = []; - - /** - * Asserv Constructor - * - * @exports clients/shared/asserv-simu.Asserv - * @constructor - * @param {Object} client - * @param {Object} who - * @param {clients/shared/asserv.Asserv} fifo - */ - function Asserv(client, who, fifo) { - /** @type {Object} */ - this.client = client; - /** @type {Object} */ - this.who = who; - /** @type {Object} */ - this.pos = { - x:0,y:0,a:0 - }; - /** @type {clients/shared/asserv.Asserv} */ - this.fifo = fifo; - /** @type {int} */ - this.vitesse = 800; - this.getPos(); - } - - /** - * New Order - * - * @param {Object} callback - * @param {int} ms - * @param {boolean} no_fifo - */ - Asserv.prototype.newOrder = function(callback, ms, no_fifo, delay_order_finished){ - if(callback === undefined) - callback = function(){}; - var use_fifo = !no_fifo; - if(ms === undefined) ms = 0; - if(delay_order_finished === undefined) delay_order_finished = 0; - - function nextOrder() { - timeouts.push(setTimeout(function() { - callback(); - timeouts.push(setTimeout(function() { - this.fifo.orderFinished(); - }.bind(this), delay_order_finished)); - }.bind(this), ms)); - } - - if(use_fifo) { - // logger.debug('use_fifo'); - this.fifo.newOrder(nextOrder.bind(this)); - } else { - // logger.debug('no_fifo'); - timeouts.push(setTimeout(callback, ms));//.call(this)); - } - } - - /** - * Convert Angle - * - * @param {int} a Angle - */ - function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); } - /** - * Set Angle - * - * @param {int} a Angle - */ - Asserv.prototype.setA = function(a) { - this.pos.a = convertA(a); - } - /** - * Position ? - * - * @param {Object} pos - */ - Asserv.prototype.Pos = function(pos) { - this.pos.x = pos.x; - this.pos.y = pos.y; - this.setA(pos.a); - } - /** - * Sets Position - * - * @param {Object} pos - * @param {Object} callback - */ - Asserv.prototype.setPos = function(pos, callback) { - this.Pos(pos); - this.sendPos(); - if(callback !== undefined) - callback(); - } - /** - * Gets Position - * - * @param {Object} pos - */ - Asserv.prototype.getPos = function(pos) { - this.client.send('ia', this.who+'.getpos'); - } - /** - * Sends Position - */ - Asserv.prototype.sendPos = function() { - this.client.send('ia', this.who+'.pos', this.pos); - } - - /** - * Clean - */ - Asserv.prototype.clean = function(){ - logger.debug('cleaning %d timeouts', timeouts.length); - while(timeouts.length > 0) { - clearTimeout(timeouts.shift()); - } - }; - /** - * Avancer plot - * - * @param {Object} callback - */ - Asserv.prototype.avancerPlot = function(callback) { - this.newOrder(callback, 1200); - } - - /** - * Set vitesse - * - * @param {int} v Speed - * @param {int} r rotation - * @param {Object} callback - */ - Asserv.prototype.setVitesse = function(v, r, callback) { - this.vitesse = parseInt(v); - if(callback !== undefined) - callback(); - }; - /** - * Calage X - * - * @param {int} x - * @param {int} a Angle - * @param {Object} callback - */ - Asserv.prototype.calageX = function(x, a, callback) { - this.setPos({x: x, y: this.pos.y, a: a}, callback); - } - /** - * Calage Y - * - * @param {int} y - * @param {int} a Angle - * @param {Object} callback - */ - Asserv.prototype.calageY = function(y, a, callback) { - this.setPos({x: this.pos.x, y: y, a: a}, callback); - } - - /** - * Simu Speed - * - * @param {int} vit Speed - * @param {int} x - * @param {int} y - * @param {int} a Angle - * @param {int} dt - */ - Asserv.prototype.simu_speed = function(vit, x, y, a, dt) { - return function() { - this.pos = { - x: x + Math.cos(a) * vit*dt/1000, - y: y + Math.sin(a) * vit*dt/1000, - a: a - } - this.sendPos(); - }.bind(this); - } - /** - * Speed ? - * - * @param {int} l - * @param {int} a Angle - * @param {int} ms - * @param {Object} callback - */ - Asserv.prototype.speed = function(l, a, ms,callback) { - this.newOrder(function() { - // this.simu.pwm(callback, l/3, l/3, ms); - for(var t = 0; t < ms; t += 1000/FPS) { - timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, t), t)); - } - timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, ms), ms)); - timeouts.push(setTimeout(callback, ms)); - }.bind(this), 0, false, ms); - }; - - /** - * Simu Pulse Width Modulation - * - * @param {int} x - * @param {int} y - * @param {int} a Angle - * @param {int} dt - */ - Asserv.prototype.simu_pwm = function(pwm, x, y, a, dt) { - return function() { - this.pos = { - x: x + Math.cos(a) * SIMU_DIST(pwm, dt/1000, this.vitesse), - y: y + Math.sin(a) * SIMU_DIST(pwm, dt/1000, this.vitesse), - a: a - } - this.sendPos(); - }.bind(this); - } - /** - * Pulse Width Modulation - * - * @param {string} left - * @param {string} right - * @param {int} ms - * @param {Object} callback - */ - Asserv.prototype.pwm = function(left, right, ms, callback) { - this.newOrder(function() { - var pwm = (left+right)/2; - for(var t = 0; t < ms; t += 1000/FPS) { - timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, t), t)); - } - timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, ms), ms)); - timeouts.push(setTimeout(callback, ms)); - }.bind(this), 0, false, ms); - }; - - /** - * Simu Go X Y - * - * @param {int} x - * @param {int} y - */ - Asserv.prototype.simu_goxy = function(x, y) { - return function() { - this.pos.x = x; - this.pos.y = y; - this.sendPos(); - }.bind(this); - } - /** - * Go X Y - * - * @param {int} x - * @param {int} y - * @param {string} sens - * @param {Object} callback - * @param {boolean} no_fifo - */ - Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo) { - - var dx = x-this.pos.x; - var dy = y-this.pos.y; - var dist = Math.sqrt(Math.pow(dx,2) + Math.pow(dy,2)); - var tf = (dist / (this.vitesse*SIMU_FACTOR_VIT))*1000; // *1000 s->ms - - angle_avant = convertA(Math.atan2(dy,dx)-this.pos.a); - angle_arriere = convertA(angle_avant+Math.PI); - - if(sens == "avant") angle_depart = angle_avant - else if(sens == "arriere") angle_depart = angle_arriere; - else if (Math.abs(angle_avant) < Math.abs(angle_arriere)) angle_depart = angle_avant; - else angle_depart = angle_arriere; - - // logger.debug("dx: ", dx); - // logger.debug("dy: ", dy); - // logger.debug("angle: ", this.pos.a); - // logger.debug("angle avant: ", angle_avant); - // logger.debug("angle arriere: ", angle_arriere); - // logger.debug("angle depart: ", angle_depart); - - this.goa(angle_depart+this.pos.a, function() { - this.newOrder(function() { - for(var t = 0; t < tf; t += 1000/FPS) { - timeouts.push(setTimeout(this.simu_goxy(this.pos.x+dx*t/tf, this.pos.y+dy*t/tf), t)); - } - timeouts.push(setTimeout(this.simu_goxy(x, y), tf)); - timeouts.push(setTimeout(callback, tf)); - }.bind(this), 0, no_fifo, tf); - }.bind(this), no_fifo); - }; - /** - * Simu Go Angle - * - * @param {int} a Angle - */ - Asserv.prototype.simu_goa = function(a) { - return function() { - this.setA(a); - this.sendPos(); - }.bind(this); - } - /** - * Simu Go Angle - * - * @param {int} a Angle - * @param {Object} callback - * @param {boolean} no_fifo - */ - Asserv.prototype.goa = function(a, callback, no_fifo){ - a = convertA(a); - da = convertA(a-this.pos.a); - // logger.debug("depart:", this.pos.a); - // logger.debug("arrivee:", a); - // logger.debug("delta:", da); - - var tf = SIMU_ROT_TIME(da, this.vitesse)*1000; // *1000 s->ms - this.newOrder(function() { - for(var t = 0; t < tf; t += 1000/FPS) { - // logger.debug(this.pos.a+da*t/tf); - timeouts.push(setTimeout(this.simu_goa(this.pos.a+da*t/tf), t)); - } - timeouts.push(setTimeout(this.simu_goa(a), tf)); - timeouts.push(setTimeout(callback, tf)); - }.bind(this), 0, no_fifo, tf); - }; - - /** - * Set P I D - * - * @param {int} p - * @param {int} i - * @param {int} d - * @param {Object} callback - */ - Asserv.prototype.setPid = function(p, i, d, callback){ - this.newOrder(callback); - }; - - return Asserv; -})(); diff --git a/clients/shared/defineParser.js b/clients/shared/defineParser.js deleted file mode 100644 index f7052d7..0000000 --- a/clients/shared/defineParser.js +++ /dev/null @@ -1,49 +0,0 @@ -/** - * Define Parser module - * - * @module clients/shared/defineParser - */ - -/* Converts : - * #define VALUEA - * #define VALUEB 'b' - * #define VALUEC 42 - * In : - * { - * VALUEA : null, - * VALUEB : "b", - * VALUEC : 42 - * } - */ - - - -module.exports = (function(){ - var logger = require('log4js').getLogger('DefineParser'); - var fs = require('fs'); - - var reg = /#define[ \t]+(\S+)[ \t]+(\S+)/g; - - - return function parse(file){ - var parsed = {}; - fs.readFile(file, 'utf8', function (err,data) { - if(err) { - logger.fatal("cant read file:\""+file+"\""); - return ; - } - var nb = 0; - while( findings = reg.exec(data) ) { - try { - parsed[findings[1]] = eval(findings[2]); - } catch(e) {} - // try to evaluate calculus... - nb++; - } - logger.info("done parsing \""+file+"\" with "+nb+" defines"); - //should be quick enough - }); - return parsed; - } - -})(); \ No newline at end of file diff --git a/clients/shared/fifo.class.js b/clients/shared/fifo.class.js deleted file mode 100644 index 8d359f1..0000000 --- a/clients/shared/fifo.class.js +++ /dev/null @@ -1,67 +0,0 @@ -/** - * First In First Out module - * - * @module clients/shared/fifo - * @see {@link clients/shared/fifo.Fifo} - */ - -module.exports = (function () { - var logger = require('log4js').getLogger('Fifo'); - - /** - * Fifo Constructor - * - * @exports clients/shared/fifo.Fifo - * @constructor - */ - function Fifo() { - this.clean(); - } - - /** - * Clean - */ - Fifo.prototype.clean = function(callback) { - /** fifo */ - this.fifo = []; - /** @type {boolean} */ - this.order_in_progress = false; - } - - /** - * Order finished - */ - Fifo.prototype.orderFinished = function() { - this.order_in_progress = false; - this.nextOrder(); - } - - /** - * New Order - * - * @param {Object} callback - * @param {string} [name] - */ - Fifo.prototype.newOrder = function(callback, name) { - if (name === undefined) - name = ""; - this.fifo.push({callback: callback, name: name}); - this.nextOrder(); - } - - /** - * Next Order - */ - Fifo.prototype.nextOrder = function() { - if(!this.order_in_progress && this.fifo.length > 0) { - // logger.debug(this.fifo.length); - this.order_in_progress = true; - object = this.fifo.shift(); - // logger.debug("Calling : "+object.name); - object.callback(); - } - } - - - return Fifo; -})(); diff --git a/clients/shared/test.js b/clients/shared/test.js deleted file mode 100644 index a74dff0..0000000 --- a/clients/shared/test.js +++ /dev/null @@ -1,12 +0,0 @@ - - - -var defineParser = require("./defineParser.js"); -console.log(defineParser); - -var commands = defineParser("./arduino/asserv/protocol.h"); - - -setTimeout(function(){ - console.log(commands); -}, 200); \ No newline at end of file From 35f1a526b711537603bc21eb4318641535d3e79f Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 1 Apr 2017 19:44:36 +0200 Subject: [PATCH 11/74] Add some doc --- clients/Asserv/Asserv.class.js | 12 +++++++++++- conf_jsdoc.json | 31 ++++++++++++++++++++++++++++--- 2 files changed, 39 insertions(+), 4 deletions(-) diff --git a/clients/Asserv/Asserv.class.js b/clients/Asserv/Asserv.class.js index ae66e22..b8dc3ee 100644 --- a/clients/Asserv/Asserv.class.js +++ b/clients/Asserv/Asserv.class.js @@ -1,7 +1,17 @@ - +/** + * Module exportant la classe abstraite Asserve + * + * @module clients/Asserv/asserv + */ module.exports = class Asserv{ + /** + * Creates an instance of Asserv. + * @param {any} client + * @param {any} who + * @param {any} fifo + */ constructor(client, who, fifo){ /** @type {Log4js} */ this.logger = require('log4js').getLogger('asserv'); diff --git a/conf_jsdoc.json b/conf_jsdoc.json index 81a5388..4378b33 100644 --- a/conf_jsdoc.json +++ b/conf_jsdoc.json @@ -4,17 +4,42 @@ "dictionaries": ["jsdoc","closure"] }, "source": { - "include": ["utcoupe", "server", "config.js", "ia", "clients/gr", "clients/pr", "clients/shared"], + "include": [ + "package.json", + "README.md", + "utcoupe", + "server", + "config.js", + "ia", + "clients", + "clients/Asserv", + "clients/Robot", + "simulateur/afficheur", + "simulateur", + "webclient/pages/simulateur/simulateur.js"], "includePattern": ".+\\.js(doc|x)?$", "excludePattern": "(^|\\/|\\\\)_" }, "plugins": [], "templates": { "cleverLinks": false, - "monospaceLinks": false + "monospaceLinks": false, + "dateFormat": "ddd MMM Do YYYY", + "outputSourceFiles": true, + "outputSourcePath": true, + "systemName": "UTCoupe 17", + "footer": "", + "copyright": "DocStrap Copyright © 2012-2015 The contributors to the JSDoc3 and DocStrap projects.", + "navType": "vertical", + "theme": "cyborg", + "linenums": true, + "collapseSymbols": false, + "inverseNav": true, + "protocol": "html://", + "methodHeadingReturns": false }, "opts": { "destination": "./doc/", - "template": "node_modules/docdash" + "template": "node_modules/ink-docstrap/template" } } \ No newline at end of file From caf0e09d424a218f8c3a71723e1f76c174a77189 Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 1 Apr 2017 19:45:02 +0200 Subject: [PATCH 12/74] Removing doc folder from git --- .gitignore | 4 +- doc/client_gr_actuators.Acts.html | 1158 ----- doc/client_gr_detect.Detect.html | 536 -- doc/client_gr_servos.Servos.html | 790 --- doc/clients_gr_actuators.Acts.html | 1158 ----- 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client :Object

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- - - - - \ No newline at end of file diff --git a/doc/clients_gr_actuators.class.js.html b/doc/clients_gr_actuators.class.js.html deleted file mode 100644 index b59d77d..0000000 --- a/doc/clients_gr_actuators.class.js.html +++ /dev/null @@ -1,236 +0,0 @@ - - - - - clients/gr/actuators.class.js - Documentation - - - - - - - - - - - - - - - - -
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clients/gr/actuators.class.js

- - - - - - - -
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- 
/**
- * Actuators module
- * 
- * @module clients/gr/actuators
- * @requires module:clients/shared/fifo
- * @requires module:clients/gr/servos
- * @requires module:clients/gr/servos-simu
- * @requires module:clients/shared/asserv
- * @requires module:clients/shared/asserv-simu
- * @see {@link clients/gr/actuators.Acts}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('gr.acts');
-	var serialPort = require("serialport");
-	/** @type {Object} */
-	var SerialPort = serialPort.SerialPort;
-	/** @type {clients/shared/fifo.Fifo} */
-	var fifo = new (require('../shared/fifo.class.js'))();
-
-	/** @type {clients/gr/servos.Servos} */
-	var servos = null;
-	/** @type {clients/gr/asserv.Asserv} */
-	var asserv = null;
-	var date = new Date();
-	/** @type {int} */
-	var lastSendStatus =  date.getTime();
-
-	/**
-	 * Acts Constructor
-	 * 
-	 * @exports clients/gr/actuators.Acts
-	 * @constructor
-	 * @param {Object} client
-	 * @param {Object} sendChildren
-	 */
-	function Acts(client, sendChildren) {
-		/** @type {Object} */
-		this.client = client;
-		/** @type {Object} */
-		this.sendChildren = sendChildren;
-		this.start();
-	}
-
-	/**
-	 * Starts (nothing ?)
-	 */
-	Acts.prototype.start = function(){
-
-	};
-	
-	/**
-	 * Cleans fifo and asserv
-	 */
-	Acts.prototype.clean = function(){
-		fifo.clean(); // A priori déjà vide
-		asserv.clean();
-	};
-
-	/**
-	 * Connect to the servos
-	 * 
-	 * @param {Object} [struct]
-	 */
-	Acts.prototype.connectTo = function(struct){
-		if (!struct.servos) {
-			logger.fatal("Lancement des servos gr en mode simu !");
-			servos = new (require('./servos.simu.class.js'))();
-		} else {
-			servos = new (require('./servos.class.js'))(struct.servos, this.sendStatus);
-		}
-		if (!struct.asserv) {
-			logger.fatal("Lancement de l'asserv gr en mode simu !");
-			asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'gr', fifo);
-		} else {
-			asserv = new (require('../shared/asserv.class.js'))(
-				new SerialPort(struct.asserv, {
-					baudrate: 57600,
-					parser:serialPort.parsers.readline('\n'),
-				}), this.client, 'gr', this.sendStatus, fifo
-			);
-		}
-	};
-
-	/**
-	 * Sends Status
-	 */
-	Acts.prototype.sendStatus = function() {
-		if(lastSendStatus <  date.getTime()-1000){
-			this.sendChildren(this.getStatus);
-			lastSendStatus =  date.getTime();
-		}
-	};
-
-	/**
-	 * Gets the status
-	 */
-	Acts.prototype.getStatus = function(){
-		var data = {
-			"status": "",
-			"children": []
-		};
-
-		data.status = "everythingIsAwesome";
-
-		if(servos && servos.ready){
-			data.children.push("Arduino servos");
-		}else
-			data.status = "ok";
-
-		if(asserv && asserv.ready){
-			data.children.push("Arduino asserv");
-		}else
-			data.status = "error";
-
-		return data;
-	};
-
-	/**
-	 * Tries to quit
-	 */
-	Acts.prototype.quit = function(){
-		if (!!servos && servos.ready)
-			servos.disconnect();
-		if (!!asserv && asserv.ready)
-			asserv.disconnect();
-	};
-
-	/**
-	 * Order switch
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} params
-	 * @param {Object} callback
-	 */
-	Acts.prototype.orderHandler = function (from, name, params, callback) {
-		// logger.info("Just received an order `" + name + "` from " + from + " with params :");
-		logger.info(name, params);
-
-		switch (name){
-			// Others
-			case "acheter":
-				servos.acheter(callback);
-			break;
-			case "vendre":
-				servos.vendre(callback);
-			break;
-			// Asserv
-			case "pwm":
-				asserv.pwm(params.left, params.right, params.ms,callback);
-			break;
-			case "setvit":
-				asserv.setVitesse(params.v, params.r, callback);
-			break;
-			case "clean":
-				asserv.clean(callback);
-			break;
-			case "goa":
-				asserv.goa(params.a,callback);
-			break;
-			case "goxy":
-				asserv.goxy(params.x, params.y, "avant",callback);
-			break;
-			case "setpos":
-				asserv.setPos(params,callback);
-			break;
-			case "setpid":
-				asserv.setPid(params.p, params.i, params.d,callback);
-			break;
-			default:
-				logger.warn("Order name " + name + " " + from + " not understood");
-				callback();
-		}
-	};
-
-	return Acts;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_gr_detect.Detect.html b/doc/clients_gr_detect.Detect.html deleted file mode 100644 index 03b2c9f..0000000 --- a/doc/clients_gr_detect.Detect.html +++ /dev/null @@ -1,536 +0,0 @@ - - - - - Detect - Documentation - - - - - - - - - - - - - - - - -
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Detect

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devicesFound :Object

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sendSP()

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- - - - - \ No newline at end of file diff --git a/doc/clients_gr_detect.class.js.html b/doc/clients_gr_detect.class.js.html deleted file mode 100644 index a28fad9..0000000 --- a/doc/clients_gr_detect.class.js.html +++ /dev/null @@ -1,117 +0,0 @@ - - - - - clients/gr/detect.class.js - Documentation - - - - - - - - - - - - - - - - -
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clients/gr/detect.class.js

- - - - - - - -
-
- 
/**
- * Detect module
- * 
- * @module clients/gr/detect
- * @see {@link clients/gr/detect.Detect}
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('pr.detect');
-	var serialPort = require("serialport");
-	var SerialPort = serialPort.SerialPort;
-
-	var sp = [];
-
-	/**
-	 * Detect constructor
-	 * 
-	 * @exports clients/gr/detect.Detect
-	 * @constructor
-	 * @param {Object} callback
-	 */
-	function Detect(callback) {
-		/** @type {Object} */
-		this.devicesFound = {
-			asserv: null,
-			servos: null
-		};
-		/** @type {Object} */
-		this.callback = callback;
-		this.searchArduinos();
-	}
-
-	/**
-	 * Send SP
-	 */
-	Detect.prototype.sendSP = function (){
-		// Sent to acts
-		this.callback(this.devicesFound);
-	};
-
-	/**
-	 * Searches Arduino
-	 */
-	Detect.prototype.searchArduinos = function() {
-		// On check tous les ports disponibles
-		serialPort.list(function (err, ports) {
-			for(var i in ports) {
-				if(ports[i].comName.indexOf('ttyUSB') >= 0) {
-					this.devicesFound.servos = ports[i].comName;
-				} else if(ports[i].comName.indexOf('ttyACM') >= 0) {
-					this.devicesFound.asserv = ports[i].comName;
-				}
-			}
-			this.sendSP();
-		}.bind(this));
-	};
-
-	return Detect;
-})();
-
-
- - - - -
- -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_gr_main.js.html b/doc/clients_gr_main.js.html deleted file mode 100644 index 7e243ad..0000000 --- a/doc/clients_gr_main.js.html +++ /dev/null @@ -1,257 +0,0 @@ - - - - - clients/gr/main.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/gr/main.js

- - - - - - - -
-
- 
/**
- * Main module
- * 
- * @module clients/gr/main
- * @requires server/socket_client
- * @requires config
- * @requires clients/gr/actuators
- * @requires clients/gr/detect
- */
-
-(function () {
-	"use strict";
-	// Requires
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('gr');
-
-	// logger.info("Started NodeJS client with pid " + process.pid);
-
-	var SocketClient = require('../../server/socket_client.class.js');
-	var server = require('../../config.js').server;
-	/** @type {server/socket_client.SocketClient} */
-	var client = new SocketClient({
-		server_ip: server,
-		type: "gr"
-	});
-
-	/** @type {Object} */
-	var lastStatus = {
-		"status": "waiting"
-	};
-	sendChildren(lastStatus);
-
-	/** @type {clients/gr/actuators.Acts} */
-	var acts = new (require('./actuators.class.js'))(client, sendChildren);
-	/** @type {clients/gr/detect.Detect} */
-	var detect = null; // new (require('./detect.class.js'))(devicesDetected);
-
-	var queue = [];
-	var orderInProgress = null;
-
-	start();
-
-	// On message
-	client.order(function (from, name, params){
-		// logger.info("Recieved an order "+name);
-		switch (name){
-			case "collision":
-				queue = [];
-				acts.clean();
-				orderInProgress = false;
-			break;
-			case "stop":
-				acts.clean();
-				logger.fatal("Stop GR");
-				process.exit();
-			break;
-
-			// useless //
-			case "start":
-				queue = [];
-				start();
-			break;
-			default:
-				addOrder2Queue(from, name, params);
-		}
-	});
-
-	/**
-	 * Starts the GR
-	 */
-	function start(){
-		logger.info("Starting  :)");
-		sendChildren({
-			status: "starting", 
-			children:[]
-		});
-		detect = new (require('./detect.class.js'))(devicesDetected);
-	}
-
-	/**
-	 * Stops the robot
-	 */
-	function stop(){
-		acts.quit();
-
-		// Send struct to server
-		sendChildren({
-			status: "waiting", 
-			children:[]
-		});
-	}
-
-	/**
-	 * Devices detected
-	 * 
-	 * @param {Object} struct
-	 */
-	function devicesDetected(struct){
-		// Verify content
-		if (!struct.servos)
-			logger.warn("Missing servos Nano");
-		if (!struct.asserv)
-			logger.warn("Missing asserv Nano");
-
-		// Connect to what's detected
-		acts.connectTo(struct);
-
-		// Send struct to server
-		sendChildren(acts.getStatus());
-	}
-
-	/**
-	 * Sends status to server
-	 * 
-	 * @param {Object} status
-	 */
-	function sendChildren(status){
-		lastStatus = status;
-
-		client.send("server", "server.childrenUpdate", lastStatus);
-	}
-
-	/**
-	 * Looks if everything is Ok
-	 */
-	function isOk(){
-		if(lastStatus.status != "waiting")
-			lastStatus = acts.getStatus();
-		
-		client.send("ia", "isOkAnswer", lastStatus);
-		client.send("server", "server.childrenUpdate", lastStatus);
-	}
-
-	/**
-	 * Push the order (enfiler)
-	 * 
-	 * @param {string} f from
-	 * @param {string} n name
-	 * @param {Object} p parameters
-	 */
-	function addOrder2Queue(f, n, p){
-		if(queue.length < 50) {
-			// Adds the order to the queue
-			queue.push({
-				from: f,
-				name: n,
-				params: p
-			});
-			// logger.info("Order added to queue ! : ");
-			// logger.info(queue);
-			executeNextOrder();
-		}
-	}
-
-	/**
-	 * Execute order
-	 */
-	function executeNextOrder(){
-		if ((queue.length > 0) && (!orderInProgress)){
-			var order = queue.shift();
-			orderInProgress = order.name;
-			
-			logger.info("Going to do '" + orderInProgress + "' "+order.params.toString());
-			acts.orderHandler(order.from, order.name, order.params, actionFinished);
-			
-			executeNextOrder();
-		}
-	}
-
-	/**
-	 * Launch the next order
-	 */
-	function actionFinished(){
-		logger.info(orderInProgress + " just finished !");
-
-		orderInProgress = false;
-		executeNextOrder();
-	}
-
-	/**
-	 * Tries to exit
-	 * 
-	 * @todo do something when app is closing
-	 */
-	function quit () {
-		logger.info("Please wait while exiting...");
-		// acts.quit();
-		process.exit(0);
-	}
-
-
-	// Exiting :
-	//do something when app is closing
-	//process.on('exit', quit);
-	// catches ctrl+c event
-	//process.on('SIGINT', quit);
-	// //catches uncaught exceptions
-	// process.on('uncaughtException', quit);
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_gr_servos-simu.Servos.html b/doc/clients_gr_servos-simu.Servos.html deleted file mode 100644 index 9685f46..0000000 --- a/doc/clients_gr_servos-simu.Servos.html +++ /dev/null @@ -1,492 +0,0 @@ - - - - - Servos - Documentation - - - - - - - - - - - - - - - - -
- -

Servos

- - - - - - - -
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- Servos -

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acheter(callback)

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- - - - - \ No newline at end of file diff --git a/doc/clients_gr_servos-simu.module_Servos.html b/doc/clients_gr_servos-simu.module_Servos.html deleted file mode 100644 index 8945bb0..0000000 --- a/doc/clients_gr_servos-simu.module_Servos.html +++ /dev/null @@ -1,405 +0,0 @@ - - - - - Servos - Documentation - - - - - - - - - - - - - - - - -
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Servos

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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 16:47:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_gr_servos.Servos.html b/doc/clients_gr_servos.Servos.html deleted file mode 100644 index e2f2f7e..0000000 --- a/doc/clients_gr_servos.Servos.html +++ /dev/null @@ -1,790 +0,0 @@ - - - - - Servos - Documentation - - - - - - - - - - - - - - - - -
- -

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- - - - - \ No newline at end of file diff --git a/doc/clients_gr_servos.class.js.html b/doc/clients_gr_servos.class.js.html deleted file mode 100644 index cacf724..0000000 --- a/doc/clients_gr_servos.class.js.html +++ /dev/null @@ -1,150 +0,0 @@ - - - - - clients/gr/servos.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/gr/servos.class.js

- - - - - - - -
-
- 
/**
- * Servos module
- * 
- * @module clients/gr/servos
- * @see {@link clients/gr/servos.Servos}
- * @see module:clients/gr/servos-simu
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('gr.servos');
-	var five = require("johnny-five");
-	/** @type {Object} */
-	var board = null;
-	/** @type {Object} */
-	var servo_gauche, servo_droit;
-
-	/**
-	 * Servos Constructors
-	 * 
-	 * @exports clients/gr/servos.Servos
-	 * @constructor
-	 * @param {string} sp Server port
-	 * @param {Object} sendStatus
-	 */
-	function Servos(sp, sendStatus) {
-		/** @type {boolean} */
-		this.ready = false;
-		/** @type {Object} */
-		this.sendStatus = sendStatus;
-		this.connect(sp);
-	}
-
-	/**
-	 * Connect
-	 * 
-	 * @param {string} sp Server port
-	 */
-	Servos.prototype.connect = function(sp) {
-		board = new five.Board({
-			port: sp,
-			repl: false
-		});
-
-		board.on("ready", function() {
-			logger.info("Board servos Ready");
-			servo_gauche = new five.Servo(2);
-			servo_droit = new five.Servo(3);
-			this.ready = true;
-			this.sendStatus();
-			this.acheter();
-		}.bind(this));
-	};
-
-	/**
-	 * Acheter
-	 * 
-	 * @param {Object} callback
-	 */
-	Servos.prototype.acheter = function(callback) {
-		servo_gauche.to(170);
-		servo_droit.to(0);
-		setTimeout(callback, 500);
-	};
-	/**
-	 * Vendre
-	 * 
-	 * @param {Object} callback
-	 */
-	Servos.prototype.vendre = function(callback) {
-		servo_gauche.to(50);
-		servo_droit.to(120);
-		setTimeout(function(){ // remontée lente
-			servo_gauche.to(100, 1000);
-			servo_droit.to(70, 1000);
-		}, 500);
-		setTimeout(function(){
-			servo_gauche.to(50);
-			servo_droit.to(120);
-		}, 2000);
-		setTimeout(function(){ // remontée lente
-			servo_gauche.to(100, 1000);
-			servo_droit.to(70, 1000);
-		}, 2500);
-		setTimeout(function(){
-			servo_gauche.to(50);
-			servo_droit.to(120);
-		}, 4000);
-		setTimeout(callback, 6000);
-	};
-
-	return Servos;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_gr_servos.simu.class.js.html b/doc/clients_gr_servos.simu.class.js.html deleted file mode 100644 index a064f48..0000000 --- a/doc/clients_gr_servos.simu.class.js.html +++ /dev/null @@ -1,98 +0,0 @@ - - - - - clients/gr/servos.simu.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/gr/servos.simu.class.js

- - - - - - - -
-
- 
/**
- * Servos Simulator module
- * 
- * @module clients/gr/servos-simu
- * @see clients/gr/servos-simu.Servos
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('gr.servos');
-
-	/**
-	 * Servos constructor
-	 * 
-	 * @exports clients/gr/servos-simu.Servos
-	 * @constructor
-	 * @param {Object} sp
-	 */
-	function Servos(sp) {
-
-	}
-
-	/**
-	 * Acheter
-	 * 
-	 * @param {Object} callback
-	 */
-	Servos.prototype.acheter = function(callback) {
-		setTimeout(callback, 500);
-	};
-	/**
-	 * Vendre
-	 * 
-	 * @param {Object} callback
-	 */
-	Servos.prototype.vendre = function(callback) {
-		setTimeout(callback, 500);
-	};
-
-	return Servos;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_pr_actuators.Acts.html b/doc/clients_pr_actuators.Acts.html deleted file mode 100644 index e99f476..0000000 --- a/doc/clients_pr_actuators.Acts.html +++ /dev/null @@ -1,1966 +0,0 @@ - - - - - Acts - Documentation - - - - - - - - - - - - - - - - -
- -

Acts

- - - - - - - -
- -
- -

- Acts -

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new Acts(client, sendChildren)

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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
client - - -Object - - - -
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client :Object

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has_gobelet :boolean

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nb_plots :int

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new_has_ball :boolean

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sendChildren :Object

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monter_plot2(callbackopt)

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orderHandler(from, name, params, callback)

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quit()

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start()

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- -
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- -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_pr_actuators.class.js.html b/doc/clients_pr_actuators.class.js.html deleted file mode 100644 index 72235c2..0000000 --- a/doc/clients_pr_actuators.class.js.html +++ /dev/null @@ -1,664 +0,0 @@ - - - - - clients/pr/actuators.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/actuators.class.js

- - - - - - - -
-
- 
/**
- * Actuators module
- * 
- * @module clients/pr/actuators
- * @requires clients/shared/fifo
- * @see {@link clients/pr/actuators.Acts}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('pr.acts');
-	var serialPort = require("serialport");
-	var SerialPort = serialPort.SerialPort;
-	var spawn = require('child_process').spawn;
-	/** @type {clients/shared/fifo.Fifo} */
-	var fifo = new (require('../shared/fifo.class.js'))();
-
-	var others = null;
-	var asserv = null;
-	var ax12 = null;
-	var date = new Date();
-	/** @type {int} */
-	var lastSendStatus =  date.getTime();
-
-	/**
-	 * Acts Constructor
-	 * 
-	 * @exports clients/pr/actuators.Acts
-	 * @constructor
-	 * @param {Object} client
-	 * @param {Object} sendChildren
-	 */
-	function Acts(client, sendChildren) {
-		/** @type {Object} */
-		this.client = client;
-		/** @type {Object} */
-		this.sendChildren = sendChildren;
-		this.start();
-		/** @type {int} */
-		this.nb_plots = 0;
-		/** @type {boolean} */
-		this.new_has_ball = false;
-		/** @type {boolean} */
-		this.has_gobelet = false;
-	}
-
-	/**
-	 * Starts (nothing ?)
-	 */
-	Acts.prototype.start = function(){
-		
-	};
-
-	/**
-	 * Cleans all
-	 */
-	Acts.prototype.clean = function(){
-		fifo.clean();  // A priori déjà vide
-		asserv.clean();
-		ax12.ouvrir();
-		others.ouvrirStabilisateurGrand();
-		others.ouvrirBloqueurGrand();
-	};
-
-	/**
-	 * Connect to
-	 * 
-	 * @param {Object} struct
-	 */
-	Acts.prototype.connectTo = function(struct){
-		if (!struct.others) {
-			logger.fatal("Lancement de others pr en mode simu !");
-			others = new (require('./others.simu.class.js'))(fifo);
-		} else {
-			others = new (require('./others.class.js'))(
-				new SerialPort(struct.others, { baudrate: 57600 }),
-				this.sendStatus,
-				fifo
-			);
-		}
-
-		if (!struct.asserv) {
-			logger.fatal("Lancement de l'asserv pr en mode simu !");
-			asserv = new (require('../shared/asserv.simu.class.js'))(this.client, 'pr', fifo);
-		} else {
-			asserv = new (require('../shared/asserv.class.js'))(
-				new SerialPort(struct.asserv, {
-					baudrate: 57600,
-					parser:serialPort.parsers.readline('\n')
-				}), this.client, 'pr', this.sendStatus, fifo
-			);
-		}
-
-		if (!struct.ax12) {
-			logger.fatal("Lancement de l'usb2ax pr en mode simu !");
-			ax12 = new (require('./ax12.simu.class.js'))(fifo);
-		} else {
-			ax12 = new (require('./ax12.class.js'))(struct.ax12, this.sendStatus, fifo);
-		}
-
-		// Initialisation
-		setTimeout(function() {
-			others.ouvrirStabilisateurGrand();
-			others.lacherGobelet();
-			others.ouvrirBloqueurGrand();
-			others.descendreAscenseur();
-			ax12.ouvrir(function() {
-				logger.fatal('BAZOOKA');
-			});
-		}, 1000);
-	};
-
-	/**
-	 * Send status
-	 */
-	Acts.prototype.sendStatus = function() {
-		if(lastSendStatus <  date.getTime()-1000){
-			this.sendChildren(this.getStatus);
-			lastSendStatus =  date.getTime();
-		}
-	};
-
-	/**
-	 * Get Status
-	 */
-	Acts.prototype.getStatus = function(){
-		var data = {
-			"status": "",
-			"children": []
-		};
-
-		data.status = "everythingIsAwesome";
-
-		if(others && !!others.ready)
-			data.children.push("Arduino others");
-		else
-			data.status = "ok";
-
-		if(ax12 && !!ax12.ready)
-			data.children.push("USB2AX");
-		else
-			data.status = "ok";
-
-		if(asserv && !!asserv.ready)
-			data.children.push("Arduino asserv");
-		else
-			data.status = "error";
-
-		return data;
-	};
-
-	/**
-	 * Quit
-	 */
-	Acts.prototype.quit = function(){
-		if (ax12 && ax12.ready)
-			ax12.disconnect();
-	};
-
-	/**
-	 * fake
-	 */
-	function fake() {}
-	Acts.prototype.delay = function(ms, callback){
-		fifo.newOrder(function() {
-			setTimeout(function() {
-				if(callback !== undefined)
-					callback();
-				fifo.orderFinished();
-			}, ms);
-		}, 'delay');
-	}
-
-	/**
-	 * Prendre plot
-	 * 
-	 * @param {Object} [callback]
-	 * @param {int} [monter]
-	 */
-	Acts.prototype.prendre_plot = function(callback, monter){
-		if(callback === undefined) {
-			callback = function() {};
-		}
-		if (monter === undefined) {
-			monter = 1;
-		}
-		var that = this;
-		if (that.new_has_ball) {
-			that.new_has_ball = false;
-			others.descendreUnPeuAscenseur();
-			ax12.ouvrir();
-			others.descendreAscenseur();
-			that.prendre_plot(callback);
-		}
-		else if (that.nb_plots>=3 || !monter){
-			ax12.ouvrir();
-			others.fermerStabilisateur();
-			ax12.fermer();
-			others.monterUnPeuAscenseur(function() {
-				that.client.send('ia', 'pr.plot++');
-				callback();
-			});
-			others.ouvrirBloqueurMoyen();
-			others.fermerBloqueur();
-		}
-		else if (that.nb_plots==0) {
-			ax12.ouvrir();
-			others.ouvrirBloqueurMoyen();
-			ax12.fermer();
-			others.monterAscenseur(function() {
-				that.client.send('ia', 'pr.plot++');
-				setTimeout(callback, 200);
-			});
-			others.fermerBloqueur();
-			ax12.ouvrir();
-			others.ouvrirStabilisateurMoyen(function() {}, 0);
-			others.descendreAscenseur();
-		}
-		else if(that.nb_plots==1){
-			ax12.ouvrir();
-			others.ouvrirStabilisateurMoyen();
-			ax12.fermer();
-			others.ouvrirBloqueurMoyen();
-			others.monterAscenseur(function() {
-				that.client.send('ia', 'pr.plot++');
-				setTimeout(callback, 200);
-			});
-			others.fermerBloqueur();
-			ax12.ouvrir(function() {});
-			others.descendreAscenseur();
-		}
-		else {
-			ax12.ouvrir();
-			others.ouvrirStabilisateurMoyen();
-			ax12.fermer();
-			others.ouvrirBloqueurMoyen();
-			others.monterAscenseur(function() {
-				that.client.send('ia', 'pr.plot++');
-				setTimeout(callback, 200);
-			});
-			others.fermerStabilisateur(fake,0);
-			others.fermerBloqueur();
-			ax12.ouvrir(function() {});
-			others.descendreAscenseur();
-		}
-		that.nb_plots++;
-	}
-
-	/**
-	 * Pousser plot
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Acts.prototype.pousser_plot = function(callback){
-		if(callback === undefined) {
-			callback = function() {};
-		}
-		ax12.ouvrir();
-		asserv.goxy(1150, 200, "avant");
-		asserv.goxy(1100, 250, "arriere", callback);
-	}
-
-	/**
-	 * Prendre plot
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Acts.prototype.prendre_plot2 = function(callback){
-		if(callback === undefined) {
-			callback = function() {};
-		}
-		var that = this;
-		asserv.speed(300, 0, 750);
-		if (that.new_has_ball) {
-			that.new_has_ball = false;
-			others.descendreUnPeuAscenseur();
-			ax12.ouvrir();
-			others.descendreAscenseur();
-			that.prendre_plot(callback);
-		}
-		else {
-
-			ax12.ouvrir();
-			ax12.fermer();
-			others.monterUnPeuAscenseur(function() {
-				that.client.send('ia', 'pr.plot++');
-				callback();
-			});
-		}
-		
-		that.nb_plots++;
-	}
-
-	/**
-	 * Monter plot 2
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Acts.prototype.monter_plot2 = function(callback){
-		if(callback === undefined) {
-			callback = function() {};
-		}
-		var that = this;
-
-		callback();
-		if (that.nb_plots == 1) {
-			others.ouvrirBloqueurMoyen();
-			others.monterAscenseur();
-			others.fermerBloqueur();
-			others.fermerStabilisateur();
-			ax12.ouvrir();
-			others.descendreAscenseur();
-		} else {
-			others.ouvrirStabilisateurMoyen();
-			others.ouvrirBloqueurMoyen();
-			others.monterAscenseur();
-			others.fermerBloqueur();
-			others.fermerStabilisateur();
-			ax12.ouvrir();
-			others.descendreAscenseur();
-		}
-	}
- 
-	/**
-	 * Order switch
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} params
-	 * @param {Object} callback
-	 */
-	Acts.prototype.orderHandler = function (from, name, params, callback) {
-		// logger.info("Just received an order `" + name + "` from " + from + " with params :");
-		// logger.info(params);
-		var that = this;
-		/** @todo : add a callback parameter to all functions (and call it) */
-		switch (name){
-			// others
-			case "placer":
-				asserv.setPid(0.25, 130, 13);
-				asserv.goxy(500, 940);
-				asserv.goa(-0.62);
-				this.orderHandler('ia','fermer_tout', {}, callback);
-			break;
-			case "prendre_plot":
-				this.prendre_plot(callback);
-			break;
-			case "pousser_plot":
-				this.pousser_plot(callback);
-			break;
-			case "prendre_plot2":
-				this.prendre_plot2(callback);
-			break;
-			case "monter_plot2":
-				this.monter_plot2(callback);
-			break;
-			case "reset_nb_plots":
-				this.nb_plots = 0;
-				callback();
-			break;	
-			case "prendre_plot_rear_left":
-				asserv.goxy(160, 1800, "avant");
-				that.prendre_plot(undefined, 0);
-				asserv.goxy(270, 1800, "arriere", callback);
-			break;
-			case "prendre_plot_rear_left_calage":
-				asserv.goxy(250, 1450, "arriere");
-				asserv.goa(1.5708);
-				asserv.pwm(-70, -70, 1500);
-				asserv.calageY(1288, 1.5708);
-				asserv.goxy(250, 1450, 500);
-				asserv.goa(0);
-				asserv.pwm(-70, -70, 1500);
-				asserv.calageX(65, 0);
-				asserv.goxy(120, 1450, "avant");
-				asserv.goxy(120, 1790, "avant");
-				that.prendre_plot();
-				asserv.goa(-1);
-				asserv.speed(500, 0, 750, callback);
-			break;
-			case "prendre_gobelet_et_2_plots_front":
-				others.lacherGobelet(fake,0);
-				asserv.goxy(275, 260, "arriere");
-				others.prendreGobelet(function() {
-					that.has_gobelet = true;
-					that.client.send('ia', 'pr.gobelet1');
-				});
-				asserv.speed(500, 0, 500); 
-				asserv.goxy(165, 270, "avant"); //100 au lieu de 90 pos plot
-				that.prendre_plot(undefined, 1);
-				//asserv.speed(-300, -300, 600); 
-				asserv.goxy(285, 310, "arriere");
-				asserv.goxy(155, 180, "avant");
-				that.prendre_plot(callback);
-			break;
-
-			case "deposer_pile_left_2":
-				asserv.goxy(650, 1000, "avant");
-				others.descendreAscenseur();
-				ax12.ouvrir();
-				others.ouvrirBloqueurMoyen(fake,0);
-				others.ouvrirStabilisateurMoyen();
-				that.delay(500);
-				others.ouvrirBloqueurGrand(fake,0);
-				others.ouvrirStabilisateurGrand(function() {
-					that.nb_plots = 0;
-					that.client.send('ia', 'pr.plot0');
-				});
-				asserv.speed(-300, 0, 1000);
-			break;
-
-			case "recalage_stairs":
-				asserv.goxy(250, 1450, "arriere");
-				asserv.goa(1.5708);
-				asserv.pwm(-80, -80, 1500);
-				asserv.calageY(1288, 1.5708);
-				asserv.goxy(250, 1450, 500);
-				asserv.goa(0);
-				asserv.pwm(-80, -80, 1500);
-				asserv.calageY(65, 0);
-				asserv.goxy(120, 1450, "avant");
-			break;
-
-			case "prendre_2_plots_stairs":
-				asserv.goxy(800, 1740, "avant");
-				that.prendre_plot(undefined, 1);
-				that.delay(1000);
-				asserv.goxy(830, 1850, "avant");
-				that.prendre_plot(undefined, 0);
-				asserv.speed(-300, 0, 1000, callback); 
-			break;
-
-			case "prendre_gobelet":
-				others.lacherGobelet(fake,0);
-				asserv.speed(-300, 0, 500);
-				others.prendreGobelet(function() {
-					that.client.send('ia', 'pr.gobelet1');
-					that.has_gobelet = true;
-					callback();
-				});
-			break;
-
-			case "deposer_pile_et_gobelet":
-				asserv.goxy(250, 1000, "avant");
-				others.descendreUnPeuAscenseur();
-				ax12.ouvrir();
-				others.ouvrirBloqueurMoyen(fake,0);
-				others.ouvrirStabilisateurMoyen();
-				that.delay(500);
-				others.ouvrirBloqueurGrand(fake,0);
-				others.ouvrirStabilisateurGrand(function() {
-					that.nb_plots = 0;
-					that.client.send('ia', 'pr.plot0');
-				});
-				asserv.speed(-300, 0, 1000);
-				asserv.goa(0);
-				others.lacherGobelet(function() {
-					that.client.send('ia', 'pr.gobelet0');
-				});
-				that.delay(300);
-				asserv.speed(300, 0, 750, callback);
-				others.ouvrirStabilisateurMoyen(fake,0);
-				others.ouvrirBloqueurMoyen(fake,0);
-				others.descendreAscenseur();
-				break;
-
-			case "deposer_pile_gobelet_prendre_balle_gauche":
-				asserv.goxy(300, 1000, "avant");
-				//asserv.goa(-2.3562);
-				others.descendreUnPeuAscenseur();
-				ax12.ouvrir();
-				others.ouvrirBloqueurGrand(fake,0);
-				others.ouvrirStabilisateurMoyen();
-				that.delay(500);
-				others.ouvrirStabilisateurGrand();
-				asserv.speed(-300, 0, 1000);
-				asserv.goa(0);
-				others.lacherGobelet();
-				that.delay(300);
-				asserv.speed(300, 0, 750);
-				/*asserv.goxy(700, 1300, "arriere", function() {
-					that.client.send('ia', 'data.add_dynamic', {pos:{x:450, y:880}, d:8});
-				});
-				others.ouvrirBloqueurMoyen(fake,0);
-				others.ouvrirStabilisateurMoyen(fake,0);
-				others.monterMoyenAscenseur();
-
-				asserv.goxy(260, 1050, "osef");
-				asserv.goa(3.1416/2);
-				asserv.pwm(50, 50, 1500);
-				asserv.calageY(1126, 3.1416/2);
-				asserv.goxy(260, 1000, "arriere");
-				asserv.goa(3.1416);
-
-				asserv.goxy(200, 1000, "avant");
-				asserv.goa(3.1416);
-				asserv.pwm(50, 50, 1500);
-				asserv.calageX(145, 3.1416);
-				ax12.fermerBalle();
-				asserv.goxy(260, 1000, "arriere");
-				others.descendreMoyenAscenseur();
-				ax12.fermerBalle2();
-				asserv.goxy(260, 1000, "arriere");
-				others.monterAscenseur();
-				asserv.goxy(330, 1000, "avant");
-				asserv.goa(0.1863);
-				others.lacherGobelet();
-				that.delay(100);
-				that.new_has_ball = true;
-				that.client.send('ia', 'pr.plot0');
-				that.client.send('ia', 'pr.gobelet0');
-				that.nb_plots = 0;
-				that.has_gobelet = false;
-				asserv.goxy(600, 1050, "avant", callback);*/
-			break;
-
-			case "deposer_gobelet":
-				asserv.goa(3.1416);
-				that.delay(100);
-				others.lacherGobelet();
-				that.client.send('ia', 'pr.gobelet0');
-				asserv.speed(500, 0, 800, callback);
-			break;
-
-			case "fermer_tout":
-				others.lacherGobelet();
-				others.fermerBloqueur();
-				others.descendreAscenseur();
-				others.rangerClap();
-				others.fermerStabilisateur();
-				ax12.fermer(callback);
-			break;
-			case "ouvrir_ax12":
-				ax12.ouvrir(callback);
-			break;
-			case "monter_ascenseur":
-				others.monterAscenseur(callback);
-			break;
-			case "clap_1":
-				others.sortirClap();
-				asserv.goxy(330, 140, "osef", function() {
-					callback();
-					others.rangerClap();
-				});
-			break;
-			case "clap_3":
-				others.sortirClap();
-				asserv.goxy(1000, 140, "osef", function() {
-					callback();
-					others.rangerClap();
-				});
-			break;
-			case "clap_5":
-				others.sortirClap();
-				asserv.goxy(2300, 140, "osef", function() {
-					callback();
-					others.rangerClap();
-				});
-			break;
-
-			// Asserv
-			case "pwm":
-				asserv.pwm(params.left, params.right, params.ms, callback);
-			break;
-			case "setvit":
-				asserv.setVitesse(params.v, params.r, callback);
-			break;
-			case "clean":
-				asserv.clean(callback);
-			break;
-			case "goa":
-				asserv.goa(params.a, callback, true);
-			break;
-			case "goxy":
-				asserv.goxy(params.x, params.y, params.sens, callback, true);
-			break;
-			case "setpos":
-				asserv.setPos(params, callback);
-			break;
-			case "setacc":
-				asserv.setAcc(params.acc, callback);
-			break;
-			case "setpid":
-				asserv.setPid(params.p, params.i, params.d, callback);
-			break;
-			case "sync_git":
-				spawn('/root/sync_git.sh', [], {
-					detached: true
-				});
-			break;
-
-
-			// Debug
-			case "AX12_close":
-				ax12.fermer(callback);
-			break;
-			case "AX12_open":
-				ax12.ouvrir(callback);
-			break;
-			default:
-				logger.warn("Order name " + name + " " + from + " not understood");
-				callback();
-		}
-	};
-
-	return Acts;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_pr_ax12-simu.Ax12.html b/doc/clients_pr_ax12-simu.Ax12.html deleted file mode 100644 index b05b9ef..0000000 --- a/doc/clients_pr_ax12-simu.Ax12.html +++ /dev/null @@ -1,1062 +0,0 @@ - - - - - Ax12 - Documentation - - - - - - - - - - - - - - - - -
- -

Ax12

- - - - - - - -
- -
- -

- Ax12 -

- - -
- -
-
- - - - - -

new Ax12(fifo)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ax12 constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
fifo - - -clients/shared/fifo.Fifo - - - -
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - - - -

Methods

- - - - - - -

callCallback(callbackopt, ms)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Calls callback -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeAttributesDescription
callback - - -Object - - - - - - <optional>
- - - - - -
ms - - -int - - - - - - - - - -
- - - - - - - - - - - - - - - - - - - - - -

disconnect(x)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Disconnects (nothing ?) -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - -
- - - - - - - - - - - - - - - - - - - - - -

fermer(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fermer -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

fermerBalle(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fermer Balle -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

fermerBalle2(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fermer Balle 2 -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

ouvrir(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ouvrir -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_pr_ax12.Ax12.html b/doc/clients_pr_ax12.Ax12.html deleted file mode 100644 index 82f5480..0000000 --- a/doc/clients_pr_ax12.Ax12.html +++ /dev/null @@ -1,1748 +0,0 @@ - - - - - Ax12 - Documentation - - - - - - - - - - - - - - - - -
- -

Ax12

- - - - - - - -
- -
- -

- Ax12 -

- - -
- -
-
- - - - - -

new Ax12(sp, sendStatus, fifo)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ax12 Constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
sp - - -string - - - - Serial Port NAME
sendStatus - - -Object - - - -
fifo - - -clients/shared/fifo.Fifo - - - -
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

ax12s :array.<Object>

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -array.<Object> - - -
    • -
- - - - - - - - -

fifo :clients/shared/fifo.Fifo

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
- - - - - - - - - -

orders_sent :Object

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -Object - - -
    • -
- - - - - - - - -

ready :boolean

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -boolean - - -
    • -
- - - - - - - - -

sendStatus :Object

- - - - - -
- - -
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clients/pr/ax12.class.js

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/**
- * AX12 module
- * 
- * @module clients/pr/ax12
- * @see clients/pr/ax12.Ax12
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('pr.ax12');
-	var ffi = require('ffi');
-	var libusb2ax = ffi.Library('./libs/dynamixel/lib/libusb2ax', {
-		'dxl_initialize': ['int', ['int', 'int']],
-		'dxl_write_word': ['void', ['int', 'int', 'int']],
-		'dxl_read_word': ['int', ['int', 'int']],
-		'dxl_terminate': ['void', ['void']],
-		'dxl_get_result': ['int', ['void']]
-	});
-
-	// Constants
-	var AX12_COUPLE = 800;
-	var P_GOAL_POSITION_L = 30;
-	var P_POSITION = 36;
-	var P_SPEED	= 0x26;
-	var P_COUPLE = 34;
-	var MARGE_POS = 80;
-	var MARGE_POS_MVT = 5;
-	var ax12s = {
-		'2':{
-			id: 2,
-			obj: 0, pos: 0, arrived: false
-		},
-		'3':{
-			id: 3,
-			obj: 0, pos: 0, arrived: false
-		}
-	};
-
-	/**
-	 * Ax12 Constructor
-	 * 
-	 * @exports clients/pr/ax12.Ax12
-	 * @constructor
-	 * @param {string} sp Serial Port NAME
-	 * @param {Object} sendStatus
-	 * @param {clients/shared/fifo.Fifo} fifo
-	 */
-	function Ax12(sp, sendStatus, fifo) {
-		/** @type {boolean} */
-		this.ready = false;
-		/** @type {Object} */
-		this.sendStatus = sendStatus;
-		/** @type {Object} */
-		this.orders_sent = [];
-		/** @type {clients/shared/fifo.Fifo} */
-		this.fifo = fifo;
-
-		this.connect(sp);
-	}
-
-
-	// ====== General actions ======
-
-	POS_OPENED = 40;
-	POS_CLOSED = 10;
-	POS_BALL_1 = 0;
-	POS_BALL_2 = 0;
-
-
-	/**
-	 * Connect
-	 * 
-	 * @param {string} sp Serial Port NAME
-	 */
-	Ax12.prototype.connect = function(sp) {
-		if(libusb2ax.dxl_initialize(sp.substring("/dev/ttyACM".length), 1) <= 0) {
-			logger.error("Impossible de se connecter à l'USB2AX");
-		} else {
-			logger.info("Connecté à l'USB2AX !");
-		}
-		this.ready = true;
-		this.sendStatus();
-		/** @type {array<Object>} */
-		this.ax12s = {};
-		/** @type {Object} */
-		this.type_callback = null;
-
-		libusb2ax.dxl_write_word(2, P_COUPLE, 400);
-		libusb2ax.dxl_write_word(3, P_COUPLE, 400);
-
-		this.ouvrir();
-		this.loopAX12();
-	};
-
-	/**
-	 * Disconnect
-	 * 
-	 * @param {} x
-	 */
-	Ax12.prototype.disconnect = function(x) {
-		this.ready = false;
-		this.sendStatus();
-	};
-
-	/**
-	 * Loop AX12
-	 */
-	Ax12.prototype.loopAX12 = function() {
-		var speed;
-		for(var i in ax12s) {
-			// S'il n'est pas à la bonne position
-			ax12s[i].pos = libusb2ax.dxl_read_word(ax12s[i].id, P_POSITION);
-			speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED);
-
-			if (!ax12s[i].started) {
-				libusb2ax.dxl_write_word(ax12s[i].id, P_COUPLE, AX12_COUPLE);
-				libusb2ax.dxl_write_word(ax12s[i].id, P_GOAL_POSITION_L, ax12s[i].obj);
-				if (Math.abs(speed) > MARGE_POS_MVT) {
-					ax12s[i].started = true;
-				}
-			} else {
-				speed = libusb2ax.dxl_read_word(ax12s[i].id, P_SPEED);
-				if (Math.abs(speed) < MARGE_POS_MVT) {
-					ax12s[i].arrived = true;
-				}
-			}
-			if(Math.abs(ax12s[i].pos - ax12s[i].obj) < MARGE_POS) {
-				ax12s[i].arrived = true;
-			}
-		}
-		// logger.debug(ax12s['2'].pos + ' ; ' + ax12s['3'].pos);
-		if(ax12s['2'].started && ax12s['3'].started && this.type_callback == "ouvrir" ||
-		   ax12s['2'].arrived && ax12s['3'].arrived && this.type_callback) {
-			this.type_callback = null;
-			this.callback();
-			this.fifo.orderFinished();
-		}
-
-		setTimeout(function() { this.loopAX12(); }.bind(this), 50);
-	};
-
-	/**
-	 * Deg to AX12
-	 * 
-	 * @param {int} deg
-	 */
-	Ax12.prototype.degToAx12 = function(deg) {
-		return parseInt((deg+150)*1024/300);
-	};
-
-	/**
-	 * Ouvrir
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Ax12.prototype.ouvrir = function(callback) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			ax12s['2'].obj = this.degToAx12(0);
-			ax12s['3'].obj = this.degToAx12(0);
-			ax12s['2'].arrived = false;
-			ax12s['2'].started = false;
-			ax12s['3'].arrived = false;
-			ax12s['3'].started = false;
-			this.callback = callback;
-			this.type_callback = 'ouvrir';
-		}.bind(this), 'AX12-Ouvrir');
-	};
-
-	/**
-	 * Fermer
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Ax12.prototype.fermer = function(callback) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			ax12s['2'].obj = this.degToAx12(-85);
-			ax12s['3'].obj = this.degToAx12(85);
-			// logger.debug(ax12s['2'].obj);
-			ax12s['2'].arrived = false;
-			ax12s['2'].started = false;
-			ax12s['3'].arrived = false;
-			ax12s['3'].started = false;
-			this.callback = callback;
-			this.type_callback = 'fermer';
-		}.bind(this), 'AX12-Fermer');
-	};
-	/**
-	 * Fermer balle
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Ax12.prototype.fermerBalle = function(callback) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			ax12s['2'].obj = this.degToAx12(-50);
-			ax12s['3'].obj = this.degToAx12(50);
-			// logger.debug(ax12s['2'].obj);
-			ax12s['2'].arrived = false;
-			ax12s['2'].started = false;
-			ax12s['3'].arrived = false;
-			ax12s['3'].started = false;
-			this.callback = callback;
-			this.type_callback = 'fermer';
-		}.bind(this), 'AX12-Fermer balle');
-	};
-	/**
-	 * Fermer balle 2
-	 * 
-	 * @param {Object} [callback]
-	 */
-	Ax12.prototype.fermerBalle2 = function(callback) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			ax12s['2'].obj = this.degToAx12(-75);
-			ax12s['3'].obj = this.degToAx12(75);
-			// logger.debug(ax12s['2'].obj);
-			ax12s['2'].arrived = false;
-			ax12s['2'].started = false;
-			ax12s['3'].arrived = false;
-			ax12s['3'].started = false;
-			this.callback = callback;
-			this.type_callback = 'fermer';
-		}.bind(this), 'AX12-Fermer balle 2');
-	};
-
-	return Ax12;
-})();
-
-
-
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- - - - - diff --git a/doc/clients_pr_ax12.simu.class.js.html b/doc/clients_pr_ax12.simu.class.js.html deleted file mode 100644 index 19b1a16..0000000 --- a/doc/clients_pr_ax12.simu.class.js.html +++ /dev/null @@ -1,142 +0,0 @@ - - - - - clients/pr/ax12.simu.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/ax12.simu.class.js

- - - - - - - -
-
- 
/**
- * AX12 Simulator module
- * 
- * @module clients/pr/ax12-simu
- * @see {@link clients/pr/ax12-simu.Ax12}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('pr.ax12');
-
-	/**
-	 * Ax12 constructor
-	 * 
-	 * @exports clients/pr/ax12-simu.Ax12
-	 * @constructor
-	 * @param {clients/shared/fifo.Fifo} fifo
-	 */
-	function Ax12(fifo) {
-		this.fifo = fifo;
-	}
-
-	/**
-	 * Disconnects (nothing ?)
-	 * 
-	 * @param {} x
-	 */
-	Ax12.prototype.disconnect = function(x) {
-
-	};
-
-	/**
-	 * Calls callback
-	 * 
-	 * @param {Object} [callback]
-	 * @param {int} ms
-	 */
-	Ax12.prototype.callCallback = function(callback, ms) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			setTimeout(function() {
-				callback();
-				this.fifo.orderFinished();
-			}.bind(this), parseInt(ms/5));
-		}.bind(this));
-	}
-
-	/**
-	 * Ouvrir
-	 * 
-	 * @param {Object} callback
-	 */
-	Ax12.prototype.ouvrir = function(callback) {
-		this.callCallback(callback, 1000);
-	};
-
-	/**
-	 * Fermer
-	 * 
-	 * @param {Object} callback
-	 */
-	Ax12.prototype.fermer = function(callback) {
-		this.callCallback(callback, 1000);
-	};
-	/**
-	 * Fermer Balle
-	 * 
-	 * @param {Object} callback
-	 */
-	Ax12.prototype.fermerBalle = function(callback) {
-		this.callCallback(callback, 800);
-	};
-	/**
-	 * Fermer Balle 2
-	 * 
-	 * @param {Object} callback
-	 */
-	Ax12.prototype.fermerBalle2 = function(callback) {
-		this.callCallback(callback, 900);
-	};
-
-	return Ax12;
-})();
-
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- -

clients/pr/detect.class.js

- - - - - - - -
-
- 
/**
- * Detect module
- * 
- * @module clients/pr/detect
- * @see {@link clients/pr/detect.Detect}
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('pr.detect');
-	var serialPort = require("serialport");
-	var SerialPort = serialPort.SerialPort;
-
-	var sp = [];
-
-	/**
-	 * Detect constructor
-	 * 
-	 * @exports clients/pr/detect.Detect
-	 * @constructor
-	 * @param {Object} callback
-	 */
-	function Detect(callback) {
-		/** @type {Object} */
-		this.devicesFound = {
-			asserv: null,
-			others: null,
-			ax12: null
-		};
-		/** @type {Object} */
-		this.callback = callback;
-		this.searchArduinos();
-	}
-
-	/**
-	 * Sends Server port
-	 */
-	Detect.prototype.sendSP = function (){
-		// Close opened ports & detect other devices
-		serialPort.list(function (err, ports) {
-			for(var i in ports) {
-				if(ports[i].comName.indexOf('ttyUSB') >= 0) {
-					this.devicesFound.asserv = ports[i].comName;
-				} else if((ports[i].comName.indexOf('ttyACM') >= 0) && ports[i].comName != this.devicesFound.others) {
-					// logger.debug(ports[i].comName);
-					this.devicesFound.ax12 = ports[i].comName;
-				}
-				if(sp[i].readable){
-					logger.info("Closing  "+ports[i].comName);
-					// this.devicesFound.ax12 = ports[i].comName;
-					sp[i].close();
-				}
-			}
-
-			// Sent to acts
-			this.callback(this.devicesFound);
-		}.bind(this));
-	};
-
-	/**
-	 * Searches Arduino
-	 */
-	Detect.prototype.searchArduinos = function() {
-		// On check tous les ports disponibles
-		serialPort.list(function (err, ports) {
-			var nb_found = 0;
-			for(var i in ports) {
-				sp[i] = new SerialPort(ports[i].comName, { baudrate: 57600 });
-				sp[i].on('open', function (i) {
-					sp[i].write('O\n');
-				}.bind(this, i));
-
-				sp[i].on("data", function (i, data) {
-					data = data.toString();
-					console.log(ports[i].comName, data);
-					if (data == 'O' && !this.devicesFound.others){ // Stepper
-						this.devicesFound.others = ports[i].comName;
-						clearTimeout(timeout);
-						this.sendSP();
-					}
-					sp[i].close();
-				}.bind(this, i));
-
-				sp[i].on("error", function() {}); // Node JS Error if it doesn't exist (and if an "error" event is sent)
-			}
-		}.bind(this));
-
-		// On check tous les ports qui ne sont pas enregistrés
-		timeout = setTimeout(function(){this.sendSP(); }.bind(this), 3000);
-	};
-
-	return Detect;
-})();
-
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-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Elevator constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
sp - - -Object - - - - Serial Port OBJECT
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

orders_sent :array.<Object>

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
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-
    -
  • - -array.<Object> - - -
    • -
- - - - - - - - -

pos :string

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -string - - -
    • -
- - - - - - - - -

ready :boolean

- - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -boolean - - -
    • -
- - - - - - - - -

sendStatus :Object

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
-
    -
  • - -Object - - -
    • -
- - - - - - - - -

sp :Object

- - - - - -
- - -
Source:
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- - - - - - - -
Type:
-
    -
  • - -Object - - -
    • -
- - - - - - - - - - -

Methods

- - - - - - -

descendre()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Descendre -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

disconnect()

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Disconnects -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

monter()

- - - - - - -
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Source:
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- - - - - -
- Monter -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

monterChouilla()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Monter choilla -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

parseOrder(order)

- - - - - - -
- - -
Source:
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- - - - - -
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- - - - - - - - - - - -
Parameters:
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NameTypeDescription
order - - -string - - - -
- - - - - - - - - - - - - - - - - - - - - -

release()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Release -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

sendOrder(order)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fonctions for sending orders to the Arduino -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
order - - -string - - - -
- - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_pr_elevator.class.js.html b/doc/clients_pr_elevator.class.js.html deleted file mode 100644 index 2a00825..0000000 --- a/doc/clients_pr_elevator.class.js.html +++ /dev/null @@ -1,182 +0,0 @@ - - - - - clients/pr/elevator.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/elevator.class.js

- - - - - - - -
-
- 
/**
- * Elevator module
- * 
- * @module clients/pr/elevator
- * @see {@link clients/pr/elevator.Elevator}
- */
-
-module.exports = (function () {
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('pr.elevator');
-	var serialPort = require("serialport");
-	var SerialPort = serialPort.SerialPort;
-
-	var ORDER_ACHIEVED =		'K'; // Like Ok
-	var ORDER_UNKNOWN =			'U'; // Like Unknown
-
-	var ELEV_MOVE_UP =			'u';
-	var ELEV_MOVE_DOWN =		'd';
-	var ELEV_RELEASE =			'r';
-	var ELEV_CHOUILLA =			'c';
-
-	/**
-	 * Elevator constructor
-	 * 
-	 * @exports clients/pr/elevator.Elevator
-	 * @constructor
-	 * @param {Object} sp Serial Port OBJECT
-	 */
-	function Elevator(sp, sendStatus) {
-		/** @type {Object} */
-		this.sp = sp;
-		/** @type {boolean} */
-		this.ready = false;
-		/** @type {Object} */
-		this.sendStatus = sendStatus;
-		/** @type {string} */
-		this.pos = 'down';
-		/** @type {array<Object>} */
-		this.orders_sent = [];
-
-		this.sp.on("data", function(data) {
-			this.ready = true;
-			this.sendStatus();
-			this.parseOrder(data.toString());
-		}.bind(this));
-	}
-
-	/**
-	 * Fonctions for sending orders to the Arduino
-	 * 
-	 * @param {string} order
-	 */
-	Elevator.prototype.sendOrder = function(order) {
-		this.sp.write(order);
-		this.orders_sent.push(order);
-	};
-
-	/**
-	 * Disconnects
-	 */
-	Elevator.prototype.disconnect = function() {
-		this.sp.close();
-		this.ready = false;
-		this.sendStatus();
-	};
-
-
-	// ====== General actions ======
-
-	/**
-	 * Monter
-	 */
-	Elevator.prototype.monter = function() {
-		this.sendOrder(ELEV_MOVE_UP);
-	};
-
-	/**
-	 * Monter choilla
-	 */
-	Elevator.prototype.monterChouilla = function() {
-		this.sendOrder(ELEV_CHOUILLA);
-	};
-
-	/**
-	 * Descendre
-	 */
-	Elevator.prototype.descendre = function() {
-		this.sendOrder(ELEV_MOVE_DOWN);
-		this.lacher();
-	};
-
-	/**
-	 * Release
-	 */
-	Elevator.prototype.release = function() {
-		this.sendOrder(ELEV_RELEASE);
-	};
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} order
-	 */
-	Elevator.prototype.parseOrder = function(order) {
-		if(order == ORDER_ACHIEVED) {
-			switch(this.orders_sent.shift()) {
-				case ELEV_MOVE_UP:
-					this.pos = 'up';
-					logger.info("Elevator is up");
-				break;
-				case ELEV_MOVE_DOWN:
-					this.pos1 = 'down';
-					logger.info("Elevator is down");
-				break;
-			}
-		} else if (order == ORDER_UNKNOWN) {
-			oldest_order = this.orders_sent.shift();
-			logger.warn("Order sent unknown: "+this.orders_sent.shift());
-		} else {
-			logger.warn("Order received unknown: "+order);
-		}
-	};
-
-	return Elevator;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_pr_main.js.html b/doc/clients_pr_main.js.html deleted file mode 100644 index 725b34d..0000000 --- a/doc/clients_pr_main.js.html +++ /dev/null @@ -1,242 +0,0 @@ - - - - - clients/pr/main.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/main.js

- - - - - - - -
-
- 
/**
- * Main module
- * 
- * @module clients/pr/main
- * @requires server/socket_client
- * @requires config
- * @requires clients/pr/actuators
- * @requires clients/pr/detect
- */
-
-(function () {
-	"use strict";
-
-	// Requires
-	var logger = require('log4js').getLogger('pr');
-
-	// logger.info("Started NodeJS client with pid " + process.pid);
-
-	var SocketClient = require('../../server/socket_client.class.js');
-	var server = require('../../config.js').server
-	var client = new SocketClient({
-		server_ip: server,
-		type: "pr"
-	});
-
-	var lastStatus = {
-		"status": "waiting"
-	};
-	sendChildren(lastStatus);
-
-	var acts = new (require('./actuators.class.js'))(client, sendChildren);
-	var detect = null;
-
-	var queue = [];
-	var orderInProgress = false;
-
-	start();
-
-	// On message
-	client.order(function (from, name, params){
-		// logger.info("Recieved an order "+name);
-		switch (name){
-			case "collision":
-				queue = [];
-				acts.clean();
-				orderInProgress = false;
-			break;
-			case "stop":
-				acts.clean();
-				setTimeout(function() {
-					logger.fatal("Stop PR");
-					process.exit();
-				}, 800);
-			break;
-
-			// useless //
-			case "start":
-				queue = [];
-				start();
-			break;
-			default:
-				addOrder2Queue(from, name, params);
-		}
-	});
-
-	function start(){
-		logger.info("Starting  :)");
-		sendChildren({
-			status: "starting", 
-			children:[]
-		});
-		detect = new (require('./detect.class.js'))(devicesDetected);
-	}
-
-	// function stop(){
-	// 	acts.quit();
-
-	// 	// Send struct to server
-	// 	sendChildren({
-	// 		status: "waiting", 
-	// 		children:[]
-	// 	});
-	// }
-
-	function devicesDetected(struct){
-		// Verify content
-		if (!struct.others)
-			logger.warn("Missing others Mega");
-
-		// if (!struct.servos)
-		// 	logger.warn("Missing servos Nano");
-
-		if (!struct.asserv)
-			logger.warn("Missing asserv Nano");
-
-		if (!struct.ax12)
-			logger.warn("Missing USB2AX");
-
-		// Connect to what's detected
-		acts.connectTo(struct);
-
-		// Send struct to server
-		sendChildren(acts.getStatus());
-	}
-
-	// Sends status to server
-	function sendChildren(status){
-		lastStatus = status;
-
-		client.send("server", "server.childrenUpdate", lastStatus);
-	}
-
-	function isOk(){
-		if(lastStatus.status != "waiting")
-			lastStatus = acts.getStatus();
-		
-		client.send("ia", "isOkAnswer", lastStatus);
-		client.send("server", "server.childrenUpdate", lastStatus);
-	}
-
-
-	// Push the order (enfiler)
-	function addOrder2Queue(f, n, p){
-		// if(n == 'clean') {
-		// 	logger.info(n+" : Begin");
-		// 	acts.orderHandler(f, n, p, actionFinished);
-		// } else
-		if(queue.length < 100){
-			// Adds the order to the queue
-			queue.push({
-				from: f,
-				name: n,
-				params: p
-			});
-			// logger.info("Order added to queue ! : ");
-			// logger.info(queue);
-
-			executeNextOrder();
-		}
-	}
-
-	// Execute order
-	function executeNextOrder(){
-		if ((queue.length > 0) && (!orderInProgress)) {
-			var order = queue.shift();
-			if(order.name == "send_message") {
-				// logger.debug("Send message %s", order.params.name);
-				client.send('ia', order.params.name, order.params || {});
-				executeNextOrder();
-			} else {
-				orderInProgress = order.name;
-				
-				logger.info(orderInProgress+" : Begin");
-				// logger.debug(order.params);
-				acts.orderHandler(order.from, order.name, order.params, actionFinished);
-				
-				// executeNextOrder();
-			}
-		}
-	}
-
-	function actionFinished(){
-		if(orderInProgress !== false) {
-			logger.info(orderInProgress + " : End");
-
-			orderInProgress = false;
-			executeNextOrder();
-		}
-	}
-	function quit () {
-		logger.info("Please wait while exiting...");
-		acts.quit();
-		process.exit();
-	}
-
-
-	// Exiting :
-	//do something when app is closing
-	// process.on('exit', quit);
-	// catches ctrl+c event
-	// process.on('SIGINT', quit);
-	// //catches uncaught exceptions
-	// process.on('uncaughtException', quit);
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_pr_others-simu.Others.html b/doc/clients_pr_others-simu.Others.html deleted file mode 100644 index 4c03031..0000000 --- a/doc/clients_pr_others-simu.Others.html +++ /dev/null @@ -1,2687 +0,0 @@ - - - - - Others - Documentation - - - - - - - - - - - - - - - - -
- -

Others

- - - - - - - -
- -
- -

- Others -

- - -
- -
-
- - - - - -

new Others(fifo)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Others constructor -
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Parameters:
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NameTypeDescription
fifo - - -clients/shared/fifo.Fifo - - - -
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

fifo :clients/shared/fifo.Fifo

- - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - - - -
Type:
- - - - - - - - - - - -

Methods

- - - - - - -

callCallback(callbackopt, ms)

- - - - - - -
- - -
Source:
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- - - - - -
ms - - -int - - - - - - - - - -
- - - - - - - - - - - - - - - - - - - - - -

descendreAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
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- - - - - - - - - - - -
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NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

descendreMoyenAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Descendre moyen ascenseur -
- - - - - - - - - - - -
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NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

descendreUnPeuAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Descendre un peu ascenseur -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

disconnect()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Disconnects (nothing ?) -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

fermerBloqueur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fermer bloqueur -
- - - - - - - - - - - -
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NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

fermerStabilisateur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Fermer stabilisateur -
- - - - - - - - - - - -
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NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

lacherGobelet(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Lacher Gobelet -
- - - - - - - - - - - -
Parameters:
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NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

monterAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Monter ascenseur -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

monterMoyenAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Monter moyen ascenseur -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

monterUnPeuAscenseur(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Monter un peu ascenseur -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

ouvrirBloqueurGrand(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ouvrir bloqueur grand -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

ouvrirBloqueurMoyen(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ouvrir bloqueur moyen -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

ouvrirStabilisateurGrand(callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Ouvrir stabilisateur grand -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

ouvrirStabilisateurMoyen(callback)

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NameTypeDescription
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prendreGobelet(callback)

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rangerClap(callback)

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sortirClap(callback)

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- -
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- -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_pr_others.Others.html b/doc/clients_pr_others.Others.html deleted file mode 100644 index 3299519..0000000 --- a/doc/clients_pr_others.Others.html +++ /dev/null @@ -1,3915 +0,0 @@ - - - - - Others - Documentation - - - - - - - - - - - - - - - - -
- -

Others

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- Others -

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new Others(sp, sendStatus, fifo)

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NameTypeDescription
sp - - -Object - - - - Server port
sendStatus - - -Object - - - -
fifo - - -clients/shared/fifo.Fifo - - - -
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Members

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fifo :clients/shared/fifo.Fifo

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ready :boolean

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sendStatus :Object

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sp :Object

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Methods

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descendreAscenseur(callback, timeopt)

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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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descendreMoyenAscenseur(callback, timeopt)

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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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descendreUnPeuAscenseur(callback, timeopt)

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Source:
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Parameters:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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fermerBloqueur(callback, timeopt)

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Source:
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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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fermerStabilisateur(callback, timeopt)

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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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lacherGobelet(callback, timeopt)

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Source:
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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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monterAscenseur(callback, timeopt)

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Source:
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Parameters:
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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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monterMoyenAscenseur(callback, timeopt)

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Source:
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Parameters:
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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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monterUnPeuAscenseur(callback, timeopt)

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Source:
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Parameters:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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ouvrirBloqueurGrand(callback, timeopt)

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Source:
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Parameters:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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ouvrirBloqueurMoyen(callback, timeopt)

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Source:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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ouvrirStabilisateurGrand(callback, timeopt)

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Source:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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ouvrirStabilisateurMoyen(callback, timeopt)

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Source:
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Parameters:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
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parseCommand(data)

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Source:
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NameTypeDescription
data - - -string - - - -
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prendreGobelet(callback, timeopt)

- - - - - - -
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Source:
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Parameters:
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callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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rangerClap(callback, timeopt)

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Source:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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relacherAscenseur(callback, timeopt)

- - - - - - -
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Source:
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- Relacher ascenseur -
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Parameters:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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sendCommand(callbackopt, cmd, args, callback_delay)

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Source:
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NameTypeAttributesDescription
callback - - -Object - - - - - - <optional>
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cmd - - -string - - - - - - - - - -
args - - -string - - - - - - - - - -
callback_delay - - -int - - - - - - - - - -
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sortirClap(callback, timeopt)

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Source:
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NameTypeAttributesDescription
callback - - -Object - - - - - - - - - -
time - - -int - - - - - - <optional>
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- -
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- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_pr_others.class.js.html b/doc/clients_pr_others.class.js.html deleted file mode 100644 index 88f067e..0000000 --- a/doc/clients_pr_others.class.js.html +++ /dev/null @@ -1,371 +0,0 @@ - - - - - clients/pr/others.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/others.class.js

- - - - - - - -
-
- 
/**
- * Others module
- * 
- * @module clients/pr/others
- * @see {@link clients/pr/others.Others}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('Others');
-
-	/**
-	 * Others Constructor
-	 * 
-	 * @exports clients/pr/others.Others
-	 * @constructor
-	 * @param {Object} sp Server port
-	 * @param {Object} sendStatus
-	 * @param {clients/shared/fifo.Fifo}
-	 */
-	function Others(sp, sendStatus, fifo) {
-		/** @type {Object} */
-		this.sp = sp;
-		// this.client = client;
-		/** @type {boolean} */
-		this.ready = true;
-			logger.debug(sendStatus);
-		/** @type {Object} */
-		this.sendStatus = sendStatus;
-		/** @type {clients/shared/fifo.Fifo} */
-		this.fifo = fifo;
-
-		this.sp.on("data", function(data){
-			if(this.ready === false){
-				this.ready = true;
-				this.sendStatus();
-			}
-			this.parseCommand(data.toString());
-		}.bind(this));
-		this.sp.on("error", function(data){
-			logger.debug(data.toString());
-		});
-		this.sp.on("close", function(){
-			this.ready = false;
-			this.sendStatus();
-			logger.error("Serial port close");
-		}.bind(this));
-	}
-
-	/**
-	 * Parse command
-	 * 
-	 * @param {string} data
-	 */
-	Others.prototype.parseCommand = function(data) {
-		if(this.order_sent == data) {
-			this.order_sent = '';
-			setTimeout(function() {
-				this.callback();
-				this.fifo.orderFinished();
-			}.bind(this), this.callback_delay);
-		} else {
-			logger.warn("Arduino others unknown: "+data+" (order_sent : "+this.order_sent+")");
-		}
-	};
-
-	/**
-	 * Send command
-	 * 
-	 * @param {Object} [callback]
-	 * @param {string} cmd
-	 * @param {string} args
-	 * @param {int} callback_delay
-	 */
-	Others.prototype.sendCommand = function(callback, cmd, args, callback_delay){
-		if(callback === undefined) {
-			callback = function(){};
-		}
-
-		this.fifo.newOrder(function() {
-			this.callback = callback;
-			this.callback_delay = callback_delay;
-			this.order_sent = cmd;
-
-			//logger.debug([cmd].concat(args).join(";"));
-			this.sp.write([cmd].concat(args).join(";")+"\n");
-		}.bind(this), 'sendCommandOther('+cmd+':'+args+')');
-	};
-
-	/**
-	 * Fermer stabilisateur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.fermerStabilisateur = function(callback, time) {
-		if (time === undefined) {
-			time = 100;
-		}
-		this.sendCommand(callback, 'H', [100, 23], time);
-	};
-
-	/**
-	 * Ouvrir stabilisateur moyen
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.ouvrirStabilisateurMoyen = function(callback, time) {
-		if (time === undefined) {
-			time = 100;
-		}
-		this.sendCommand(callback, 'H', [90, 30], time);
-	};
-
-	/**
-	 * Ouvrir stabilisateur grand
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.ouvrirStabilisateurGrand = function(callback, time) {
-		if (time === undefined) {
-			time = 400;
-		}
-		this.sendCommand(callback, 'H', [40, 80], time);
-	};
-
-	/**
-	 * Fermer bloqueur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.fermerBloqueur = function(callback, time) {
-		if (time === undefined) {
-			time = 200;
-		}
-		this.sendCommand(callback, 'M', [32, 68], time);
-	};
-
-	/**
-	 * Ouvrir bloqueur moyen
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.ouvrirBloqueurMoyen = function(callback, time) {
-		if (time === undefined) {
-			time = 200;
-		}
-		this.sendCommand(callback, 'M', [66, 29], time);
-	};
-
-	/**
-	 * Ouvrir stabilisateur grand
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.ouvrirBloqueurGrand = function(callback, time) {
-		if (time === undefined) {
-			time = 400;
-		}
-		this.sendCommand(callback, 'M', [106, 1], time);
-	};
-
-	/**
-	 * Prendre gobelet
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.prendreGobelet = function(callback, time) {
-		if (time === undefined) {
-			time = 200;
-		}
-		this.sendCommand(callback, 'G', [115], time);
-	};
-
-	/**
-	 * Lacher gobelet
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.lacherGobelet = function(callback, time) {
-		if (time === undefined) {
-			time = 200;
-		}
-		this.sendCommand(callback, 'G', [50], time);
-	};
-
-	/**
-	 * Sortir Clap
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.sortirClap = function(callback, time) {
-		if (time === undefined) {
-			time = 200;
-		}
-		this.sendCommand(callback, 'C', [130], time);
-	};
-
-	/**
-	 * Ranger Clap
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.rangerClap = function(callback, time) {
-		if (time === undefined) {
-			time = 100;
-		}
-		this.sendCommand(callback, 'C', [40], time);
-	};
-
-	/**
-	 * Monter ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.monterAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [-250], time);
-	};
-
-	/**
-	 * Monter un peu ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.monterUnPeuAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [-30], time);
-	};
-
-	/**
-	 * Descendre un peu ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.descendreUnPeuAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [30], time);
-	};
-
-	/**
-	 * Monter moyen ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.monterMoyenAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [-60], time);
-	};
-
-	/**
-	 * Descendre un peu ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.descendreMoyenAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [60], time);
-	};
-
-	/**
-	 * Relacher ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.relacherAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(callback, 'S', [0], time);
-	};
-
-	/**
-	 * Descendre ascenseur
-	 * 
-	 * @param {Object} callback
-	 * @param {int} [time]
-	 */
-	Others.prototype.descendreAscenseur = function(callback, time) {
-		if (time === undefined) {
-			time = 0;
-		}
-		this.sendCommand(function() {
-		this.relacherAscenseur(callback);
-		}.bind(this), 'S', [250], time);
-	};
-
-	return Others;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_pr_others.simu.class.js.html b/doc/clients_pr_others.simu.class.js.html deleted file mode 100644 index a779337..0000000 --- a/doc/clients_pr_others.simu.class.js.html +++ /dev/null @@ -1,252 +0,0 @@ - - - - - clients/pr/others.simu.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/pr/others.simu.class.js

- - - - - - - -
-
- 
/**
- * Others Simulator module
- * 
- * @module clients/pr/others-simu
- * @see {@link clients/pr/others-simu.Others}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('pr.others');
-
-	/**
-	 * Others constructor
-	 * 
-	 * @exports clients/pr/others-simu.Others
-	 * @constructor
-	 * @param {clients/shared/fifo.Fifo} fifo
-	 */
-	function Others(fifo) {
-		/** @type {clients/shared/fifo.Fifo} */
-		this.fifo = fifo;
-	}
-
-	/**
-	 * Disconnects (nothing ?)
-	 */
-	Others.prototype.disconnect = function(x) {
-
-	};
-
-	/**
-	 * Call callback
-	 * 
-	 * @param {Object} [callback]
-	 * @param {int} ms
-	 */
-	Others.prototype.callCallback = function(callback, ms) {
-		if(callback === undefined) {
-			callback = function(){};
-		}
-		this.fifo.newOrder(function() {
-			setTimeout(function() {
-				callback();
-				this.fifo.orderFinished();
-			}.bind(this), parseInt(ms/5));
-		}.bind(this));
-	};
-
-	/**
-	 * Fermer stabilisateur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.fermerStabilisateur = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Ouvrir stabilisateur moyen
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.ouvrirStabilisateurMoyen = function(callback) {
-		this.callCallback(callback, 200);
-	};
-	
-	/**
-	 * Ouvrir stabilisateur grand
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.ouvrirStabilisateurGrand = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Fermer bloqueur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.fermerBloqueur = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Ouvrir bloqueur moyen
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.ouvrirBloqueurMoyen = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Ouvrir bloqueur grand
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.ouvrirBloqueurGrand = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Sortir clap
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.sortirClap = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Ranger clap
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.rangerClap = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Prendre Gobelet
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.prendreGobelet = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Lacher Gobelet
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.lacherGobelet = function(callback) {
-		this.callCallback(callback, 200);
-	};
-
-	/**
-	 * Monter ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.monterAscenseur = function(callback) {
-		this.callCallback(callback, 1000);
-	};
-
-	/**
-	 * Monter un peu ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.monterUnPeuAscenseur = function(callback) {
-		this.callCallback(callback, 300);
-	};
-
-	/**
-	 * Descendre un peu ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.descendreUnPeuAscenseur = function(callback) {
-		this.callCallback(callback, 300);
-	};
-
-	/**
-	 * Monter moyen ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.monterMoyenAscenseur = function(callback) {
-		this.callCallback(callback, 500);
-	};
-
-	/**
-	 * Descendre moyen ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.descendreMoyenAscenseur = function(callback) {
-		this.callCallback(callback, 500);
-	};
-
-	/**
-	 * Descendre ascenseur
-	 * 
-	 * @param {Object} callback
-	 */
-	Others.prototype.descendreAscenseur = function(callback) {
-		this.callCallback(callback, 1000);
-	};
-
-	
-	return Others;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_shared_asserv-simu.Asserv.html b/doc/clients_shared_asserv-simu.Asserv.html deleted file mode 100644 index aeee682..0000000 --- a/doc/clients_shared_asserv-simu.Asserv.html +++ /dev/null @@ -1,3919 +0,0 @@ - - - - - Asserv - Documentation - - - - - - - - - - - - - - - - -
- -

Asserv

- - - - - - - -
- -
- -

- Asserv -

- - -
- -
-
- - - - - -

new Asserv(client, who, fifo)

- - - - - - -
- - -
Source:
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- Asserv Constructor -
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Parameters:
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Members

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client :Object

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fifo :clients/shared/asserv.Asserv

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pos :Object

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vitesse :int

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who :Object

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Methods

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avancerPlot(callback)

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Source:
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calageX(x, a, callback)

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callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

calageY(y, a, callback)

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Source:
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goa(a, callback, no_fifo)

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callback - - -Object - - - -
no_fifo - - -boolean - - - -
- - - - - - - - - - - - - - - - - - - - - -

goxy(x, y, sens, callback, no_fifo)

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Source:
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Pos(pos)

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pwm(left, right, ms, callback)

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Source:
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sendPos()

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setA(a)

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setPid(p, i, d, callback)

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setPos(pos, callback)

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setVitesse(v, r, callback)

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simu_goa(a)

- - - - - - -
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Source:
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a - - -int - - - - Angle
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simu_goxy(x, y)

- - - - - - -
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Source:
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simu_pwm(x, y, a, dt)

- - - - - - -
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Source:
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Parameters:
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simu_speed(vit, x, y, a, dt)

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NameTypeDescription
vit - - -int - - - - Speed
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y - - -int - - - -
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speed(l, a, ms, callback)

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Parameters:
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NameTypeDescription
l - - -int - - - -
a - - -int - - - - Angle
ms - - -int - - - -
callback - - -Object - - - -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_shared_asserv.Asserv.html b/doc/clients_shared_asserv.Asserv.html deleted file mode 100644 index 0dc441c..0000000 --- a/doc/clients_shared_asserv.Asserv.html +++ /dev/null @@ -1,4375 +0,0 @@ - - - - - Asserv - Documentation - - - - - - - - - - - - - - - - -
- -

Asserv

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- Asserv -

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-
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new Asserv(sp, client, who, sendStatus, fifo)

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Source:
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Parameters:
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NameTypeDescription
sp - - -Object - - - -
client - - -Object - - - -
who - - -Object - - - -
sendStatus - - -Object - - - -
fifo - - -clients/shared/asserv.Asserv - - - -
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Members

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client :Object

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Source:
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color :string

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currentId :int

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fifo :clients/shared/asserv.Asserv

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Type:
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pos :Object

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ready :boolean

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sendStatus :Object

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sp :Object

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who :Object

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Type:
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Methods

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calageX(x, a, callback)

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Source:
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- Calage X -
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Parameters:
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NameTypeDescription
x - - -int - - - -
a - - -int - - - - Angle
callback - - -Object - - - -
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calageY(y, a, callback)

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Source:
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Parameters:
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NameTypeDescription
y - - -int - - - -
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callback - - -Object - - - -
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clean(callback)

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Source:
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Parameters:
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NameTypeDescription
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convertColorA(a)

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Source:
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Parameters:
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NameTypeDescription
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convertColorX(x)

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Source:
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Parameters:
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NameTypeDescription
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convertColorY(y)

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Source:
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Parameters:
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NameTypeDescription
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getPos(pos)

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Source:
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Parameters:
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NameTypeDescription
pos - - -Object - - - -
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goa(a, callback, no_fifo)

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Source:
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- Go Angle -
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Parameters:
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NameTypeDescription
a - - -int - - - -
callback - - -Object - - - -
no_fifo - - -boolean - - - -
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goxy(x, y, sens, callback, no_fifo)

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Source:
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- Go X Y -
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Parameters:
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NameTypeDescription
x - - -int - - - -
y - - -int - - - -
sens - - -string - - - -
callback - - -Object - - - -
no_fifo - - -boolean - - - -
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parseCommand(data)

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Source:
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Parameters:
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NameTypeDescription
data - - -string - - - -
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Pos(pos)

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Source:
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- Position ? -
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Parameters:
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NameTypeDescription
pos - - -Object - - - -
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pwm(left, right, ms, callback)

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Source:
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- Pulse Width Modulation -
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Parameters:
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NameTypeDescription
left - - -int - - - -
right - - -int - - - -
ms - - -int - - - -
callback - - -Object - - - -
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sendCommand(cmd, args, wait_for_id, callbackopt, no_fifo)

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Source:
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Parameters:
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NameTypeAttributesDescription
cmd - - -string - - - - - - - - - -
args - - -string - - - - - - - - - -
wait_for_id - - -int - - - - - - - - - -
callback - - -Object - - - - - - <optional>
- - - - - -
no_fifo - - -boolean - - - - - - - - - -
- - - - - - - - - - - - - - - - - - - - - -

sendPos()

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Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Sends Position -
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setA(a)

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Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Set Angle -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
a - - -int - - - -
- - - - - - - - - - - - - - - - - - - - - -

setAcc(acc, callback)

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Source:
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- - - - - -
- Set Acceleration -
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Parameters:
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NameTypeDescription
acc - - -int - - - -
callback - - -Object - - - -
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setPid(p, i, d, callback)

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Source:
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- Set P I D -
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Parameters:
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NameTypeDescription
p - - -float - - - -
i - - -float - - - -
d - - -float - - - -
callback - - -Object - - - -
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setPos(pos, callback)

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Source:
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- - - - - -
- Sets Position -
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Parameters:
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NameTypeDescription
pos - - -Object - - - -
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

setPosCalage(pos, callback)

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Source:
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- Set position calage -
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Parameters:
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NameTypeDescription
pos - - -Object - - - -
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

setVitesse(v, r, callback)

- - - - - - -
- - -
Source:
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- - - - - -
- Set Vitesse -
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Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
v - - -int - - - - Speed
r - - -float - - - - Rotation
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

speed(l, a, ms, callback)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Speed ? -
- - - - - - - - - - - -
Parameters:
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NameTypeDescription
l - - -int - - - -
a - - -int - - - - Angle
ms - - -int - - - -
callback - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/clients_shared_asserv.class.js.html b/doc/clients_shared_asserv.class.js.html deleted file mode 100644 index d898a9e..0000000 --- a/doc/clients_shared_asserv.class.js.html +++ /dev/null @@ -1,771 +0,0 @@ - - - - - clients/shared/asserv.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/shared/asserv.class.js

- - - - - - - -
-
- 
/**
- * Asserv module
- * 
- * @module clients/shared/asserv
- * @requires module:clients/shared/defineParser
- * @see {@link clients/shared/asserv.Asserv}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('asserv');
-	var COMMANDS = require('./defineParser.js')('./arduino/asserv/protocol.h');
-	var DETECT_SERIAL_TIMEOUT = 100; //ms, -1 to disable
-
-	// function Asserv(sp, client) {
-	// 	this.client = client;
-	// 	this.getPos();
-	// 	this.sp = sp;
-	// 	this.pos = {};
-	// 	this.sentCommands = {};
-	// 	this.currentId = 0;
-	// }
-
-	/**
-	 * Asserv Constructor
-	 * 
-	 * @exports clients/shared/asserv.Asserv
-	 * @constructor
-	 * @param {Object} sp
-	 * @param {Object} client
-	 * @param {Object} who
-	 * @param {Object} sendStatus
-	 * @param {clients/shared/asserv.Asserv} fifo
-	 */
-	function Asserv(sp, client, who, sendStatus, fifo) {
-		/** @type {boolean} */
-		this.ready = true;
-		/** @type {Object} */
-		this.sendStatus = sendStatus;
-		/** @type {Object} */
-		this.sp = sp;
-		/** @type {Object} */
-		this.client = client;
-		/** @type {Object} */
-		this.pos = {};
-		/** @type {Object} */
-		this.who = who;
-		/** @type {int} */
-		this.currentId = 0;
-		/** @type {string} */
-		this.color = "yellow";
-		/** @type {clients/shared/asserv.Asserv} */
-		this.fifo = fifo;
-
-		this.sp.on("data", function(data){
-			if(this.ready === false){
-				this.ready = true;
-				this.sendStatus();
-			}
-			this.parseCommand(data.toString());
-		}.bind(this));
-		this.sp.on("error", function(data){
-			this.ready = false;
-			this.sendStatus();
-			logger.debug("error", data.toString());
-		}.bind(this));
-		this.sp.on("close", function(data){
-			this.ready = false;
-			this.sendStatus();
-			logger.error("Serial port close");
-		}.bind(this));
-
-		setTimeout(function() {
-			this.getPos();
-		}.bind(this), 2000);
-	}
-	/**
-	 * Convert color x
-	 * 
-	 * @param {int} x
-	 */
-	Asserv.prototype.convertColorX = function(x) {
-		if(this.color == "yellow") {
-			return x;
-		} else {
-			return 3000-x;
-		}
-	}
-	/**
-	 * Convert color y
-	 * 
-	 * @param {int} y
-	 */
-	Asserv.prototype.convertColorY = function(y) {
-		if(this.color == "yellow") {
-			return y;
-		} else {
-			return y;
-		}
-	}
-	/**
-	 * Convert color Angle
-	 * 
-	 * @param {int} a
-	 */
-	Asserv.prototype.convertColorA = function(a) {
-		if(this.color == "yellow") {
-			return convertA(a);
-		} else {
-			return convertA(Math.PI - a);
-		}
-	}
-
-	/**
-	 * Convert Angle
-	 * 
-	 * @param {int} a
-	 */
-	function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); }
-	/**
-	 * Set Angle
-	 * 
-	 * @param {int} a
-	 */
-	Asserv.prototype.setA = function(a) {
-		// logger.debug(a, convertA(a));
-		this.pos.a = convertA(a);
-	}
-	/**
-	 * Position ?
-	 * 
-	 * @param {Object} pos
-	 */
-	Asserv.prototype.Pos = function(pos) {
-		this.pos.x = pos.x;
-		this.pos.y = pos.y;
-		this.setA(pos.a);
-	}
-	/**
-	 * Sets Position
-	 * 
-	 * @param {Object} pos
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setPos = function(pos, callback) {
-		logger.debug(pos);
-		if(pos.color !== undefined)
-			this.color = pos.color;
-		this.sendCommand(COMMANDS.SET_POS, [
-			parseInt(this.convertColorX(pos.x)),
-			parseInt(this.convertColorY(pos.y)),
-			myWriteFloat(this.convertColorA(pos.a))
-		], false, callback);
-	}
-	/**
-	 * Gets Potition
-	 * 
-	 * @param {Object} pos
-	 */
-	Asserv.prototype.getPos = function(pos) {
-		this.client.send('ia', this.who+'.getpos');
-	}
-	/**
-	 * Sends Position
-	 */
-	Asserv.prototype.sendPos = function() {
-		this.client.send('ia', this.who+'.pos', this.pos);
-	}
-
-	/**
-	 * Set position calage
-	 * 
-	 * @param {Object} pos
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setPosCalage = function(pos, callback) {
-		this.sendCommand(COMMANDS.SET_POS, [
-			parseInt(this.convertColorX(pos.x)),
-			parseInt(this.convertColorY(pos.y)),
-			myWriteFloat(this.convertColorA(pos.a))
-		], false, function() {
-			callback();
-			this.fifo.orderFinished();
-		}.bind(this), true);
-	}
-
-	/**
-	 * Calage X
-	 * 
-	 * @param {int} x
-	 * @param {int} a Angle
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.calageX = function(x, a, callback) {
-		if(callback === undefined)
-			callback = function(){};
-		this.fifo.newOrder(function() {
-			this.setPosCalage({x: x, y: this.pos.y, a: a}, callback);
-		}.bind(this), 'calageX');
-
-	}
-	/**
-	 * Calage Y
-	 * 
-	 * @param {int} y
-	 * @param {int} a Angle
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.calageY = function(y, a, callback) {
-		if(callback === undefined)
-			callback = function(){};
-		this.fifo.newOrder(function() {
-			this.setPosCalage({x: this.pos.x, y: y, a: a}, callback, true);
-		}.bind(this), 'calageY');
-	}
-
-	// For float
-	/**
-	 * My write float
-	 * 
-	 * @param {float} f
-	 */
-	function myWriteFloat(f){ return Math.round(f*COMMANDS.FLOAT_PRECISION); }
-	/**
-	 * My Parse float
-	 * 
-	 * @param {float} f
-	 */
-	function myParseFloat(f){ return parseInt(f)/COMMANDS.FLOAT_PRECISION;  }
-
-
-	/**
-	 * Parse Command
-	 * 
-	 * @param {string} data
-	 */
-	Asserv.prototype.parseCommand = function(data){
-		// logger.debug(data);
-		var datas = data.split(';');
-		var cmd = datas.shift();//, id = datas.shift();
-		if(cmd == COMMANDS.AUTO_SEND && datas.length >= 4) { // periodic position update
-			var lastFinishedId = parseInt(datas.shift()); // TODO
-			this.Pos({
-				x: this.convertColorX(parseInt(datas.shift())),
-				y: this.convertColorY(parseInt(datas.shift())),
-				a: this.convertColorA(myParseFloat(datas.shift()))
-			});
-
-			
-			this.sendPos();
-
-			// logger.debug(lastFinishedId);
-			if(this.currentId != lastFinishedId) {
-				// logger.fatal('finish id', lastFinishedId);
-				this.currentId = lastFinishedId;
-				var use_fifo = this.use_fifo;
-				this.use_fifo = true;
-				this.callback();
-				if(use_fifo)
-					this.fifo.orderFinished();
-			}
-		} else if(cmd == this.order_sent) {
-			this.order_sent = '';
-			// logger.debug('finish', datas.shift());
-			if(!this.wait_for_id) {
-				var use_fifo = this.use_fifo;
-				this.use_fifo = true;
-				this.callback();
-				if(use_fifo)
-					this.fifo.orderFinished();
-			}
-		} else if (cmd == COMMANDS.JACK) {
-			logger.info("JACK !");
-			this.client.send("ia", "ia.jack");
-		} else {
-			// logger.warn(datas);
-			logger.warn("Command return from Arduino to unknown cmd="+cmd);
-		}
-	}
-	/**
-	 * Sends Command
-	 * 
-	 * @param {string} cmd
-	 * @param {string} args
-	 * @param {int} wait_for_id
-	 * @param {Object} [callback]
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.sendCommand = function(cmd, args, wait_for_id, callback, no_fifo){
-		function nextOrder() {
-			if(callback === undefined)
-				callback = function(){};
-			this.callback = callback;
-			args = args || [];
-			this.order_sent = cmd;
-			this.wait_for_id = wait_for_id;
-			logger.debug([cmd,this.currentId+1].concat(args).join(";")+"\n");
-			this.sp.write([cmd,this.currentId+1].concat(args).join(";")+"\n");
-		}
-
-		this.use_fifo = !no_fifo;
-
-		if(this.use_fifo) {
-			this.fifo.newOrder(nextOrder.bind(this), 'sendCommandAsserv('+cmd+':'+args+')');
-		} else {
-			nextOrder.call(this);
-		}
-	}
-
-	/**
-	 * Set Vitesse
-	 * 
-	 * @param {int} v Speed
-	 * @param {float} r Rotation
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setVitesse = function(v, r, callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.SPDMAX, [
-			parseInt(v),
-			myWriteFloat(r)
-		], false, callback);
-	};
-
-	/**
-	 * Speed ?
-	 * 
-	 * @param {int} l
-	 * @param {int} a Angle
-	 * @param {int} ms
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.speed = function(l, a, ms, callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.SPD, [
-			parseInt(l),
-			parseInt(a),
-			parseInt(ms)
-		], true, callback);
-	};
-
-	/**
-	 * Set Acceleration
-	 * 
-	 * @param {int} acc
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setAcc = function(acc,callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.ACCMAX, [
-			parseInt(acc)
-		], false, callback);
-	};
-
-	/**
-	 * Clean
-	 * 
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.clean = function(callback){
-		this.sendCommand(COMMANDS.CLEANG, false, callback);
-	};
-
-	/**
-	 * Pulse Width Modulation
-	 * 
-	 * @param {int} left
-	 * @param {int} right
-	 * @param {int} ms
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.pwm = function(left, right, ms, callback) {
-		this.sendCommand(COMMANDS.PWM, [
-			parseInt(left),
-			parseInt(right),
-			parseInt(ms)
-		], true, callback);
-		
-	};
-
-	/**
-	 * Go X Y
-	 * 
-	 * @param {int} x
-	 * @param {int} y
-	 * @param {string} sens
-	 * @param {Object} callback
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo){
-		if(sens == "avant") sens = 1;
-		else if(sens == "arriere") sens = -1;
-		else sens = 0;
-		
-		this.sendCommand(COMMANDS.GOTO, [
-			parseInt(this.convertColorX(x)),
-			parseInt(this.convertColorY(y)),
-			sens
-		], true, callback, no_fifo);
-	};
-	/**
-	 * Go Angle
-	 * 
-	 * @param {int} a
-	 * @param {Object} callback
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.goa = function(a, callback, no_fifo){
-		// this.clean();
-		this.sendCommand(COMMANDS.ROT, [
-			myWriteFloat(this.convertColorA(a))
-		], true, callback, no_fifo);
-	};
-
-	/**
-	 * Set P I D
-	 * @param {float} p
-	 * @param {float} i
-	 * @param {float} d
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setPid = function(p, i, d, callback){
-		// this.clean();
-		this.sendCommand(COMMANDS.PIDALL, [
-			myWriteFloat(p),
-			myWriteFloat(i),
-			myWriteFloat(d)
-		],false, callback);
-	};
-
-	// Asserv.prototype.gotoPath = function(callback, path){
-	// 	this.clean();
-	// 	if(instanceof path !=== "Array") path = path.path; // not sure about Path class right now
-	// 	path.forEach(function(item));
-	// };
-
-	return Asserv;
-})();
-
-/*
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('asserv');
-	var COMMANDS = require('./defineParser.js')('./arduino/asserv/protocol.h');
-	var DETECT_SERIAL_TIMEOUT = 100; //ms, -1 to disable
-
-	// function Asserv(sp, client) {
-	// 	this.client = client;
-	// 	this.getPos();
-	// 	this.sp = sp;
-	// 	this.pos = {};
-	// 	this.sentCommands = {};
-	// 	this.currentId = 0;
-	// }
-
-	function Asserv(sp, client, who, sendStatus, fifo) {
-		this.ready = true;
-		this.sendStatus = sendStatus;
-		this.sp = sp;
-		this.client = client;
-		this.pos = {};
-		this.who = who;
-		this.currentId = 0;
-		this.color = "yellow";
-		this.fifo = fifo;
-
-		this.data_sent = {};
-
-		this.sp.on("data", function(data){
-			if(this.ready === false){
-				this.ready = true;
-				this.sendStatus();
-			}
-			this.parseCommand(data.toString());
-		}.bind(this));
-		this.sp.on("error", function(data){
-			this.ready = false;
-			this.sendStatus();
-			logger.debug("error", data.toString());
-		}.bind(this));
-		this.sp.on("close", function(data){
-			this.ready = false;
-			this.sendStatus();
-			logger.debug(data.toString());
-		}.bind(this));
-
-		setTimeout(function() {
-			this.getPos();
-		}.bind(this), 2000);
-	}
-	Asserv.prototype.convertColorX = function(x) {
-		if(this.color == "yellow") {
-			return x;
-		} else {
-			return 3000-x;
-		}
-	}
-	Asserv.prototype.convertColorY = function(y) {
-		if(this.color == "yellow") {
-			return y;
-		} else {
-			return y;
-		}
-	}
-	Asserv.prototype.convertColorA = function(a) {
-		if(this.color == "yellow") {
-			return convertA(a);
-		} else {
-			return convertA(Math.PI - a);
-		}
-	}
-
-	function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); }
-	Asserv.prototype.setA = function(a) {
-		// logger.debug(a, convertA(a));
-		this.pos.a = convertA(a);
-	}
-	Asserv.prototype.Pos = function(pos) {
-		this.pos.x = pos.x;
-		this.pos.y = pos.y;
-		this.setA(pos.a);
-	}
-	Asserv.prototype.setPos = function(pos, callback) {
-		if(pos.color !== undefined)
-			this.color = pos.color;
-		this.sendCommand(COMMANDS.SET_POS, [
-			parseInt(this.convertColorX(pos.x)),
-			parseInt(this.convertColorY(pos.y)),
-			myWriteFloat(this.convertColorA(pos.a))
-		], false, callback);
-	}
-	Asserv.prototype.getPos = function(pos) {
-		this.client.send('ia', this.who+'.getpos');
-	}
-	Asserv.prototype.sendPos = function() {
-		this.client.send('ia', this.who+'.pos', this.pos);
-	}
-
-	Asserv.prototype.setPosCalage = function(pos, callback) {
-		this.sendCommand(COMMANDS.SET_POS, [
-			parseInt(this.convertColorX(pos.x)),
-			parseInt(this.convertColorY(pos.y)),
-			myWriteFloat(this.convertColorA(pos.a))
-		], false, function() {
-			callback();
-			this.fifo.orderFinished();
-		}.bind(this), true);
-	}
-
-	Asserv.prototype.calageX = function(x, a, callback) {
-		if(callback === undefined)
-			callback = function(){};
-		this.fifo.newOrder(function() {
-			this.setPosCalage({x: x, y: this.pos.y, a: a}, callback);
-		}.bind(this), 'calageX');
-
-	}
-	Asserv.prototype.calageY = function(y, a, callback) {
-		if(callback === undefined)
-			callback = function(){};
-		this.fifo.newOrder(function() {
-			this.setPosCalage({x: this.pos.x, y: y, a: a}, callback, true);
-		}.bind(this), 'calageY');
-	}
-
-	// For float
-	function myWriteFloat(f){ return Math.round(f*COMMANDS.FLOAT_PRECISION); }
-	function myParseFloat(f){ return parseInt(f)/COMMANDS.FLOAT_PRECISION;  }
-
-
-	Asserv.prototype.parseCommand = function(data){
-		// logger.debug(data);
-		var datas = data.split(';');
-		var cmd = datas.shift();//, id = datas.shift();
-		var id = parseInt(datas.shift());
-		if(cmd == COMMANDS.AUTO_SEND && datas.length >= 4) { // periodic position update
-			this.Pos({
-				x: this.convertColorX(parseInt(datas.shift())),
-				y: this.convertColorY(parseInt(datas.shift())),
-				a: this.convertColorA(myParseFloat(datas.shift()))
-			});
-
-			
-			this.sendPos();
-
-			// logger.debug(lastFinishedId);
-			if(this.data_sent[id] !== undefined) {
-				// logger.fatal('finish id', lastFinishedId);
-				// this.currentId = lastFinishedId;
-				this.data_sent[id].callback();
-				if(this.data_sent[id].use_fifo)
-					this.fifo.orderFinished();
-				// else
-				// 	this.use_fifo = this.old_use_fifo;
-				delete this.data_sent[id];
-			}
-		} else if(this.data_sent[id] !== undefined && this.data_sent[id].cmd == cmd) {
-			// this.order_sent = '';
-			// logger.debug('finish', datas.shift());
-			if(!this.data_sent[id].wait_for_id) {
-				this.data_sent[id].callback();
-				if(this.data_sent[id].use_fifo)
-					this.fifo.orderFinished();
-				delete this.data_sent[id];
-				// else
-				// 	this.use_fifo = this.old_use_fifo;
-			}
-		} else if (cmd == COMMANDS.JACK) {
-			logger.info("JACK !");
-			this.client.send("ia", "ia.jack");
-		} else {
-			// logger.warn(datas);
-			logger.warn("Command return from Arduino to unknown cmd="+cmd);
-		}
-	}
-	Asserv.prototype.sendCommand = function(cmd, args, wait_for_id, callback, no_fifo){
-		if(callback === undefined)
-			callback = function(){};
-
-		this.currentId += 1;
-		var id = this.currentId.toString();
-		args = args || [];
-
-		function nextOrder() {
-			this.sp.write([cmd,id].concat(args).join(";")+"\n");
-		}
-		this.data_sent[id] = {
-			callback: callback,
-			cmd: cmd,
-			wait_for_id: wait_for_id,
-			use_fifo: !no_fifo
-		};
-
-		if(!no_fifo) {
-			this.fifo.newOrder(nextOrder.bind(this), 'sendCommandAsserv('+cmd+':'+args+')');
-		} else {
-			nextOrder.call(this);
-		}
-	}
-
-	Asserv.prototype.setVitesse = function(v, r, callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.SPDMAX, [
-			parseInt(v),
-			myWriteFloat(r)
-		], false, callback);
-	};
-
-	Asserv.prototype.speed = function(l, a, ms, callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.SPD, [
-			parseInt(l),
-			parseInt(a),
-			parseInt(ms)
-		], true, callback);
-	};
-
-	Asserv.prototype.setAcc = function(acc,callback) {
-		// logger.debug(myWriteFloat(r));
-		this.sendCommand(COMMANDS.ACCMAX, [
-			parseInt(acc)
-		], false, callback);
-	};
-
-	Asserv.prototype.clean = function(callback){
-		this.sendCommand(COMMANDS.CLEANG, false, callback);
-	};
-
-	Asserv.prototype.pwm = function(left, right, ms, callback) {
-		this.sendCommand(COMMANDS.PWM, [
-			parseInt(left),
-			parseInt(right),
-			parseInt(ms)
-		], true, callback);
-		
-	};
-
-	Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo){
-		if(sens == "avant") sens = 1;
-		else if(sens == "arriere") sens = -1;
-		else sens = 0;
-		
-		this.sendCommand(COMMANDS.GOTO, [
-			parseInt(this.convertColorX(x)),
-			parseInt(this.convertColorY(y)),
-			sens
-		], true, callback, no_fifo);
-	};
-	Asserv.prototype.goa = function(a, callback, no_fifo){
-		// this.clean();
-		this.sendCommand(COMMANDS.ROT, [
-			myWriteFloat(this.convertColorA(a))
-		], true, callback, no_fifo);
-	};
-
-	Asserv.prototype.setPid = function(p, i, d, callback){
-		// this.clean();
-		this.sendCommand(COMMANDS.PIDALL, [
-			myWriteFloat(p),
-			myWriteFloat(i),
-			myWriteFloat(d)
-		],false, callback);
-	};
-
-	// Asserv.prototype.gotoPath = function(callback, path){
-	// 	this.clean();
-	// 	if(instanceof path !=== "Array") path = path.path; // not sure about Path class right now
-	// 	path.forEach(function(item));
-	// };
-
-	return Asserv;
-})();
-
-*/
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_shared_asserv.simu.class.js.html b/doc/clients_shared_asserv.simu.class.js.html deleted file mode 100644 index b18484a..0000000 --- a/doc/clients_shared_asserv.simu.class.js.html +++ /dev/null @@ -1,417 +0,0 @@ - - - - - clients/shared/asserv.simu.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/shared/asserv.simu.class.js

- - - - - - - -
-
- 
/**
- * Asserv Simulator module
- * 
- * @module clients/shared/asserv-simu
- * @see {@link clients/shared/asserv-simu.Asserv}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('asserv');
-
-	// For simu
-	var SIMU_FACTOR_VIT = 1;
-	var SIMU_FACTOR_A = 0.3; 	// Facteur
-	// var SIMU_PWM_REF = 255; 	// à une PWM de 80
-	function SIMU_DIST(pwm, dt, vitesse) { return (vitesse*SIMU_FACTOR_VIT)*dt; }
-	function SIMU_DIST_ROT(a) { return Math.abs(a)*100; } // Rayon aproximatif de 10cm
-	function SIMU_ROT_TIME(a, vitesse) { return SIMU_DIST_ROT(a)/(vitesse*SIMU_FACTOR_VIT*SIMU_FACTOR_A); }
-	var FPS = 30;
-
-	var timeouts = [];
-
-	/**
-	 * Asserv Constructor
-	 * 
-	 * @exports clients/shared/asserv-simu.Asserv
-	 * @constructor
-	 * @param {Object} client
-	 * @param {Object} who
-	 * @param {clients/shared/asserv.Asserv} fifo
-	 */
-	function Asserv(client, who, fifo) {
-		/** @type {Object} */
-		this.client = client;
-		/** @type {Object} */
-		this.who = who;
-		/** @type {Object} */
-		this.pos = {
-			x:0,y:0,a:0
-		};
-		/** @type {clients/shared/asserv.Asserv} */
-		this.fifo = fifo;
-		/** @type {int} */
-		this.vitesse = 800;
-		this.getPos();
-	}
-
-	/**
-	 * New Order
-	 * 
-	 * @param {Object} callback
-	 * @param {int} ms
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.newOrder = function(callback, ms, no_fifo, delay_order_finished){
-		if(callback === undefined)
-			callback = function(){};
-		var use_fifo = !no_fifo;
-		if(ms === undefined) ms = 0;
-		if(delay_order_finished === undefined) delay_order_finished = 0;
-
-		function nextOrder() {
-			timeouts.push(setTimeout(function() {
-				callback();
-				timeouts.push(setTimeout(function() {
-					this.fifo.orderFinished();
-				}.bind(this), delay_order_finished));
-			}.bind(this), ms));
-		}
-
-		if(use_fifo) {
-			// logger.debug('use_fifo');
-			this.fifo.newOrder(nextOrder.bind(this));
-		} else {
-			// logger.debug('no_fifo');
-			timeouts.push(setTimeout(callback, ms));//.call(this));
-		}
-	}
-
-	/**
-	 * Convert Angle
-	 * 
-	 * @param {int} a Angle
-	 */
-	function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); }
-	/**
-	 * Set Angle
-	 * 
-	 * @param {int} a Angle
-	 */
-	Asserv.prototype.setA = function(a) {
-		this.pos.a = convertA(a);
-	}
-	/**
-	 * Position ?
-	 * 
-	 * @param {Object} pos
-	 */
-	Asserv.prototype.Pos = function(pos) {
-		this.pos.x = pos.x;
-		this.pos.y = pos.y;
-		this.setA(pos.a);
-	}
-	/**
-	 * Sets Position
-	 * 
-	 * @param {Object} pos
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setPos = function(pos, callback) {
-		this.Pos(pos);
-		this.sendPos();
-		if(callback !== undefined)
-			callback();
-	}
-	/**
-	 * Gets Position
-	 * 
-	 * @param {Object} pos
-	 */
-	Asserv.prototype.getPos = function(pos) {
-		this.client.send('ia', this.who+'.getpos');
-	}
-	/**
-	 * Sends Position
-	 */
-	Asserv.prototype.sendPos = function() {
-		this.client.send('ia', this.who+'.pos', this.pos);
-	}
-
-	/**
-	 * Clean
-	 */
-	Asserv.prototype.clean = function(){
-		logger.debug('cleaning %d timeouts', timeouts.length);
-		while(timeouts.length > 0) {
-			clearTimeout(timeouts.shift());
-		}
-	};
-	/**
-	 * Avancer plot
-	 * 
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.avancerPlot = function(callback) {
-		this.newOrder(callback, 1200);
-	}
-
-	/**
-	 * Set vitesse
-	 * 
-	 * @param {int} v Speed
-	 * @param {int} r rotation
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setVitesse = function(v, r, callback) {
-		this.vitesse = parseInt(v);
-		if(callback !== undefined)
-			callback();
-	};
-	/**
-	 * Calage X
-	 * 
-	 * @param {int} x
-	 * @param {int} a Angle
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.calageX = function(x, a, callback) {
-		this.setPos({x: x, y: this.pos.y, a: a}, callback);
-	}
-	/**
-	 * Calage Y
-	 * 
-	 * @param {int} y
-	 * @param {int} a Angle
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.calageY = function(y, a, callback) {
-		this.setPos({x: this.pos.x, y: y, a: a}, callback);
-	}
-
-	/**
-	 * Simu Speed
-	 * 
-	 * @param {int} vit Speed
-	 * @param {int} x
-	 * @param {int} y
-	 * @param {int} a Angle
-	 * @param {int} dt
-	 */
-	Asserv.prototype.simu_speed = function(vit, x, y, a, dt) {
-		return function() {
-			this.pos = {
-				x: x + Math.cos(a) * vit*dt/1000,
-				y: y + Math.sin(a) * vit*dt/1000,
-				a: a
-			}
-			this.sendPos();
-		}.bind(this);
-	}
-	/**
-	 * Speed ?
-	 * 
-	 * @param {int} l
-	 * @param {int} a Angle
-	 * @param {int} ms
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.speed = function(l, a, ms,callback) {
-		this.newOrder(function() {
-			// this.simu.pwm(callback, l/3, l/3, ms);
-			for(var t = 0; t < ms; t += 1000/FPS) {
-				timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, t), t));
-			}
-			timeouts.push(setTimeout(this.simu_speed(l, this.pos.x, this.pos.y, this.pos.a, ms), ms));
-			timeouts.push(setTimeout(callback, ms));
-		}.bind(this), 0, false, ms);
-	};
-
-	/**
-	 * Simu Pulse Width Modulation
-	 * 
-	 * @param {int} x
-	 * @param {int} y
-	 * @param {int} a Angle
-	 * @param {int} dt
-	 */
-	Asserv.prototype.simu_pwm = function(pwm, x, y, a, dt) {
-		return function() {
-			this.pos = {
-				x: x + Math.cos(a) * SIMU_DIST(pwm, dt/1000, this.vitesse),
-				y: y + Math.sin(a) * SIMU_DIST(pwm, dt/1000, this.vitesse),
-				a: a
-			}
-			this.sendPos();
-		}.bind(this);
-	}
-	/**
-	 * Pulse Width Modulation
-	 * 
-	 * @param {string} left
-	 * @param {string} right
-	 * @param {int} ms
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.pwm = function(left, right, ms, callback) {
-		this.newOrder(function() {
-			var pwm = (left+right)/2;
-			for(var t = 0; t < ms; t += 1000/FPS) {
-				timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, t), t));
-			}
-			timeouts.push(setTimeout(this.simu_pwm(pwm, this.pos.x, this.pos.y, this.pos.a, ms), ms));
-			timeouts.push(setTimeout(callback, ms));
-		}.bind(this), 0, false, ms);
-	};
-
-	/**
-	 * Simu Go X Y
-	 * 
-	 * @param {int} x
-	 * @param {int} y
-	 */
-	Asserv.prototype.simu_goxy = function(x, y) {
-		return function() {
-			this.pos.x = x;
-			this.pos.y = y;
-			this.sendPos();
-		}.bind(this);
-	}
-	/**
-	 * Go X Y
-	 * 
-	 * @param {int} x
-	 * @param {int} y
-	 * @param {string} sens
-	 * @param {Object} callback
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.goxy = function(x, y, sens, callback, no_fifo) {
-		
-			var dx = x-this.pos.x;
-			var dy = y-this.pos.y;
-			var dist = Math.sqrt(Math.pow(dx,2) + Math.pow(dy,2));
-			var tf = (dist / (this.vitesse*SIMU_FACTOR_VIT))*1000; // *1000 s->ms
-
-			angle_avant = convertA(Math.atan2(dy,dx)-this.pos.a);
-			angle_arriere = convertA(angle_avant+Math.PI);
-
-			if(sens == "avant") angle_depart = angle_avant
-			else if(sens == "arriere") angle_depart = angle_arriere;
-			else if (Math.abs(angle_avant) < Math.abs(angle_arriere)) angle_depart = angle_avant;
-			else angle_depart = angle_arriere;
-
-			// logger.debug("dx: ", dx);
-			// logger.debug("dy: ", dy);
-			// logger.debug("angle: ", this.pos.a);
-			// logger.debug("angle avant: ", angle_avant);
-			// logger.debug("angle arriere: ", angle_arriere);
-			// logger.debug("angle depart: ", angle_depart);
-
-			this.goa(angle_depart+this.pos.a, function() {
-				this.newOrder(function() {
-					for(var t = 0; t < tf; t += 1000/FPS) {
-						timeouts.push(setTimeout(this.simu_goxy(this.pos.x+dx*t/tf, this.pos.y+dy*t/tf), t));
-					}
-					timeouts.push(setTimeout(this.simu_goxy(x, y), tf));
-					timeouts.push(setTimeout(callback, tf));
-				}.bind(this), 0, no_fifo, tf);
-			}.bind(this), no_fifo);
-	};
-	/**
-	 * Simu Go Angle
-	 * 
-	 * @param {int} a Angle
-	 */
-	Asserv.prototype.simu_goa = function(a) {
-		return function() {
-			this.setA(a);
-			this.sendPos();
-		}.bind(this);
-	}
-	/**
-	 * Simu Go Angle
-	 * 
-	 * @param {int} a Angle
-	 * @param {Object} callback
-	 * @param {boolean} no_fifo
-	 */
-	Asserv.prototype.goa = function(a, callback, no_fifo){
-		a = convertA(a);
-		da = convertA(a-this.pos.a);
-		// logger.debug("depart:", this.pos.a);
-		// logger.debug("arrivee:", a);
-		// logger.debug("delta:", da);
-
-		var tf = SIMU_ROT_TIME(da, this.vitesse)*1000; // *1000 s->ms
-		this.newOrder(function() {
-			for(var t = 0; t < tf; t += 1000/FPS) {
-				// logger.debug(this.pos.a+da*t/tf);
-				timeouts.push(setTimeout(this.simu_goa(this.pos.a+da*t/tf), t));
-			}
-			timeouts.push(setTimeout(this.simu_goa(a), tf));
-			timeouts.push(setTimeout(callback, tf));
-		}.bind(this), 0, no_fifo, tf);
-	};
-
-	/**
-	 * Set P I D
-	 * 
-	 * @param {int} p
-	 * @param {int} i
-	 * @param {int} d
-	 * @param {Object} callback
-	 */
-	Asserv.prototype.setPid = function(p, i, d, callback){
-		this.newOrder(callback);
-	};
-
-	return Asserv;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/clients_shared_defineParser.js.html b/doc/clients_shared_defineParser.js.html deleted file mode 100644 index b95dd78..0000000 --- a/doc/clients_shared_defineParser.js.html +++ /dev/null @@ -1,106 +0,0 @@ - - - - - clients/shared/defineParser.js - Documentation - - - - - - - - - - - - - - - - -
- -

clients/shared/defineParser.js

- - - - - - - -
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/**
- * Define Parser module
- * 
- * @module clients/shared/defineParser
- */
-
-/* Converts :
- * #define VALUEA
- * #define VALUEB 'b'
- * #define VALUEC 42
- * In :
- * {
- *	VALUEA : null,
- *	VALUEB : "b",
- *	VALUEC : 42	
- * }
- */
-
-
-
-module.exports = (function(){
-	var logger = require('log4js').getLogger('DefineParser');
-	var fs = require('fs');
-
-	var reg = /#define[ \t]+(\S+)[ \t]+(\S+)/g;
-
-
-	return function parse(file){
-		var parsed = {};
-		fs.readFile(file, 'utf8', function (err,data) {
-			if(err) {
-				logger.fatal("cant read file:\""+file+"\"");
-				return ;
-			}
-			var nb = 0;
-			while( findings = reg.exec(data) ) {
-				try {
-					parsed[findings[1]] = eval(findings[2]);
-				} catch(e) {}
-				// try to evaluate calculus...
-				nb++;
-			}
-			logger.info("done parsing \""+file+"\" with "+nb+" defines");
-			//should be quick enough
-		});
-		return parsed;
-	}
-
-})();
-
-
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- - - - - diff --git a/doc/clients_shared_fifo.Fifo.html b/doc/clients_shared_fifo.Fifo.html deleted file mode 100644 index ad813aa..0000000 --- a/doc/clients_shared_fifo.Fifo.html +++ /dev/null @@ -1,741 +0,0 @@ - - - - - Fifo - Documentation - - - - - - - - - - - - - - - - -
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- - - - - \ No newline at end of file diff --git a/doc/clients_shared_fifo.class.js.html b/doc/clients_shared_fifo.class.js.html deleted file mode 100644 index ad8aae2..0000000 --- a/doc/clients_shared_fifo.class.js.html +++ /dev/null @@ -1,125 +0,0 @@ - - - - - clients/shared/fifo.class.js - Documentation - - - - - - - - - - - - - - - - -
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clients/shared/fifo.class.js

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- 
/**
- * First In First Out module
- * 
- * @module clients/shared/fifo
- * @see {@link clients/shared/fifo.Fifo}
- */
-
-module.exports = (function () {
-	var logger = require('log4js').getLogger('Fifo');
-
-	/**
-	 * Fifo Constructor
-	 * 
-	 * @exports clients/shared/fifo.Fifo
-	 * @constructor
-	 */
-	function Fifo() {
-		this.clean();
-	}
-
-	/**
-	 * Clean
-	 */
-	Fifo.prototype.clean = function(callback) {
-		/** fifo */
-		this.fifo = [];
-		/** @type {boolean} */
-		this.order_in_progress = false;
-	}
-
-	/**
-	 * Order finished
-	 */
-	Fifo.prototype.orderFinished = function() {
-		this.order_in_progress = false;
-		this.nextOrder();
-	}
-
-	/**
-	 * New Order
-	 * 
-	 * @param {Object} callback
-	 * @param {string} [name]
-	 */
-	Fifo.prototype.newOrder = function(callback, name) {
-		if (name === undefined)
-			name = "";
-		this.fifo.push({callback: callback, name: name});
-		this.nextOrder();
-	}
-
-	/**
-	 * Next Order
-	 */
-	Fifo.prototype.nextOrder = function() {
-		if(!this.order_in_progress && this.fifo.length > 0) {
-			// logger.debug(this.fifo.length);
-			this.order_in_progress = true;
-			object = this.fifo.shift();
-			// logger.debug("Calling : "+object.name);
-			object.callback();
-		}
-	}
-
-
-	return Fifo;
-})();
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config.js

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/**
- * Server config
- * 
- * @module config
- * @type {Object}
- */
-
-module.exports = {
-	"server": "127.0.0.1:3128",
-	//"server": "192.168.0.100:3128",
-	"hokuyo_command": "/root/coupe15/hokuyo/bin/hokuyo"
-}
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Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
action_name - - -string - - - -
- - - - - - - - - - - - - - - - - - - - - -

getNearestStartpoint(pos, startpoints)

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- Return nearest Startpoint -
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Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
pos - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
startpoints - - -Object - - - -
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getNormAction(pos, an)

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Parameters:
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NameTypeDescription
pos - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
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x - - -int - - - -
y - - -int - - - -
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an - - -string - - - - Action name
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getPriorityAction(an)

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NameTypeDescription
an - - -string - - - - Action name
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importActions(data)

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NameTypeDescription
data - - -Object - - - -
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isDoable(action)

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- Return true id is doable -
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Parameters:
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NameTypeDescription
action - - -Object - - - -
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isDone(action_name)

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Source:
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Parameters:
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NameTypeDescription
action_name - - -string - - - -
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kill(action_name)

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parseOrder(from, name, params)

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NameTypeDescription
from - - -string - - - - Sender
name - - -string - - - - Name of the action
params - - -Object - - - - Parameters of the action
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pathDoAction(callback, actions, id)

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NameTypeDescription
callback - -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_actions.class.js.html b/doc/ia_actions.class.js.html deleted file mode 100644 index 083c92c..0000000 --- a/doc/ia_actions.class.js.html +++ /dev/null @@ -1,463 +0,0 @@ - - - - - ia/actions.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/actions.class.js

- - - - - - - -
-
- 
/**
- * Actions Module
- * 
- * @module ia/actions
- * @see {@link ia/actions.Actions}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.actions');
-	/**
-	 * Actions Constructor
-	 * 
-	 * @exports ia/actions.Actions
-	 * @constructor
-	 * @param ia
-	 */
-	function Actions(ia) {
-		/** IA */
-		this.ia = ia;
-		/** Team color */
-		this.color = ia.color;
-
-		/** done */
-		this.done = {};
-		/** Tasks to do*/
-		this.todo = {};
-		/** Tasks in progress */
-		this.inprogress = null;
-		/** killed */
-		this.killed = {};
-
-		/** Valid id do action */
-		this.valid_id_do_action = -1;
-
-		this.todo = this.importActions(ia.data);
-	}
-
-	var __dist_startpoints_plot = 120;
-	var __nb_startpoints_plot = 16;
-	/**
-	 * Convert Angle
-	 * 
-	 * @param {int} a Angle
-	 */
-	function convertA(a) { return Math.atan2(Math.sin(a), Math.cos(a)); }
-
-	/**
-	 * Collision
-	 */
-	Actions.prototype.collision = function() {
-		if(this.inprogress !== null) {
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			// Décommenter la ligne, juste pour tester
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-			this.todo[this.inprogress.name] = this.inprogress;
-			this.inprogress = null;
-		}
-	}
-
-	/**
-	 * Import Actions from data
-	 * 
-	 * @param {Object} data
-	 */
-	Actions.prototype.importActions = function (data) {
-		var req;
-
-		try {
-			req = require('./actions.json');
-		}
-		catch(err) {
-		    logger.fatal("Erreur lors de l'importation des actions dans l'IA: "+err);
-		}
-		var actions = req.actions;
-
-		// Link "object" with exiting thing in the Data class
-		Object.keys(actions).forEach(function(i) {
-			actions[i].object = data.getObjectRef(actions[i].objectname);
-			actions[i].name = i;
-
-			if ((actions[i].object !== null) && (actions[i].type == "plot") && (actions[i].startpoints.length === 0)) {
-				actions[i].startpoints.push({
-					x: actions[i].object.pos.x,
-					y: actions[i].object.pos.y
-				});
-				// var temp;
-				// for(var j = 0; j < __nb_startpoints_plot; j++) {
-				// 	temp = j*2*Math.PI/__nb_startpoints_plot;
-				// 	actions[i].startpoints.push({
-				// 		x: actions[i].object.pos.x + __dist_startpoints_plot * Math.cos(temp),
-				// 		y: actions[i].object.pos.y + __dist_startpoints_plot * Math.sin(temp),
-				// 		a: convertA(temp+Math.PI)
-				// 	});
-				// }
-			}
-			else if((actions[i].object !== null) && (actions[i].type == "clap")) {
-				if(this.color != "yellow") {
-					var a = actions[i].startpoints[0].a;
-					actions[i].startpoints[0].a = (a < 0) ? -Math.PI - a : Math.PI - a;
-				}
-			}
-		}.bind(this));
-
-		return actions;
-	};
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} from Sender
-	 * @param {string} name Name of the action
-	 * @param {Object} params Parameters of the action
-	 */
-	Actions.prototype.parseOrder = function (from, name, params) {
-		switch(name) {
-			case 'actions.action_finished':
-			// logger.debug('received action_finished');
-				this.actionFinished();
-			break;
-			case 'actions.path_finished':
-			logger.debug('received path_finished');
-				this.ia.pr.path = [];
-			break;
-			default:
-				logger.warn('Ordre inconnu dans ia.gr: '+name);
-		}
-	};
-
-
-	/**
-	 * Kill an action
-	 * 
-	 * @param {string} action_name
-	 */
-	Actions.prototype.kill = function (action_name){
-		// If action doesn't exist
-		if (!!action_name && this.exists(action_name)){
-			this.done[action_name] = this.todo[action_name];
-			delete this.todo[action_name];
-		}
-	};
-
-	/**
-	 * Return true if the action exists
-	 * 
-	 * @param {string} action_name
-	 */
-	Actions.prototype.exists = function (action_name){
-		if (!this.todo[action_name]){
-			if (!this.killed[action_name] && !this.done[action_name] && !this.done[action_name])
-				logger.warn("Action named '"+ action_name +"' doesn't exist");
-			else
-				logger.warn("Action named '"+ action_name +"' already killed in progress or done !");
-			return false;
-		} else {
-			return true;
-		}
-	};
-
-	/**
-	 * Return true if the action is done
-	 * 
-	 * @param {string} action_name
-	 */
-	Actions.prototype.isDone = function (action_name){
-		return !action_name || this.done.hasOwnProperty(action_name);
-	};
-
-	/**
-	 * Return the distance between two points
-	 * 
-	 * @param {Object} A
-	 * @param {int} A.x
-	 * @param {int} A.y
-	 * @param {Object} B.x
-	 * @param {object} B.y
-	 */
-	function norm2Points(A, B) {
-		return Math.sqrt(Math.pow(A.x-B.x, 2) + Math.pow(A.y-B.y, 2));
-	}
-	/**
-	 * Return the distance between a position and the position of the current action
-	 * 
-	 * @param {Object} pos
-	 * @param {int} pos.x
-	 * @param {int} pos.y
-	 * @param {string} an Action name
-	 */
-	Actions.prototype.getNormAction = function(pos, an) {
-		return norm2Points(pos, this.todo[an].object.pos);
-	};
-	
-	/**
-	 * Get priority Action
-	 * 
-	 * @param {string} an Action name
-	 */
-	Actions.prototype.getPriorityAction = function(an) {
-		return this.todo[an].object.status == "lost" ? -1000 : this.todo[an].priority;
-	};
-	
-	/**
-	 * Return true id is doable
-	 * 
-	 * @param {Object} action
-	 */
-	Actions.prototype.isDoable = function(action) {
-		// Verifies some things about the action
-
-		if (!!action.dependency && !this.isDone(action.dependency)){
-			// Depends on an action, but it hasn't already been done
-			return false;
-		}
-
-		if (action.dependencyRobotContent !== undefined){
-			// Depends on the robot content
-
-			if ((action.dependencyRobotContent.gobelet !== undefined) &&
-				(this.ia.pr.content.gobelet !== action.dependencyRobotContent.gobelet)){
-				// The cup holder position isn't consistent with needed state
-				return false;
-			}
-
-			// If there's a constraint about the current number of cylinders
-			if ((action.dependencyRobotContent.invPlot !== undefined)  &&
-				(this.ia.pr.content.nb_plots < action.dependencyRobotContent.invPlot)){
-				return false;
-			}
-			if ((action.dependencyRobotContent.subPlot !== undefined)  &&
-				(this.ia.pr.content.nb_plots > action.dependencyRobotContent.subPlot)){
-				return false;
-			}
-		 
-		}
-
-		// if (action.object.status == "lost"){
-		// 	return false;
-		// }
-
-		return true;
-	};
-	
-	/**
-	 * Do next Action
-	 * 
-	 * @param callback
-	 */
-	Actions.prototype.doNextAction = function(callback) {
-		this.valid_id_do_action++;
-		var actions_todo = [];
-
-		// Get les actions possibles
-		Object.getOwnPropertyNames(this.todo).forEach(function(an) { //an = action name
-			if(this.isDoable(this.todo[an])) {
-				actions_todo.push(an);
-			}
-		}, this);
-
-		// Tri par priorité puis par norme
-		var pos = this.ia.pr.pos;
-		actions_todo.sort(function(a, b) {
-			return (this.getPriorityAction(b) - this.getPriorityAction(a)) || (this.getNormAction(pos, a) - this.getNormAction(pos, b));
-		}.bind(this));
-
-		for(var i in actions_todo) {
-			logger.debug('[%d] %s (%d)', this.todo[actions_todo[i]].priority, actions_todo[i], this.getNormAction(pos, actions_todo[i]));
-		}
-
-		// Va choisir l'action la plus proche, demander le path et faire doAction
-		this.pathDoAction(callback, actions_todo, this.valid_id_do_action);
-	};
-
-	/**
-	 * Return nearest Startpoint
-	 * 
-	 * @param {Object} pos
-	 * @param {int} pos.x
-	 * @param {int} pos.y
-	 * @param {Object} startpoints
-	 */
-	Actions.prototype.getNearestStartpoint = function(pos, startpoints) {
-		var min_dist = Infinity;
-		var nearest = null;
-
-		for (var i = 0; i < startpoints.length; i++) {
-			var dist = norm2Points(pos, startpoints[i]);
-
-			if (dist < min_dist){
-				min_dist = dist;
-				nearest = startpoints[i];
-			}
-		}
-
-		return nearest;
-	};
-
-	/**
-	 * Find the path to the action
-	 * 
-	 * @param callback
-	 * @param {Object} actions
-	 * @param {int} id
-	 */
-	Actions.prototype.pathDoAction = function(callback, actions, id) {
-		if(id != this.valid_id_do_action) {
-			logger.Debug('id different');
-			return;
-		}
-		// Va choisir l'action la plus proche, demander le path et faire doAction
-		if(actions.length > 0) {
-			var action = this.todo[actions.shift()];
-			var startpoint = this.getNearestStartpoint(this.ia.pr.pos, action.startpoints);
-			this.ia.pathfinding.getPath(this.ia.pr.pos, startpoint, function(path) {
-				if(path !== null) {
-					this.ia.pr.path = path;
-					this.doAction(callback, action, startpoint, id);
-				} else {
-					logger.debug("path not found");
-					// Si le pathfinding foire, on fait la deuxième action la plus importante
-					this.pathDoAction(callback, actions, id);
-				}
-			}.bind(this));
-		} else {
-			logger.debug("all paths not found");
-			setTimeout(function() {
-				this.doNextAction(callback);
-			}.bind(this), 500);
-		}
-	};
-
-	/**
-	 * Do Action
-	 * 
-	 * @param callback
-	 * @param {Object} action
-	 * @param {Object} startpoint
-	 * @param {int} startpoint.x
-	 * @param {int} startpoint.y
-	 * @param {int} id
-	 */
-	Actions.prototype.doAction = function (callback, action, startpoint, id) {
-		if(id != this.valid_id_do_action)
-			return;
-		this.callback = callback;
-		
-		// // Change action to state "in progress"
-		this.inprogress = action;
-		delete this.todo[action.name];
-
-		logger.debug('Action en cours %s (%d;%d;%d)', action.name, startpoint.x, startpoint.y, startpoint.a);
-		this.ia.pr.path.map(function(checkpoint) {
-			this.ia.client.send('pr', "goxy", {
-				x: checkpoint.x,
-				y: checkpoint.y,
-				sens: action.sens
-			});
-		}, this);
-		if(!!startpoint.a) {
-			this.ia.client.send('pr', "goa", {
-				a: startpoint.a
-			});
-		}
-
-		this.ia.client.send('pr', "send_message", {
-			name: "actions.path_finished"
-		});
-		// 1 order for 1 action
-		// action.orders.forEach(function (order, index, array){
-		this.ia.client.send('pr', action.orders[0].name, action.orders[0].params);
-		// }.bind(this));
-		this.ia.client.send('pr', "send_message", {
-			name: "actions.action_finished"
-		});
-
-		// // Set object to "done" ! XXX
-
-		// // Change action and its "to be killed" actions to state done
-
-		// console.log(this.todo);
-		// console.log(this.inprogress);
-		// console.log(this.done);
-	};
-
-	/**
-	 * Action Finished
-	 */
-	Actions.prototype.actionFinished = function () {
-		if(this.inprogress !== null) {
-			this.done[this.inprogress.name] = this.inprogress;
-			logger.info('Action %s est finie !', this.inprogress.name);
-			this.inprogress = null;
-			var temp = this.callback;
-			this.callback = function() {logger.warn('callback vide'); };
-			temp();
-		}
-	};
-	
-	return Actions;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_data.Data.html b/doc/ia_data.Data.html deleted file mode 100644 index 15af62e..0000000 --- a/doc/ia_data.Data.html +++ /dev/null @@ -1,1990 +0,0 @@ - - - - - Data - Documentation - - - - - - - - - - - - - - - - -
- -

Data

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- -

- Data -

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new Data(ia, nb_erobots, EGR_d, EPR_d)

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NameTypeDescription
ia - - -Object - - - -
nb_erobots - - -int - - - - Number of robots in a team
EGR_d - -
EPR_d - -
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- - - - - - - - - - - - -

Members

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balle

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chargeur

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clap

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depot

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dots

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dynamic

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gobelet

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Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- gobelet -
- - - - - - - - - - -

nb_erobots

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- nb_erobot -
- - - - - - - - - - -

pile

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- pile -
- - - - - - - - - - -

plot

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- plot -
- - - - - - - - - - - - -

Methods

- - - - - - -

getDistance(pos1, pos2)

- - - - - - -
- - -
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return the distance between two positions -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
pos1 - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
pos2 - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
- - - - - - - - - - - - - - - - - - - - - -

getObjectRef(name)

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return Object Reference -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
name - - -string - - - -
- - - - - - - - - - - - - - - - - - - - - -

importObjects()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Import the Objects -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

isCloser(dist1, dist2)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Returns true if dist1 is smaller than dist2 -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
dist1 - - -int - - - -
dist2 - - -int - - - -
- - - - - - - - - - - - - - - - - - - - - -

parseOrder(from, name, param)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Parse Order -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
from - - -string - - - -
name - - -string - - - -
param - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

theEnnemyWentThere(pos, e_robot_id)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Takes a position and the ennemy robot # to put everything in its surroundings (~ 1.1 * radius) as "lost" -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
pos - - -Object - - - -
e_robot_id - - -int - - - -
- - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_data.class.js.html b/doc/ia_data.class.js.html deleted file mode 100644 index 0394488..0000000 --- a/doc/ia_data.class.js.html +++ /dev/null @@ -1,247 +0,0 @@ - - - - - ia/data.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/data.class.js

- - - - - - - -
-
- 
/**
- * Data Module
- * 
- * @module ia/data
- * @see {@link ia/data.Data}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.data');
-
-	/**
-	 * Data Constructor
-	 * 
-	 * @exports ia/data.Data
-	 * @constructor
-	 * @param {Object} ia
-	 * @param {int} nb_erobots Number of robots in a team
-	 * @param EGR_d
-	 * @param EPR_d 
-	 */
-	function Data(ia, nb_erobots, EGR_d, EPR_d) {
-		/** balle */
-		this.balle = [];
-		/** chargeur */
-		this.chargeur = [];
-		/** clap */
-		this.clap = [];
-		/** plot */
-		this.plot = [];
-		/** erobot */
-		this.erobot = [];
-		/** gobelet */
-		this.gobelet = [];
-		/** pile */
-		this.pile = {};
-		/** dynamic */
-		this.dynamic = []; //used for laid stacks
-		/** depot */
-		this.depot = [];
-		/** nb_erobot */
-		this.nb_erobots = nb_erobots;
-
-		/** dots */
-		this.dots = [];
-
-		this.importObjects();
-		
-		this.erobot = [{ // big robot on position 0
-				name: "gr",
-				pos:{
-					x:3200,
-					y:1000
-				},
-				speed:{ // in mm/sec
-					x:0,
-					y:0,
-				},
-				lastUpdate: 0, // time in ms from the beining of the match
-				d: EGR_d || 320,
-				status: "lost"
-			},{ // small robot on position 1
-				name: "pr",
-				pos:{
-					x:3500,
-					y:1000
-				},
-				speed:{
-					x:0,
-					y:0
-				},
-				lastUpdate: 0,
-				d: EPR_d || 200,
-				status: "lost"
-			}];
-	}
-
-	/**
-	 * Import the Objects
-	 */
-	Data.prototype.importObjects = function () {
-		var ret = require('./objects.json');
-
-		this.balle = ret.balle;
-		this.chargeur = ret.chargeur;
-		this.clap = ret.clap;
-		this.plot = ret.plot;
-		this.gobelet = ret.gobelet;
-		this.pile = ret.pile;
-		this.depot = ret.depot;
-		return ret;
-	};
-
-	/**
-	 * Return Object Reference
-	 * 
-	 * @param {string} name
-	 */
-	Data.prototype.getObjectRef = function(name) {
-		// Retourne une référence vers l'objet name
-		// 		name étant de la forme <type>__<nom>
-		// Permet d'avoir une référence vers l'objet dans une action
-
-		var actName = name.split("__");
-		if (actName.length != 2){
-			logger.warn("Le nom '"+name+"' n'est pas un nom d'objet correct.");
-			return null;
-		}
-
-		if (!this[actName[0]][actName[1]]){
-			logger.warn("L'objet "+actName[0]+" de type "+actName[1]+" est inconnu.");
-			return null;
-		}
-
-		return this[actName[0]][actName[1]];
-	};
-
-	/**
-	 * Returns true if dist1 is smaller than dist2 
-	 * 
-	 * @param {int} dist1
-	 * @param {int} dist2
-	 */
-	Data.prototype.isCloser = function (dist1, dist2){
-		return (dist1 < dist2);
-	};
-
-	/**
-	 * Return the distance between two positions
-	 * 
-	 * @param {Object} pos1
-	 * @param {int} pos1.x
-	 * @param {int} pos1.y
-	 * @param {Object} pos2
-	 * @param {int} pos2.x
-	 * @param {int} pos2.y
-	 */
-	Data.prototype.getDistance = function (pos1, pos2){
-		return Math.sqrt(Math.pow(pos1.x - pos2.x, 2) + Math.pow(pos1.y - pos2.y, 2));
-	};
-
-	/**
-	 * Takes a position and the ennemy robot # to put everything in its surroundings (~ 1.1 * radius) as "lost"
-	 * 
-	 * @param {Object} pos
-	 * @param {int} e_robot_id
-	 */
-	Data.prototype.theEnnemyWentThere = function (pos, e_robot_id){
-		Object.keys(this.plot).forEach(function(c) {
-			if ((this.getDistance(pos, this.plot[c].pos) < 0.55*this.erobot[e_robot_id].d) && (this.plot[c].status != "lost")) {
-				logger.info("Le plot " + c + " est marqué lost");
-				this.plot[c].status = "lost";
-			}
-		}.bind(this));
-		var min_dist = Infinity;
-		Object.keys(this.gobelet).forEach(function(g) {
-			if ((this.getDistance(pos, this.gobelet[g].pos) < 0.55*this.erobot[e_robot_id].d) && (this.gobelet[g].status != "lost")) {
-				logger.info("Le gobelet" + g + " est marqué lost");
-				this.gobelet[g].status = "lost";
-			}
-		}.bind(this));
-	};
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} param
-	 */
-	Data.prototype.parseOrder = function(from, name, param){
-		switch(name){
-			case "data.add_dynamic" :
-				if(!!param.pos && !!param.pos.x && !!param.pos.y && !!param.d){
-					this.dynamic.push(param);
-					logger.info("added dynamic from :"+from+" params:"+JSON.stringify(param));
-				}else{
-					logger.error("invalid dynamic from :"+from+" params:"+JSON.stringify(param));
-				}				
-			break;
-			default: logger.error("Unknown order name:"+name+" from:"+from);
-		}
-	};
-
-	var data = new Data();
-	
-	return Data;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_export_simulator.ExportSimulator.html b/doc/ia_export_simulator.ExportSimulator.html deleted file mode 100644 index b5b3201..0000000 --- a/doc/ia_export_simulator.ExportSimulator.html +++ /dev/null @@ -1,540 +0,0 @@ - - - - - ExportSimulator - Documentation - - - - - - - - - - - - - - - - -
- -

ExportSimulator

- - - - - - - -
- -
- -

- ExportSimulator -

- - -
- -
-
- - - - - -

new ExportSimulator(ia)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- ExportSimulator Constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
ia - -
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

ia

- - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- IA -
- - - - - - - - - - - - -

Methods

- - - - - - -

orderToSimu()

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Order to Simulator -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

start()

- - - - - - -
- - -
Source:
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- - - - - -
- Start -
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stop()

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- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Stop -
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- -
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- -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_export_simulator.class.js.html b/doc/ia_export_simulator.class.js.html deleted file mode 100644 index 6aa1ac0..0000000 --- a/doc/ia_export_simulator.class.js.html +++ /dev/null @@ -1,173 +0,0 @@ - - - - - ia/export_simulator.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/export_simulator.class.js

- - - - - - - -
-
- 
/**
- * Export simulator Module
- * 
- * @module ia/export_simulator
- * @see {@link ia/export_simulator.ExportSimulator}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.export_simulator');
-
-	var __timeout = null;
-	var FPS = 30;
-	/** Color of the team */
-	var color;
-
-	/**
-	 * ExportSimulator Constructor
-	 * 
-	 * @exports ia/export_simulator.ExportSimulator
-	 * @constructor
-	 * @param ia
-	 */
-	function ExportSimulator(ia) {
-		/** IA */
-		this.ia = ia;
-		this.start();
-		color = this.ia.color;
-	}
-
-	/**
-	 * Convert x, depends on the team color
-	 * 
-	 * @param {int} x
-	 */
-	function convertX(x) {
-		if(color == "yellow") {
-			return (x-1500)/1000;
-		} else {
-			return (1500-x)/1000;
-		}
-	}
-	/**
-	 * Convert y
-	 * 
-	 * @param {int} y
-	 */
-	function convertY(y) {
-		return (1000-y)/1000;
-	}
-	/**
-	 * Convert Angle, depends on the team color
-	 * 
-	 * @param {int} a Angle
-	 */
-	function convertA(a) {
-		if(color == "yellow") {
-			return a;
-		} else {
-			return (a < 0) ? -Math.PI - a : Math.PI - a;
-		}
-	}
-	/**
-	 * Start
-	 */
-	ExportSimulator.prototype.start = function() {
-		this.orderToSimu();
-	}
-	/**
-	 * Stop
-	 */
-	ExportSimulator.prototype.stop = function() {
-		clearTimeout(__timeout);
-	}
-
-	/**
-	 * Order to Simulator
-	 */
-	ExportSimulator.prototype.orderToSimu = function() {
-		var data = {};
-		
-		data.robots = {
-			gr: {
-				x: convertX(this.ia.gr.pos.x),
-				y: convertY(this.ia.gr.pos.y),
-				a: convertA(this.ia.gr.pos.a)
-			},
-			pr: {
-				x: convertX(this.ia.pr.pos.x),
-				y: convertY(this.ia.pr.pos.y),
-				a: convertA(this.ia.pr.pos.a),
-				path: [this.ia.pr.pos].concat(this.ia.pr.path).map(function(pos){
-					return [convertX(pos.x), convertY(pos.y)];
-				})
-			},
-			egr: {
-				x: convertX(this.ia.data.erobot[0].pos.x),
-				y: convertY(this.ia.data.erobot[0].pos.y),
-			},
-			epr: {
-				x: convertX(this.ia.data.erobot[1].pos.x),
-				y: convertY(this.ia.data.erobot[1].pos.y)
-			}
-		};
-		data.dynamic = this.ia.data.dynamic.map(function(o){
-			return [convertX(o.pos.x), convertY(o.pos.y)];
-		});
-		// logger.debug(data.robots.egr);
-		this.ia.client.send("webclient", "simulateur", data);
-
-		__timeout = setTimeout(function(){this.orderToSimu()}.bind(this), 1000/FPS);
-	}
-
-	return ExportSimulator;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_gr.Gr.html b/doc/ia_gr.Gr.html deleted file mode 100644 index d2f5a9b..0000000 --- a/doc/ia_gr.Gr.html +++ /dev/null @@ -1,1167 +0,0 @@ - - - - - Gr - Documentation - - - - - - - - - - - - - - - - -
- -

Gr

- - - - - - - -
- -
- -

- Gr -

- - -
- -
-
- - - - - -

new Gr(ia, color)

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Gr Constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
ia - - -Object - - - -
color - - -string - - - -
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

ia

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- IA -
- - - - - - - - - - -

orders

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Orders -
- - - - - - - - - - -

path

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Path -
- - - - - - - - - - -

pos

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Position -
- - - - - - - - - - -

size

- - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Size of the robot -
- - - - - - - - - - - - -

Methods

- - - - - - -

onCollision()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- On Collision : TODO send order STOP -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

parseOrder(from, name, params)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Parse Order -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
from - - -string - - - -
name - - -string - - - -
params - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

sendOrders()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Send Orders -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

sendPos()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Send position -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

start()

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Start -
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stop()

- - - - - - -
- - -
Source:
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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Stop -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_gr.class.js.html b/doc/ia_gr.class.js.html deleted file mode 100644 index 350d136..0000000 --- a/doc/ia_gr.class.js.html +++ /dev/null @@ -1,162 +0,0 @@ - - - - - ia/gr.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/gr.class.js

- - - - - - - -
-
- 
/**
- * Grand Robot Module
- * 
- * @module ia/gr
- * @see {@link ia/gr.Gr}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.gr');
-
-	/**
-	 * Gr Constructor
-	 * 
-	 * @exports ia/gr.Gr
-	 * @constructor
-	 * @param {Object} ia
-	 * @param {string} color
-	 */
-	function Gr(ia, color) {
-		/** IA */
-		this.ia = ia;
-		/** Position */
-		this.pos = require('./gr.'+color+'.json')['pos'];
-		this.pos.color = color;
-		/** Size of the robot */
-		this.size = {
-			l: 290,
-			L: 290,
-			d: 420
-		};
-		/** Orders */
-		this.orders = require('./gr.'+color+'.json')['script'];
-		// logger.debug(this.orders);
-		/** Path */
-		this.path = null;
-	}
-
-	/**
-	 * Start
-	 */
-	Gr.prototype.start = function () {
-		this.sendOrders();
-	};
-
-	/**
-	 * Stop
-	 */
-	Gr.prototype.stop = function() {
-		logger.debug('stop GR');
-		this.ia.client.send('gr', 'stop');
-	}
-
-	/**
-	 * Send position
-	 */
-	Gr.prototype.sendPos = function () {
-		this.ia.client.send("gr", "setpos", this.pos);
-	};
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} params
-	 */
-	Gr.prototype.parseOrder = function (from, name, params) {
-		switch(name) {
-			case 'gr.pos':
-				this.pos.x = params.x;
-				this.pos.y = params.y;
-				this.pos.a = params.a;
-			break;
-			case 'gr.getpos':
-				this.sendPos();
-			break;
-			default:
-				logger.warn('Ordre inconnu dans ia.gr: '+name);
-		}
-	};
-
-	/**
-	 * Send Orders
-	 */
-	Gr.prototype.sendOrders = function () {
-		for(var i in this.orders) {
-			this.ia.client.send("gr", this.orders[i].name, this.orders[i].data);
-		}
-	};
-
-	/**
-	 * On Collision : TODO send order STOP
-	 */
-	Gr.prototype.onCollision = function () {
-		logger.warn("Collision du gros robot");
-		// TODO send order STOP
-	};
-
-
-	
-	return Gr;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_hokuyo.Hokuyo.html b/doc/ia_hokuyo.Hokuyo.html deleted file mode 100644 index 42caf62..0000000 --- a/doc/ia_hokuyo.Hokuyo.html +++ /dev/null @@ -1,2651 +0,0 @@ - - - - - Hokuyo - Documentation - - - - - - - - - - - - - - - - -
- -

Hokuyo

- - - - - - - -
- -
- -

- Hokuyo -

- - -
- -
-
- - - - - -

new Hokuyo(ia, paramsopt)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Hokuyo Constructor -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeAttributesDescription
ia - - -Object - - - - - - - - - - IA
params - - -Object - - - - - - <optional>
- - - - - - 		Parameters
- - - - - - - - - - - - - - - - - -
- - - - - - - - - - - - -

Members

- - - -

ia

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- IA -
- - - - - - - - - - -

lastNow

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Dernier timestamp où on a update (changé à la fin de l'update) -
- - - - - - - - - - -

matchStarted

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Match Started -
- - - - - - - - - - -

nb_hokuyo

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Number of hokuyo -
- - - - - - - - - - -

nb_lost

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- nb d'itération depuis laquelle on a perdu un robot -
- - - - - - - - - - -

params

- - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Parameters -
- - - - - - - - - - - - -

Methods

- - - - - - -

deleteOurRobots(dots)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Remove our robot from the detected points -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
dots - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

detectCollision(dots)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Detects Collision -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
dots - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

getBestMatchingCoef(dots, robots, now)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Returns Best Matching Coefficient -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
dots - - -Object - - - -
robots - - -Object - - - -
now - - -int - - - -
- - - - - - - - - - - - - - - - - - - - - -

getDistance(spot1, spot2)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return the distance between two points -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
spot1 - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
spot2 - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
- - - - - - - - - - - - - - - - - - - - - -

getMatchingCoef(spot, eRobot, dt, status)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return Matching coefficient -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
spot - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
eRobot - - -Object - - - -
dt - - -int - - - -
status - -
- - - - - - - - - - - - - - - - - - - - - -

isOk()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return true if the number of Hokuyo isn't equal to 0 -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

isOnTheStairs(spot)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Return true if the position is on the stair -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
spot - - -Object - - - - -
Properties
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
x - - -int - - - -
y - - -int - - - -
- -
- - - - - - - - - - - - - - - - - - - - - -

mayday(reason)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- May Day -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
reason - - -string - - - -
- - - - - - - - - - - - - - - - - - - - - -

parseOrder(from, name, params)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Parse Order -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
from - - -string - - - -
name - - -string - - - -
params - - -Object - - - -
- - - - - - - - - - - - - - - - - - - - - -

start()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Starts the hokuyo -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

stop()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Stops the Hokuyo -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

timedOut()

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Timed out -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

updateNumberOfRobots(nb)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Updates number of robots -
- - - - - - - - - - - -
Parameters:
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
NameTypeDescription
nb - - -int - - - - Number of robots
- - - - - - - - - - - - - - - - - - - - - - -
- -
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_hokuyo.class.js.html b/doc/ia_hokuyo.class.js.html deleted file mode 100644 index 1ca8955..0000000 --- a/doc/ia_hokuyo.class.js.html +++ /dev/null @@ -1,645 +0,0 @@ - - - - - ia/hokuyo.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/hokuyo.class.js

- - - - - - - -
-
- 
/**
- * Hokuyo module
- * 
- * @module ia/hokuyo
- * @see ia/hokuyo.Hokuyo
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	// var gaussian = require('gaussian');
-	var logger = log4js.getLogger('ia.hokuyo');
-
-	var GR_OFFSET = 110; // (mm) distance between our robot origin and the robot's center
-	var PR_GR_COEF = 1; // security coeff to bind our robots with the dots
-	var SEGMENT_DELTA_D = 30; // (mm) between 2 iterations on a segment to detect colision
-	var DELTA_T = 500; // (ms) in the future : estimation of ennemy robots
-	var DEBUG = false; // mettre à true LE TEMPS DU DEBUG !!!!!
-	var LOST_TIMEOUT = 10;
-	var SECURITY_COEF = 1.1;
-	var MAX_SPD = 1;
-	var timeout;
-
-	/**
-	 * Hokuyo Constructor
-	 * 
-	 * @exports ia/hokuyo.Hokuyo
-	 * @constructor
-	 * @param {Object} ia IA
-	 * @param {Object} [params] Parameters
-	 */
-	function Hokuyo(ia, params) {
-		/** Parameters */
-		this.params = params || {};
-		/** Number of hokuyo */
-		this.nb_hokuyo = 0;
-		/** IA */
-		this.ia = ia;
-		/** Dernier timestamp où on a update (changé à la fin de l'update) */
-		this.lastNow = 0;
-		/** Match Started */
-		this.matchStarted = false;
-		/** nb d'itération depuis laquelle on a perdu un robot */
-		this.nb_lost = 0;
-	}
-
-	/**
-	 * Starts the hokuyo
-	 */
-	Hokuyo.prototype.start = function () {
-		this.matchStarted = true;
-
-		logger.info("La classe hokuyo attend...");
-		this.ia.client.send("hokuyo", "start", {color:this.params.color});
-		timeout = setTimeout(function() {this.timedOut(); }.bind(this) , LOST_TIMEOUT*1000);
-	};
-
-	/**
-	 * Stops the Hokuyo
-	 */
-	Hokuyo.prototype.stop = function () {
-		this.matchStarted = false;
-		this.ia.client.send("hokuyo", "stop", {});
-		clearTimeout(timeout);
-	};
-
-	/**
-	 * Timed out
-	 */
-	Hokuyo.prototype.timedOut = function() {
-		this.mayday("Hokuyo timed out");
-	};
-
-	/**
-	 * Return the distance between two points
-	 * 
-	 * @param {Object} spot1
-	 * @param {int} spot1.x
-	 * @param {int} spot1.y
-	 * @param {Object} spot2
-	 * @param {int} spot2.x
-	 * @param {int} spot2.y
-	 */
-	Hokuyo.prototype.getDistance = function (spot1, spot2) {
-		return Math.sqrt(Math.pow(spot1.x - spot2.x, 2) + Math.pow(spot1.y - spot2.y, 2));
-	};
-
-	/**
-	 * Return true if the position is on the stair
-	 * 
-	 * @param {Object} spot
-	 * @param {int} spot.x
-	 * @param {int} spot.y
-	 */
-	Hokuyo.prototype.isOnTheStairs = function (spot){
-		return (spot.x>967) && (spot.x < 2033) && (spot.y > 2000-580);
-	};
-
-	/**
-	 * Return Matching coefficient
-	 * 
-	 * @param {Object} spot
-	 * @param {int} spot.x
-	 * @param {int} spot.y
-	 * @param {Object} eRobot
-	 * @param {int} dt
-	 * @param status
-	 */
-	Hokuyo.prototype.getMatchingCoef = function (spot, eRobot, dt, status){
-		var estimatedPos = {
-			x: eRobot.pos.x + eRobot.speed.x*dt,
-			y: eRobot.pos.y + eRobot.speed.y*dt
-		};
-
-		// var distribution = gaussian(0,eRobot.d);
-		var distance = this.getDistance(spot, estimatedPos);
-		// logger.debug(distance);
-		// return 10*distribution.pdf(distance/10);
-		return distance;
-	};
-
-	/**
-	 * Remove our robot from the detected points
-	 * 
-	 * @param {Object} dots
-	 */
-	Hokuyo.prototype.deleteOurRobots = function (dots){
-		var pr_dist = this.getDistance({x: 0, y:0}, {x: 3000, y:2000});
-		var pr_i = -1;
-		var gr_dist = this.getDistance({x: 0, y:0}, {x: 3000, y:2000});
-		var gr_i = -1;
-
-		var gr_pos_with_offset = {
-			x: this.ia.gr.pos.x + GR_OFFSET*Math.cos(this.ia.gr.pos.a),
-			y: this.ia.gr.pos.y + GR_OFFSET*Math.sin(this.ia.gr.pos.a)
-		};
-
-		// logger.debug("Pos PR");
-		// logger.debug(this.ia.pr.pos);
-		// logger.debug("Pos GR");
-		// logger.debug(gr_pos_with_offset);
-
-		for (var i = 0; i < dots.length; i++) {
-			var pr_temp_dist = this.getDistance(dots[i], this.ia.pr.pos);
-			var gr_temp_dist = this.getDistance(dots[i], gr_pos_with_offset);
-			// logger.debug("Pr le pt :");
-			// logger.debug(dots[i]);
-			// logger.debug(pr_temp_dist);
-			// logger.debug(gr_temp_dist);
-
-
-			if ((pr_dist > pr_temp_dist) && (pr_temp_dist < this.ia.pr.size.d * PR_GR_COEF)){
-				pr_dist = pr_temp_dist;
-				pr_i = i;
-			}
-
-			if ((gr_dist > gr_temp_dist) && (gr_temp_dist < this.ia.gr.size.d * PR_GR_COEF)){
-				gr_dist = gr_temp_dist;
-				gr_i = i;
-			}
-		}
-		
-		if (pr_i != -1) {
-			// logger.debug("Deleting PR:");
-			// logger.debug(dots[pr_i]);
-			// logger.debug(this.ia.pr.pos);
-			dots.splice(pr_i,1);
-
-			if (pr_i < gr_i) {
-				gr_i = gr_i -1;
-			}
-		} else {
-			logger.warn("On a pas trouvé le PR parmis les points de l'Hokuyo");
-		}
-
-		if (gr_i != -1) {
-			// logger.debug("Deleting GR:");
-			// logger.debug(dots[gr_i]);
-			// logger.debug(gr_pos_with_offset);
-			// logger.debug(this.getDistance(dots[gr_i], gr_pos_with_offset));
-
-			dots.splice(gr_i,1);
-		} else {
-			logger.warn("On a pas trouvé le GR parmis les points de l'Hokuyo");
-		}
-		// logger.debug(dots);
-	};
-
-	/**
-	 * Returns Best Matching Coefficient
-	 * 
-	 * @param {Object} dots
-	 * @param {Object} robots
-	 * @param {int} now
-	 */
-	Hokuyo.prototype.getBestMatchingCoef = function(dots, robots, now) {
-		// Return the couple of ennemy robot and dot that matches the best
-
-		var matching_coef = [];
-		var best_coef = {
-			value: this.getDistance({x: 0, y:0}, {x: 3000, y:2000}),
-			dot: -1,
-			e_robot: -1
-		};
-
-		for (var d = 0; d < dots.length; d++){
-			// for each real point
-			matching_coef[d] = [];
-			for (var i = 0; i < robots.length; i++) {
-				// we make a matching coefficient
-
-				matching_coef[d][i] = this.getMatchingCoef(dots[d], robots[i], robots[i].lastUpdate - now, robots[i].status);
-
-				if (best_coef.value > matching_coef[d][i]) {
-					best_coef.value = matching_coef[d][i];
-					best_coef.dot = d;
-					best_coef.e_robot = i;
-				}
-			}
-		}
-
-		//logger.debug("Coefficients de matching");
-		//logger.debug(matching_coef);
-
-		return best_coef;
-	};
-
-	Hokuyo.prototype.updatePos = function (dots) {
-		// Invert dots if we are green
-		if (this.ia.color == "green"){
-			for (var i = 0; i < dots.length; i++) {
-				dots[i].x = 3000 - dots[i].x;
-			}
-		}
-
-		if (!this.matchStarted){
-//			logger.debug("Le match n'a pas commencé");
-			return;
-		}
-
-		if (dots.length === 0)
-			logger.warn("On a reçu un message vide (pas de spots dedans)");
-		else {
-
-			clearTimeout(timeout);
-
-			if (dots.length != ((this.params.we_have_hats?2:0) + this.params.nb_erobots)) {
-			//	logger.info("On a pas le meme nombre de spots ("+dots.length+") que de robots à détecter ("+
-//					((this.params.we_have_hats?2:0) + this.params.nb_erobots) + ").");
-			}
-
-			// takes a timestamp to be able to compute speeds
-			var now = this.ia.timer.get();
-			// var now = this.lastNow = this.lastNow+1;
-
-			// if we have hats, kill ourselves (virtualy, of course)
-			if (this.params.we_have_hats)
-				this.deleteOurRobots(dots);
-
-			// // until there are dots left to be matched with ennmies
-			// while (dots.length > 0){
-			// 	// if some robots aren't already matched
-			// 	var e_r2Bmatched = [];
-
-			// 	for (var i = 0; i < this.ia.data.nb_erobots; i++) {
-			// 		if(this.ia.data.erobot[i].lastUpdate < now){
-			// 			// logger.debug(this.ia.data.erobot[i].name + " last update :");
-			// 			// logger.debug(this.ia.data.erobot[i].lastUpdate);
-			// 			e_r2Bmatched.push(this.ia.data.erobot[i]);
-			// 		}
-			// 	}
-
-			// 	if (e_r2Bmatched.length > 0) {
-			// 		// logger.debug("On s'occupe des robots :");
-			// 		// logger.debug(e_r2Bmatched);
-			// 		// logger.debug("Avec les points :");
-			// 		// logger.debug(dots);
-
-
-			// 		// for each eatimated position of the robots
-			// 		var best_coef = this.getBestMatchingCoef(dots, e_r2Bmatched, now);
-			// 		// logger.debug(best_coef);
-
-			// 		// if the bigger coefficient is under the arbitrary threshold
-			// 		// XXX
-
-			// 		// we take the best/bigger coefficient (well named best_coef :P )
-
-			// 		// if it isn't, set the new position, speed, status, call the "ennemy went there" function
-			// 		// logger.debug("On a matché le point suivant avec le "+e_r2Bmatched[best_coef.e_robot].name+" ennemi");
-			// 		// logger.debug(dots[best_coef.dot]);
-
-			// 		if (best_coef.e_robot == -1){
-			// 			logger.warn('Erreur de matching (il reste des robots à matcher avec des points mais ils collent pas) :');
-			// 			//logger.warn(e_r2Bmatched);
-			// 			//logger.warn(dots);
-			// 			break;
-			// 		}
-
-			// 		//logger.debug("Le "+e_r2Bmatched[best_coef.e_robot].name+" est passé de "+e_r2Bmatched[best_coef.e_robot].pos.x+", "+e_r2Bmatched[best_coef.e_robot].pos.y+ " à "+dots[best_coef.dot].x+", "+dots[best_coef.dot].y);
-
-			// 		e_r2Bmatched[best_coef.e_robot].lastUpdate = now;
-			// 		var deltaT = now - this.lastNow;
-			// 		if (deltaT !== 0){
-			// 			var x_spd = (dots[best_coef.dot].x - e_r2Bmatched[best_coef.e_robot].pos.x)/deltaT;
-			// 			var y_spd = (dots[best_coef.dot].y - e_r2Bmatched[best_coef.e_robot].pos.y)/deltaT;
-			// 			if (x_spd > MAX_SPD) {
-			// 				x_spd = MAX_SPD;
-			// 			} else if (x_spd < -MAX_SPD) {
-			// 				x_spd = -MAX_SPD;
-			// 			}
-			// 			if (y_spd > MAX_SPD) {
-			// 				y_spd = MAX_SPD;
-			// 			} else if (y_spd < -MAX_SPD) {
-			// 				y_spd = -MAX_SPD;
-			// 			}
-
-			// 			e_r2Bmatched[best_coef.e_robot].speed = {
-			// 				x: x_spd,
-			// 				y: y_spd
-			// 			};
-			// 		} else {
-			// 			logger.warn("Tiens, deltaT = 0, c'est bizarre...");
-			// 			e_r2Bmatched[best_coef.e_robot].speed = {
-			// 				x:0,
-			// 				y:0
-			// 			};
-			// 		}
-
-			// 		e_r2Bmatched[best_coef.e_robot].pos = {
-			// 			x: dots[best_coef.dot].x,
-			// 			y: dots[best_coef.dot].y,
-			// 		};
-
-			// 		// logger.debug("Position et vitesse du robot :");
-			// 		// logger.debug(e_r2Bmatched[best_coef.e_robot].pos);
-			// 		// logger.debug(e_r2Bmatched[best_coef.e_robot].speed);
-
-
-			// 		// if it's climbing the stairs, set the correct status
-			// 		if (this.isOnTheStairs(dots[best_coef.dot])){
-			// 			e_r2Bmatched[best_coef.e_robot].status = "on_the_stairs";
-			// 			logger.info(e_r2Bmatched[best_coef.e_robot].status);
-			// 		} else {
-			// 			e_r2Bmatched[best_coef.e_robot].status = "moving";
-			// 			this.ia.data.theEnnemyWentThere(e_r2Bmatched[best_coef.e_robot].pos, best_coef.e_robot);
-			// 		}
-					
-			// 		// and delete the dot
-			// 		dots.splice(best_coef.dot,1);
-			// 	} else {
-			// 		// if all the robots are tidied up, ouw, that's strange ^^
-			// 		//logger.warn("Un ou plusieurs spots de plus que de robots sur la table :");
-			// 		//logger.warn(dots);
-			// 		//logger.warn("e_r2Bmatched");
-			// 		//logger.warn(e_r2Bmatched);
-			// 		break;
-			// 	}
-
-			// }
-
-			// // XXX /!\ robots on the stairs !
-
-
-			// // if there's some robots to be matched (but no real point left :/), they're lost...
-			// // we estimate their position and tag them with "lost"
-			// for (var i = 0; i < this.ia.data.nb_erobots; i++) {
-			// 	if ((this.ia.data.erobot[i].lastUpdate < now) && (this.ia.data.erobot[i].status == "moving")){
-			// 		this.ia.data.erobot[i].pos = {
-			// 			x: this.ia.data.erobot[i].pos.x +  this.ia.data.erobot[i].speed.x*Math.abs(this.ia.data.erobot[i].lastUpdate - now),
-			// 			y: this.ia.data.erobot[i].pos.y +  this.ia.data.erobot[i].speed.y*Math.abs(this.ia.data.erobot[i].lastUpdate - now)
-			// 		};
-			// 		this.ia.data.erobot[i].speed = {
-			// 			x:0,
-			// 			y:0,
-			// 		};
-			// 		this.ia.data.erobot[i].status = "lost";
-			// 		this.ia.data.erobot[i].lastUpdate = now;
-			// 		this.nb_lost = 0;
-			// 	} else if ((this.ia.data.erobot[i].lastUpdate < now) && (this.ia.data.erobot[i].status == "lost") && (this.nb_lost<LOST_TIMEOUT)){
-			// 		this.nb_lost += 1;
-			// 	} else if ((this.ia.data.erobot[i].lastUpdate < now) && (this.ia.data.erobot[i].status == "lost") && (this.nb_lost==LOST_TIMEOUT)){
-			// 		// Si le robot était déjà perdu à l'itération d'avant
-			// 		this.mayday("On a perdu le "+this.ia.data.erobot[i].name + " ennemi");
-			// 	}
-			// }
-
-			// this.lastNow = now;
-
-			// this.detectCollision(dots);
-			// this.ia.data.dots = dots.map(function(val){
-			// 	return {
-			// 		pos: val,
-			// 		d: 320
-			// 	};	
-			// });
-
-			for(var d in dots) {
-				if(d.x > 300 && d.x < 2700 && d.y > 300 && d.y < 1700) {
-					this.ia.pr.stop();
-				}
-			}
-
-			timeout = setTimeout(function() {this.timedOut();}.bind(this) , 1000);
-		}
-
-	};
-
-	/**
-	 * Detects Collision
-	 * 
-	 * @param {Object} dots
-	 */
-	Hokuyo.prototype.detectCollision = function(dots) {
-		var collision = false;
-		var pf = this.ia.pr.path;
-		var minDist;
-		// for each path segment
-		var complete_path = [this.ia.pr.pos].concat(this.ia.pr.path);
-		for (var i = 0; i < complete_path.length-1 && !collision; (i++) ) {
-			var segment = [complete_path[i], complete_path[i+1]]; // so segment[0][0] is the x value of the beginning of the segment
-			var segLength = this.getDistance({x:segment[0].x , y:segment[0].y }, {x:segment[1].x , y:segment[1].y });
-			var nthX = (segment[1].x-segment[0].x)*SEGMENT_DELTA_D/segLength; // segment X axis length nth 
-			var nthY = (segment[1].y-segment[0].y)*SEGMENT_DELTA_D/segLength;
-
-			// for each X cm of the segment
-			for (var j = 0; (j*SEGMENT_DELTA_D) < segLength && !collision; (j++)) {
-
-				var segPoint = {
-					x: segment[0].x + nthX*j,
-					y: segment[0].y + nthY*j
-				};
-
-				// distance to each estimated position of the ennemi robots
-				minDist = 10000;//this.getDistance(dots[0], segPoint);
-
-				for(var k = 0; k < dots.length; k++) {
-					var tmp = this.getDistance(dots[k], segPoint);
-					if (tmp < minDist) {
-						minDist = tmp;
-					}
-				}
-				// if (ebots.length == 2) {
-				// 	var tmp = this.getDistance(ebots[1], segPoint);
-				// 	if (tmp < minDist) {
-				// 		minDist = tmp;
-				// 	}
-				// }
-
-				// if one of the dist < security diameter, there will be a collision
-				if (minDist < 450) {
-					collision = true;
-				}
-				
-			}
-		}
-
-		if (collision) {
-			this.ia.pr.collision();
-		}
-	};
-
-	// Hokuyo.prototype.detectCollision = function() {
-	// 	var collision = false;
-	// 	var pf = this.ia.pr.path;
-	// 	var ebots = [{ // estimated positions
-	// 			x:this.ia.data.erobot[0].pos.x +  this.ia.data.erobot[0].speed.x*DELTA_T,
-	// 			y:this.ia.data.erobot[0].pos.y +  this.ia.data.erobot[0].speed.y*DELTA_T,
-	// 			d:this.ia.data.erobot[0].d
-	// 		}];
-
-	// 	if (this.ia.data.nb_erobots == 2) {
-	// 		ebots.push = {
-	// 			x:this.ia.data.erobot[1].pos.x +  this.ia.data.erobot[1].speed.x*DELTA_T,
-	// 			y:this.ia.data.erobot[1].pos.y +  this.ia.data.erobot[1].speed.y*DELTA_T,
-	// 			d:this.ia.data.erobot[1].d
-	// 		};
-	// 	}
-
-	// 	// for each path segment
-	// 	var complete_path = [this.ia.pr.pos].concat(this.ia.pr.path);
-	// 	for (var i = 0; i < complete_path.length-1 && !collision; (i++) ) {
-	// 		var segment = [complete_path[i], complete_path[i+1]]; // so segment[0][0] is the x value of the beginning of the segment
-	// 		var segLength = this.getDistance({x:segment[0].x , y:segment[0].y }, {x:segment[1].x , y:segment[1].y });
-	// 		var nthX = (segment[1].x-segment[0].x)*SEGMENT_DELTA_D/segLength; // segment X axis length nth 
-	// 		var nthY = (segment[1].y-segment[0].y)*SEGMENT_DELTA_D/segLength;
-
-	// 		// for each X cm of the segment
-	// 		for (var j = 0; (j*SEGMENT_DELTA_D) < segLength && !collision; (j++)) {
-
-	// 			var segPoint = {
-	// 				x: segment[0].x + nthX*j,
-	// 				y: segment[0].y + nthY*j
-	// 			};
-
-	// 			// distance to each estimated position of the ennemi robots
-	// 			var minDist = this.getDistance(ebots[0], segPoint);
-
-	// 			/*
-	// 			if (ebots.length == 2) {
-	// 				var tmp = this.getDistance(ebots[1], segPoint);
-	// 				if (tmp < minDist) {
-	// 					minDist = tmp;
-	// 				}
-	// 			}*/
-
-	// 			// if one of the dist < security diameter, there will be a collision
-	// 			if (minDist < SECURITY_COEF*ebots[0].d/2.0) {
-	// 				collision = true;
-	// 			}
-				
-	// 		}
-	// 	}
-
-	// 	if (collision) {
-	// 		this.ia.pr.collision();
-	// 	}
-	// };
-
-	/**
-	 * Updates number of robots
-	 * 
-	 * @param {int} nb Number of robots
-	 */
-	Hokuyo.prototype.updateNumberOfRobots = function (nb) {
-		switch (nb){
-			case 0:
-				this.nb_hokuyo = 0;
-				// Fatal error
-				this.mayday("On plus d'hokuyo");
-				break;
-			case 1:
-				this.nb_hokuyo = 1;
-				// bigger security zone ? throw startAgain ?
-				break;
-			case 2:
-				this.nb_hokuyo = 2;
-				break;
-			default:
-				logger.info("Invalid number of robots received :" + nb);
-		}
-	};
-
-	/**
-	 * May Day
-	 * 
-	 * @param {string} reason
-	 */
-	Hokuyo.prototype.mayday = function(reason) {
-		logger.error("Mayday called, the given reason is :");
-		logger.error(reason);
-
-		// XXX ? -> en fait on bloque peut-être pas ! : si le robot s'est vautré, c'est son soucis
-	};
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} params
-	 */
-	Hokuyo.prototype.parseOrder = function (from, name, params) {
-		var orderName = name.split('.')[1];
-		switch (orderName){
-			case "position_tous_robots":
-				this.updatePos(params.dots);
-				break;
-			case "nb_hokuyo":
-				this.updateNumberOfRobots(params.nb);
-				break;
-			default:
-				logger.warn("Message name " + name + " not understood");
-		}
-	};
-
-	/**
-	 * Return true if the number of Hokuyo isn't equal to 0
-	 */
-	Hokuyo.prototype.isOk = function () {
-		if (this.nb_hokuyo === 0)
-			return false;
-		else
-			return true;
-	};
-
-	return Hokuyo;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_ia.Ia.html b/doc/ia_ia.Ia.html deleted file mode 100644 index 13116e5..0000000 --- a/doc/ia_ia.Ia.html +++ /dev/null @@ -1,1111 +0,0 @@ - - - - - Ia - Documentation - - - - - - - - - - - - - - - - -
- -

Ia

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- Ia -

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new Ia(color, nb_erobots, EGR_d, EGPR_d)

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NameTypeDefaultDescription
color - - -string - - - - - - yellow - -
nb_erobots - - -int - - - - - - 2 - - Number of robots in a team
EGR_d - - - - EGR diameter
EGPR_d - - - - EPR diameter
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Members

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actions

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client

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color

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data

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export_simulator

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gr

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- Grand robot -
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nb_erobots

- - - - - -
- - -
Source:
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- - - - - -
- Number of robots controlled by the IA -
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pathfinding

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- - -
Source:
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- Pathfinding -
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pr

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- Petit robot -
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timer

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Methods

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jack()

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- Unjack action - -Starts the robots -
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stop()

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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/ia_ia.class.js.html b/doc/ia_ia.class.js.html deleted file mode 100644 index 173cb9d..0000000 --- a/doc/ia_ia.class.js.html +++ /dev/null @@ -1,227 +0,0 @@ - - - - - ia/ia.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/ia.class.js

- - - - - - - -
-
- 
/**
- * IA Module
- * 
- * @module ia/ia
- * @requires module:server/socket_client
- * @requires module:config
- * @requires module:ia/timer
- * @requires module:ia/pathfinding
- * @requires module:ia/data
- * @requires module:ia/actions
- * @requires module:ia/gr
- * @requires module:ia/pr
- * @requires module:ia/export_simulator
- * @see {@link ia/ia.Ia}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.ia'); 
-	var log_counter = 0;
-
-	/**
-	 * Return the distance between two positions
-	 * 
-	 * @param {int} Ax
-	 * @param {int} Ay
-	 * @param {int} Bx
-	 * @param {int} By
-	 */
-	function norm(Ax, Ay, Bx, By) {
-		return Math.sqrt(Math.pow(Ax-Bx, 2) + Math.pow(Ay-By, 2));
-	}
-
-	/**
-	 * Constructor of Ia
-	 * 
-	 * @exports ia/ia.Ia
-	 * @constructor
-	 * @param {string} color=yellow
-	 * @param {int} nb_erobots=2 Number of robots in a team
-	 * @param EGR_d EGR diameter
-	 * @param EGPR_d EPR diameter
-	 */
-	function Ia(color, nb_erobots, EGR_d, EPR_d) {
-		var we_have_hats = true;
-		if(!color) {
-			logger.error('Please give a color to ia');
-		}
-		if(!nb_erobots) {
-			logger.error('Please give the number of ennemis robots');
-		}
-		if(!we_have_hats) {
-			logger.error('Please say true if we have something on our robots detectable by the Hokuyos');
-		}
-		if(!EGR_d) {
-			logger.error('Please give the EGR diameter');
-		}
-		if(!EPR_d) {
-			logger.error('Please give the EPR diameter');
-		}
-		/**
-		 * Color of the IA team
-		 */
-		this.color = color || "yellow";
-		/**
-		 * Number of robots controlled by the IA
-		 */
-		this.nb_erobots = nb_erobots || 2;
-		logger.info("Launching a "+this.color+" AI with "+this.nb_erobots+" ennemies.");
-		
-		/** Socket client */
-		this.client = new (require('../server/socket_client.class.js'))({type: 'ia', server_ip: require('../config.js').server });
-		/** Timer */
-		this.timer = new (require('./timer.class.js'))(this);
-		/** Pathfinding */
-		this.pathfinding = new (require('./pathfinding.class.js'))(this);
-		/** Data */
-		this.data = new (require('./data.class.js'))(this, this.nb_erobots, EGR_d, EPR_d);
-		/** Actions */
-		this.actions = new (require('./actions.class.js'))(this);
-		/** Grand robot */
-		this.gr = new (require('./gr.class.js'))(this, this.color);
-		/** Petit robot */
-		this.pr = new (require('./pr.class.js'))(this, this.color);
-		// this.hokuyo = new (require('./hokuyo.class.js'))(this, {
-		// 	color: this.color,
-		// 	nb_erobots: parseInt(this.nb_erobots),
-		// 	we_have_hats: (we_have_hats === "true")
-		// });
-		/** Export simulator */
-		this.export_simulator = new (require('./export_simulator.class.js'))(this);
-
-		this.client.send("server", "server.iaColor", {color: this.color});
-
-		this.client.order(function(from, name, params) {
-			var classe = name.split('.')[0];
-				// logger.debug(this[classe]);
-			if(classe == 'ia') {
-				switch(name) {
-					case 'ia.jack':
-						this.jack();
-					break;
-					case 'ia.stop':
-						this.stop();
-					break;
-					case 'ia.hok':
-						if ((log_counter++ % 15) == 0) {
-							logger.debug(params);
-						}
-						this.pr.updatePos(params);
-					break;
-					case 'ia.hokfailed':
-						 logger.fatal("HOKUYO NOT WORKING, UNPLUG AND REPLUG USB");
-						this.pr.updatePos(params);
-					break;
-					default:
-						logger.warn("Ordre pour l'ia inconnu : "+name);
-				}
-			} else if(!!this[classe]) {
-				// logger.debug("Order to class: "+classe);
-				if(!this[classe].parseOrder) {
-					logger.warn("Attention, pas de fonction parseOrder dans ia."+classe);
-				} else {
-					this[classe].parseOrder(from, name, params);
-				}
-			} else {
-				logger.warn("Sous client inconnu: "+classe);
-			}
-		}.bind(this));
-
-		// temp //
-		// this.gr.start();
-		// this.jack();
-		//////////
-	}
-
-	/**
-	 * Unjack action
-	 * 
-	 * Starts the robots
-	 */
-	Ia.prototype.jack = function() {
-		if(!this.timer.match_started) {
-			logger.info("Démarrage du match");
-			this.timer.start();
-			setTimeout(function() {
-				this.gr.start();
-			}.bind(this), 10000);
-			this.pr.start();
-			// this.hokuyo.start();
-		} else {
-			logger.warn("Match déjà lancé");
-		}
-	};
-
-	/**
-	 * Stop the robots and stop the programm
-	 */
-	Ia.prototype.stop = function() {
-		logger.fatal('Stop IA');
-		this.gr.stop();
-		this.pr.stop();
-		// this.hokuyo.stop();
-		setTimeout(process.exit, 1000);
-	};
-
-	return Ia;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_main.js.html b/doc/ia_main.js.html deleted file mode 100644 index 4a267a2..0000000 --- a/doc/ia_main.js.html +++ /dev/null @@ -1,82 +0,0 @@ - - - - - ia/main.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/main.js

- - - - - - - -
-
- 
/**
- * Main module
- * 
- * @module ia/main
- * @requires ia/ia
- */
-
-(function () {
-	"use strict";
-
-	// Modules nodejs
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('ia.ia');
-
-	var color = process.argv[2];
-	if(!color) color = null;
-	var nb_erobots = process.argv[3];
-	if(!nb_erobots) nb_erobots = null;
-	var EGR_d = process.argv[4];
-	if(!EGR_d) EGR_d = null;
-	var EPR_d = process.argv[5];
-	if(!EPR_d) EPR_d = null;
-
-	var ia = new (require('./ia.class.js'))(color, nb_erobots, EGR_d, EPR_d);
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_pathfinding.Pathfinding.html b/doc/ia_pathfinding.Pathfinding.html deleted file mode 100644 index 5deceec..0000000 --- a/doc/ia_pathfinding.Pathfinding.html +++ /dev/null @@ -1,1127 +0,0 @@ - - - - - Pathfinding - Documentation - - - - - - - - - - - - - - - - -
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Pathfinding

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ia

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getPath(start, end, callback)

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sendDynamic(objects)

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updateMap()

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- - - - - \ No newline at end of file diff --git a/doc/ia_pathfinding.class.js.html b/doc/ia_pathfinding.class.js.html deleted file mode 100644 index 55580c9..0000000 --- a/doc/ia_pathfinding.class.js.html +++ /dev/null @@ -1,278 +0,0 @@ - - - - - ia/pathfinding.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/pathfinding.class.js

- - - - - - - -
-
- 
/**
- * Pathfinding module
- * 
- * @module ia/pathfinding
- * @see {@link ia/pathfinding.Pathfinding}
- */
-
-module.exports = (function () {
-	"use strict";
-
-	var Path = require('path');
-
-	var programm = Path.normalize("./pathfinding/bin/pathfinding");
-	var image = Path.normalize("./pathfinding/img/map-20mm-yellow.bmp");
-	var RATIO = 20;
-	var SEPARATOR = ";";
-
-	var logger = require('log4js').getLogger('ia.pathfinding');
-	var Child_process = require('child_process');
-	var Byline = require('byline');
-
-	/**
-	 * Pathfinding constructor
-	 * 
-	 * @exports ia/pathfinding.Pathfinding
-	 * @constructor
-	 * @param {Ia} ia
-	 */
-	function Pathfinding(ia) {
-		/** Ia */
-		this.ia = ia;
-		var fifo = [];
-
-		/*var instance_pkill = Child_process.spawn("pkill", ["pathfinding"]);
-		instance_pkill.on('error', function(err){
-			logger.error("error pkilling pathfinding code:"+err.code);
-		});
-		instance_pkill.on('exit', function(code){
-			logger.info("successfully pkilled all old instances of pathfinding");
-		});
-
-
-		var instance = Child_process.spawn(programm, [ image ]);*/
-		var instance = Child_process.spawn("bash", ["-c", "pkill pathfinding;"+programm+" "+image]);
-
-		instance.on('error', function(err) {
-			if(err.code === 'ENOENT'){
-				logger.fatal("pathfinding programm executable not found! Is it compiled ? :) Was looking in \""+Path.resolve(programm)+"\"");
-				process.exit();
-			}
-			logger.error("c++ subprocess terminated with error:", err);
-			console.log(err);
-		});
-		instance.on('exit', function(code) {
-			logger.fatal("c++ subprocess terminated with code:"+code);
-		});
-
-
-
-		process.on('exit', function(){ //ensure child process is killed
-			if(instance.connected){ //and was still connected (dont kill another process)
-				instance.kill();
-			}
-		});
-
-		var stdout = Byline.createStream(instance.stdout);
-		stdout.setEncoding('utf8')
-		stdout.on('data', function(data) {
-			logger.debug("Received: "+data);
-			parse(data);
-		});
-
-		instance.stderr.on('data', function(data) {
-			logger.error("stderr :"+data.toString());
-		});
-
-		/**
-		 * Vector Multiply
-		 * 
-		 * @param {Object} arr
-		 * @param {int} ratio
-		 */
-		function vecMultiply(arr, ratio){
-			return arr.map(function(val){
-				return Math.round(val*ratio);
-			});
-		}
-
-		/**
-		 * Send a Query
-		 * 
-		 * @param start
-		 * @param end
-		 * @param cb
-		 */
-		this.sendQuery = function(start, end, cb){
-			fifo.push(cb || true);
-
-
-			var str = ["C"].concat( vecMultiply(start, 1/RATIO) ).concat( vecMultiply(end, 1/RATIO) ).join(SEPARATOR) + "\n";
-			instance.stdin.write( str );
-			logger.info("Sending:"+str);
-		};
-
-		/**
-		 * Send Dynamic
-		 * 
-		 * @param {Object} objects
-		 */
-		this.sendDynamic = function(objects){
-			//X0, Y0, R0, ...
-			var str = ["D"].concat(objects.reduce(function(acc, obj){
-				return acc.concat( vecMultiply(obj, 1/RATIO) );
-			}, [])).join(SEPARATOR) + "\n";
-			// logger.debug(str);
-			instance.stdin.write(str);
-		}
-
-		/**
-		 * Parse data
-		 * 
-		 * @param {Object} data
-		 */
-		function parse (data) {
-			// X0; Y0; ... Xn; Yn
-			var ret = null;
-			if(data != "FAIL") {
-				var path = [];
-				var splitted = data.split(SEPARATOR);
-				while(splitted.length > 1){
-					path.push( vecMultiply([splitted.shift(), splitted.shift()], RATIO) );
-				}
-
-				
-				if(path.length > 0) ret = path;
-			}
-
-			var callback = fifo.shift();
-			callback(ret); // if(typeof callback === "function") 
-		}
-
-	}
-
-	/**
-	 * Get Path
-	 * 
-	 * @param start
-	 * @param end
-	 * @param callback
-	 */
-	Pathfinding.prototype.getPath = function (start, end, callback) {
-		this.ia.pathfinding.updateMap();
-		this.timeout_getpath = setTimeout(function() {
-			callback(null);
-			callback = function() {};
-		}, 1000);
-		this.sendQuery([start.x, start.y], [end.x, end.y], function(path){
-			clearTimeout(this.timeout_getpath);
-			if(path !== null) {
-				path.shift();
-				path = path.map(function(val) {
-					return {
-						x: val[0],
-						y: val[1]
-					};
-				});
-			}
-			callback(path);
-		}.bind(this));
-	};
-
-	/**
-	 * Borne
-	 * 
-	 * @param {int} x
-	 * @param {int} min
-	 * @param {int} max
-	 */
-	function borne(x, min, max) {
-		return x > max ? max : x < min ? min : x;
-	}
-	
-	/**
-	 * Update Map
-	 */
-	Pathfinding.prototype.updateMap = function () {
-		//[ [x, y, r], ... ]
-
-		// var objects = [];
-		// objects.push();
-		var objects = [{
-			pos: this.ia.gr.pos,
-			d: this.ia.gr.size.d
-		}].concat(this.ia.data.dots).concat(this.ia.data.dynamic);
-
-
-		// logger.debug(objects);
-
-		this.sendDynamic( objects.map(function(val){
-			// logger.debug(val);
-			return [borne(val.pos.x, 0, 2980), borne(val.pos.y, 0, 1980), 1*((val.d/2)+(this.ia.pr.size.d/2))];
-		}.bind(this)) );
-	};
-
-	return Pathfinding;
-})();
-
-/*
-(function(){
-	var pathfinding = new module.exports();
-	function log(result){
-		console.log("RESULT", result);
-		process.exit();
-	}
-
-	setTimeout(function(){
-		pathfinding.getPath([500,1000], [1500, 200], log);
-	}, 10);
-})();
-//*/
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/ia_pr.class.js.html b/doc/ia_pr.class.js.html deleted file mode 100644 index fd997ce..0000000 --- a/doc/ia_pr.class.js.html +++ /dev/null @@ -1,364 +0,0 @@ - - - - - ia/pr.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

ia/pr.class.js

- - - - - - - -
-
- 
/**
- * Petit Robot Module
- * 
- * @module ia/pr
- * @see {@Link ia/pr.Pr}
- */
-
-module.exports = (function () {
-	"use strict";
-	var logger = require('log4js').getLogger('ia.pr');
-	var GR_OFFSET = 110;
-	var PR_GR_COEF = 1;
-
-	/**
-	 * Pr Constructor
-	 * 
-	 * @param {Object} ia
-	 * @param {string} color Team color
-	 */
-	function Pr(ia, color) {
-		/** IA */
-		this.ia = ia;
-		/** Position */
-		this.pos = { // if we are yellow, default, left side of the table
-			x: 0,
-			y: 0,
-			a: 0
-		};
-		/** Size of the robot */
-		this.size = {
-			l: 170,
-			L: 220,
-			d: 280
-		};
-		/** Current action */
-		this.current_action = null;
-		//this.path = null;
-		/** Path */
-		this.path = [];
-		/** Content */
-		this.content = {
-			nb_plots: 0,
-			gobelet:false
-		};
-		/** We have hats on the top */
-		this.we_have_hats = false;
-		/** Team color */
-		this.color = color;
-	}
-
-	/**
-	 * Loop
-	 */
-	Pr.prototype.loop = function () {
-		logger.debug('loop');
-		this.ia.actions.doNextAction(function() {
-			this.loop();
-		}.bind(this));
-	};
-
-	/**
-	 * Collision
-	 */
-	Pr.prototype.collision = function() {
-		if(this.path.length === 0) { // Utile quand on clique nous même sur le bouton dans le simu
-			logger.warn("Normalement impossible, collision sur un path vide ?");
-			//return;
-		}
-
-		logger.info('collision');
-		this.path = [];
-		this.ia.client.send('pr', "collision");
-		this.ia.actions.collision();
-		this.loop();
-	}
-	/**
-	 * Stop
-	 */
-	Pr.prototype.stop = function() {
-		this.ia.client.send('pr', 'stop');
-	}
-
-	/**
-	 * Place
-	 */
-	Pr.prototype.place = function () {
-		// logger.debug('place');
-		this.sendInitialPos();
-		this.ia.client.send('pr', 'placer');
-	};
-
-	/**
-	 * Start
-	 */
-	Pr.prototype.start = function () {
-		this.ia.client.send("pr", "ouvrir_ax12");
-		this.loop();
-	};
-
-	/**
-	 * Send initial position
-	 */
-	Pr.prototype.sendInitialPos = function () {
-		this.ia.client.send("pr", "setpos", {
-			x: 142,
-			y: 1000,
-			a: 0,
-			color: this.color
-		});
-	};
-
-	/**
-	 * Borne
-	 * 
-	 * @param {int} x
-	 * @param {int} min
-	 * @param {int} max
-	 */
-	function borne(x, min, max) {
-		return x > max ? max : x < min ? min : x;
-	}
-
-	/**
-	 * Parse Order
-	 * 
-	 * @param {string} from
-	 * @param {string} name
-	 * @param {Object} params
-	 */
-	Pr.prototype.parseOrder = function (from, name, params) {
-		switch(name) {
-			case 'pr.collision':
-				this.collision();
-			break;
-			// Asserv
-			case 'pr.pos':
-				params.x = borne(params.x, 0, 3000);
-				params.y = borne(params.y, 0, 2000);
-				this.pos = params;
-			break;
-			case 'pr.getpos':
-				this.sendInitialPos();
-			break;
-			case 'pr.placer':
-				this.place();
-			break;
-			case 'pr.plot++':
-				this.content.nb_plots += 1;
-			break;
-			case 'pr.plot0':
-				this.content.nb_plots = 0;
-			break;
-			case 'pr.gobelet1':
-				this.content.gobelet = true;
-			break;
-			case 'pr.gobelet0':
-				this.content.gobelet = false;
-			break;
-			case 'pr.hok':
-				this.updatePos(params);
-			break;
-			default:
-				logger.warn('Ordre inconnu dans ia.pr: '+name);
-		}
-	};
-
-	/** (mm) between 2 iterations on a segment to detect colision */
-	var SEGMENT_DELTA_D = 30;
-
-	/**
-	 * Return the distance between two spots
-	 * 
-	 * @param {Object} spot1
-	 * @param {int} spot1.x
-	 * @param {int} spot1.y
-	 * @param {Object} spot2
-	 * @param {int} spot2.x
-	 * @param {int} spot2.y
-	 */
-	Pr.prototype.getDistance = function (spot1, spot2) {
-		return Math.sqrt(Math.pow(spot1.x - spot2.x, 2) + Math.pow(spot1.y - spot2.y, 2));
-	};
-
-	/**
-	 * Detect Collision
-	 * 
-	 * @param {Objects} dots
-	 */
-	Pr.prototype.detectCollision = function(dots) {
-		var collision = false;
-		var pf = this.path;
-		var minDist;
-		// for each path segment
-		var complete_path = [this.pos].concat(this.path);
-		for (var i = 0; i < complete_path.length-1 && !collision; (i++) ) {
-			var segment = [complete_path[i], complete_path[i+1]]; // so segment[0][0] is the x value of the beginning of the segment
-			var segLength = this.getDistance({x:segment[0].x , y:segment[0].y }, {x:segment[1].x , y:segment[1].y });
-			var nthX = (segment[1].x-segment[0].x)*SEGMENT_DELTA_D/segLength; // segment X axis length nth 
-			var nthY = (segment[1].y-segment[0].y)*SEGMENT_DELTA_D/segLength;
-
-			// for each X cm of the segment
-			for (var j = 0; (j*SEGMENT_DELTA_D) < segLength && !collision; (j++)) {
-
-				var segPoint = {
-					x: segment[0].x + nthX*j,
-					y: segment[0].y + nthY*j
-				};
-
-				// distance to each estimated position of the ennemi robots
-				minDist = 10000;//this.getDistance(dots[0], segPoint);
-
-				for(var k = 0; k < dots.length; k++) {
-					var tmp = this.getDistance(dots[k], segPoint);
-					if (tmp < minDist) {
-						minDist = tmp;
-					}
-				}
-				// if (ebots.length == 2) {
-				// 	var tmp = this.getDistance(ebots[1], segPoint);
-				// 	if (tmp < minDist) {
-				// 		minDist = tmp;
-				// 	}
-				// }
-
-				// if one of the dist < security diameter, there will be a collision
-				if (minDist < 450) {
-					collision = true;
-				}
-				
-			}
-		}
-
-		if (collision) {
-			this.collision();
-		}
-	}
-
-	/**
-	 * Update position
-	 * 
-	 * @param {Object} dots
-	 */
-	Pr.prototype.updatePos = function(dots) {
-		if(this.ia.timer.match_started) {
-
-			// Invert if green
-			if(this.color == "green") {
-				dots = dots.map(function(val) {
-					return [val[0], 2000-val[1]];
-				});
-			}
-
-			// Delete our robots
-			for(var i in dots) {
-				if(this.norm(dots[i][0], dots[i][1], this.pos.x, this.pos.y) < 150 ||
-					this.norm(dots[i][0], dots[i][1], this.ia.gr.pos.x, this.ia.gr.pos.y) < 150)
-				dots.splice(i, 1);
-			}
-
-			// Check path
-			this.detectCollision(dots);
-
-			// Update data
-			this.ia.data.dots = dots.map(function(val) {
-				return {
-					pos: {
-						x: val[0],
-						y: val[1],
-					},
-					d: 320
-				}
-			});
-			if (dots.length > 0) {
-				this.ia.data.erobot[0].pos= {
-					x: dots[0][0],
-					y: dots[0][1]
-				};
-
-				if (dots.length > 1) {
-					this.ia.data.erobot[1].pos= {
-						x: dots[1][0],
-						y: dots[1][1]
-					};
-				};
-			};
-
-			// logger.fatal(dots);
-			// logger.fatal(this.pos);
-			// logger.fatal(this.ia.data.erobot);
-		}
-	};
-
-	/**
-	 * Distance between two points
-	 * 
-	 * @param {int} Ax
-	 * @param {int} AY
-	 * @param {int} Bx
-	 * @param {int} BY
-	 */
-	Pr.prototype.norm = function(Ax, Ay, Bx, By) {
-		return Math.sqrt(Math.pow(Ax-Bx, 2) + Math.pow(Ay-By, 2));
-	}
-	
-	return Pr;
-})();
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ia/timer.class.js

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/**
- * Timer Module
- * 
- * @module ia/timer
- * @see {@link ia/timer.Timer}
- */
-
-module.exports = (function () {
-	"use strict";
-
-	/**
-	 * Timer Constructor
-	 * 
-	 * @exports ia/timer.Timer
-	 * @constructor
-	 * @param {Object} ia
-	 */
-	function Timer(ia) {
-		/** t0 */
-		this.t0 = null;
-		/** Match started */
-		this.match_started = false;
-		/** IA */
-		this.ia = ia;
-	}
-	/**
-	 * Start timer
-	 */
-	Timer.prototype.start = function() {
-		this.t0 = Date.now();
-		this.match_started = true; // le match commence
-		setTimeout(function() {
-			logger.fatal("TIME OVER");
-			this.ia.stop();
-		}.bind(this), 89000);
-	};
-
-
-	/**
-	 * Get Timer. Permet d'obtenir le temps écoulé en ms
-	 */
-	Timer.prototype.get = function () {
-		if (this.match_started)
-			return Date.now() - this.t0;
-		else
-			return 0;
-	};
-	/**
-	 * Status
-	 */
-	Timer.prototype.status = function () {
-		if (this.match_started) {
-			return "Match started";
-		}
-		else {
-			return "Wainting for jack";
-		}
-	};
-
-	return Timer;
-})();
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client/gr/actuators

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Actuators module
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Requires

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client/gr/detect

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client/gr/servos

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Servos module
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clients/gr/detect

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Server

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Members

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ip :string

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ip_port :string

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network :Object

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progs :Object

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server :Object

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- Create the server -
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- - - - - - - - -

server_port :int

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utcoupe :Object

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Methods

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launch()

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- Launch the robot -
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sendNetwork()

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Source:
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- - - - - -
- Send Network -
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sendUTCoupe(prog)

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Source:
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- - - - - -
- sendUTCoupe -
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Parameters:
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NameTypeDescription
prog - - -string - - - -
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stop(prog)

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- - -
Source:
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- - - - - -
- Stops all -
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NameTypeDescription
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- -

SocketClient

- - - - - - - -
- -
- -

- SocketClient -

- - -
- -
-
- - - - - -

new SocketClient(params)

- - - - - - -
- - -
Source:
-
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
- - - - - -
- Create a socket for the clients -
- - - - - - - - - - - -
Parameters:
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NameTypeDescription
params - - -Object - - - - -
Properties
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server_ip - - -string - - - - - - <optional>
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- - - - - - - - - - - - - - - - - -
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Members

- - - -

callbacks

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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 15:24:25 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/server_server.class.js.html b/doc/server_server.class.js.html deleted file mode 100644 index 9b8f832..0000000 --- a/doc/server_server.class.js.html +++ /dev/null @@ -1,354 +0,0 @@ - - - - - server/server.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

server/server.class.js

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-
- 
/**
- * Server module
- * @module server/server
- * @requires module:ia/main
- * @see {@link server/server.Server}
- */
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('Server');
-	var spawn = require('child_process').spawn;
-	var Convert = require('ansi-to-html');
-	var convert = new Convert({newLine: true});
-	var spawn = require('child_process').spawn;
-
-	/**
-	 * Starts a server on the port specified. Default port: 3128
-	 * 
-	 * @exports server/server.Server
-	 * @constructor
-	 * @param {int} [server_port=3128] Server port
-	 */
-	function Server(server_port) {
-		/**
-		 * @type {int}
-		 */
-		this.server_port = server_port || 3128;
-		
-		// Get server IP address
-		var os = require('os');
-		var networkInterfaces = os.networkInterfaces();
-		try {
-			/** @type {string} */
-			this.ip = networkInterfaces["eth0"][0].address || networkInterfaces["Wi-Fi"][0].address || "127.0.0.1";
-		}
-		catch(e) {
-			this.ip = "127.0.0.1";
-		}
-		/** @type {string} */
-		this.ip_port = this.ip+':'+this.server_port;
-
-		/**
-		 * Create the server
-		 * @type {Object}
-		 */
-		this.server = require('socket.io')();
-
-		/** 
-		 * Create the network default object
-		 * @type {Object}
-		 * */
-		this.network = {
-			server: {
-				name: "Server",
-				ip: this.ip_port
-			},
-			webclient: {},
-			ia: {},
-			hokuyo: {},
-			pr: {},
-			gr: {}
-		};
-		/** @type {Object} */
-		this.utcoupe = {
-			'ia': false,
-			'pr': false,
-			'gr': false,
-			'hokuyo': false
-		};
-		 /** @type {Object} */
-		this.progs = {
-			'ia': null,
-			'pr': null,
-			'gr': null,
-			'hokuyo': false
-		}
-
-		// When the client is connected
-		this.server.on('connection', function (client) {
-			// When the client is disconnected
-			client.on('disconnect', function() {
-				logger.info(client.type+" is disconnected!");
-				try {
-					delete this.network[client.type][client.id];
-				}
-				catch(e) { }
-				this.sendNetwork();
-			}.bind(this));
-
-			// When the client send his type
-			client.on('type', function(data) {
-				if(typeof data.type !== 'string') {
-					logger.error("The client type sent isn't a string");
-					return;
-				}
-				if(!(data.type in this.network)) {
-					logger.error("The client type `"+data.type+"` isn't valid");
-					return;
-				}
-				// The type is valid
-				client.type = data.type;
-				logger.info(client.type+" is connected!");
-				data.options.ip = client.handshake.address;
-				this.network[client.type][client.id] = data.options;
-				// console.log(this.network);
-				client.join(client.type);
-				client.emit('log', "Connected to the server successfully at " + client.handshake.headers.host);
-				this.sendNetwork();
-				this.sendUTCoupe();
-			}.bind(this));
-
-			// When the client send an order
-			client.on('order', function(data) {
-				// console.log(data);
-				if(typeof data !== 'object') {
-					logger.error("The client order sent isn't a object");
-					return;
-				}
-				if(data.to === undefined) {
-					logger.error("The order hasn't 'to' argument (recipient)");
-					return;
-				}
-				// if(!(data.to in client.adapter.rooms)) {
-				// 	logger.warn("The order recipient `"+data.to+"` doesn't exist.");
-				// }
-				if(data.name == 'server.launch') {
-					this.launch(data.params);
-				} else if(data.name == 'server.stop') {
-					this.stop(data.params);
-				} else if(data.name == 'server.childrenUpdate') {
-					// console.log(this.network);
-					this.network[client.type][client.id].status = data.params.status || "";
-					this.network[client.type][client.id].children = data.params.children || "";
-					// console.log(this.network);
-					this.sendNetwork();
-				} else if (data.name == 'server.iaColor') {
-					this.network[client.type][client.id].color = data.params.color || "";
-					this.sendNetwork();
-				} else if (data.name == 'server.sync_all_git') {
-					logger.info("Starting to sync all git repositories");
-					spawn('/root/sync_all_git.sh', [], {
-						detached: true
-					});
-				} else if (data.name == 'server.flash_arduinos') {
-					logger.info("Starting to flash all arduinos");
-					spawn('/root/flash_all_arduinos.sh', [], {
-						detached: true
-					});
-				} else {
-					// The order is valid
-					// logger.info("Data " +data.name+ " from " +data.from+ " to " +data.to);
-					this.server.to('webclient').to(data.to).emit('order', data);
-				}
-			}.bind(this));
-		}.bind(this));
-
-		this.server.listen(this.server_port);
-		logger.info("Server started at "+this.ip_port);
-	}
-
-	/**
-	 * Send Network
-	 */
-	Server.prototype.sendNetwork = function(){
-		// logger.info("Message sent to webclient !");
-		// logger.info(this.network);
-		this.server.to('webclient').emit('order', {
-			to: 'webclient',
-			name: 'reseau',
-			params: {
-				network: this.network
-			},
-			from: 'server'
-			});
-	}
-
-	/**
-	 * Launch the robot
-	 */
-	Server.prototype.launch = function(params) {
-		var prog = params.prog;
-		if(!this.utcoupe[prog]) {
-			switch(prog) {
-				case 'ia':
-					this.progs[prog] = spawn('node', ['./ia/main.js', params.color, params.nb_erobots, params.EGR_d, params.EPR_d]);
-				break;
-				case 'pr':
-					this.progs[prog] = spawn('ssh', ['igep', '/root/main.sh']);
-				break;
-				case 'gr':
-					this.progs[prog] = spawn('node', ['./clients/gr/main.js']);
-				break;
-				case 'hokuyo':
-					this.progs[prog] = spawn('ssh', ['raspi', '/root/main.sh']);
-				break;
-			}
-
-			logger.info("[Launch]"+prog);
-
-
-			this.progs[prog].on('error', function (prog, err) {
-				this.server.to('webclient').emit('order', {
-					to: 'webclient',
-					name: 'logger',
-					params: {
-						head: '[ERROR]['+prog+'](code:'+err.code+')',
-						text: convert.toHtml(JSON.stringify(err))						
-					},
-					from: 'server'
-				});
-			}.bind(this, prog));
-			this.progs[prog].on('close', function (prog, code) {
-				logger.error("[CLOSE]"+prog);
-				this.server.to('webclient').emit('order', {
-					to: 'webclient',
-					name: 'logger',
-					// params: '[CLOSE]['+prog+'] '+data.toString(),
-					params: {
-						head: '[CLOSE]['+prog+'](code:'+code+')',
-						text: " "						
-					},
-					from: 'server'
-				});
-				this.stop(prog);
-			}.bind(this, prog));
-
-			this.progs[prog].stdout.on('data', function (prog, data) {
-				// logger.debug(data);
-				// for(var i in data) {
-				// 	if(data[i] == 5)
-				// 		logger.debug('LOL');
-				// }
-				this.server.to('webclient').emit('order', {
-					to: 'webclient',
-					name: 'logger',
-					params: {
-						head: '['+prog+'][stdout]',
-						text: convert.toHtml(data.toString())						
-					},
-					from: 'server'
-				});
-			}.bind(this, prog));
-			this.progs[prog].stderr.on('data', function (prog, data) {
-				this.server.to('webclient').emit('order', {
-					to: 'webclient',
-					name: 'logger',
-					params: {
-						source: '['+prog+'][stderr]',
-						text: convert.toHtml(data.toString())						
-					},
-					from: 'server'
-				});
-			}.bind(this, prog));
-			 
-				// logger.debug(prog);
-				// logger.fatal(prog, '|stdout|', data.toString());
-			this.utcoupe[prog] = true;
-		}
-		this.sendUTCoupe();
-	}
-
-	/**
-	 * Stops all
-	 * 
-	 * @param {string} prog
-	 */
-	Server.prototype.stop = function(prog) {
-		if (prog == "pr") {
-			this.progs[prog] = spawn('ssh', ['igep', 'pkill', 'node']);
-		} else if (prog == "hokuyo") {
-			this.progs[prog] = spawn('ssh', ['raspi', 'pkill', 'node']);
-		}
-		if(this.utcoupe[prog]) {
-			this.progs[prog].kill();
-			logger.info("stopped "+prog);
-			this.utcoupe[prog] = false;
-		}
-		this.sendUTCoupe();
-	}
-
-	/**
-	 * sendUTCoupe
-	 * 
-	 * @param {string} prog
-	 */
-	Server.prototype.sendUTCoupe = function(prog) {
-		this.server.to('webclient').emit('order', {
-			to: 'webclient',
-			name: 'utcoupe',
-			params: this.utcoupe,
-			from: 'server'
-		});
-	}
-
-	return Server;
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/server_socket_client.SocketClient.html b/doc/server_socket_client.SocketClient.html deleted file mode 100644 index 8421ba2..0000000 --- a/doc/server_socket_client.SocketClient.html +++ /dev/null @@ -1,1332 +0,0 @@ - - - - - SocketClient - Documentation - - - - - - - - - - - - - - - - -
- -

SocketClient

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- SocketClient -

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new SocketClient(params)

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server_ip - - -string - - - - - - <optional>
- - - - - - 		- - 127.0.0.1:3128 - - Server IPv4 and port
type - - -string - - - - - - - - - - - - Type of client
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- - - - - - - - - - - - - - - - - - - - - - -
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- - - - -
- -
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- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - \ No newline at end of file diff --git a/doc/server_socket_client.class.js.html b/doc/server_socket_client.class.js.html deleted file mode 100644 index 695ef0d..0000000 --- a/doc/server_socket_client.class.js.html +++ /dev/null @@ -1,193 +0,0 @@ - - - - - server/socket_client.class.js - Documentation - - - - - - - - - - - - - - - - -
- -

server/socket_client.class.js

- - - - - - - -
-
- 
/**
- * Socket Client
- * 
- * @module server/socket_client
- * @see {@link server/socket_client.SocketClient}
- */
-
-module.exports = (function () {
-	"use strict";
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('Client');
-
-	/**
-	 * Create a socket for the clients
-	 * 
-	 * @exports server/socket_client.SocketClient
-	 * @constructor
-	 * @param {Object} params
-	 * @param {string} [params.server_ip=127.0.0.1:3128] Server IPv4 and port
-	 * @param {string} params.type Type of client
-	 */
-	function SocketClient(params) {
-		/**
-		 * Server IP
-		 * @type {string}
-		 */
-		this.server_ip = params.server_ip || '127.0.0.1:3128';
-		/**
-		 * client
-		 */
-		this.client = require('socket.io-client')('http://'+this.server_ip);
-		/**
-		 * callbacks
-		 */
-		this.callbacks = {};
-
-		if(!!params.type)
-			/** Type of client */
-			this.type = params.type;
-		else
-			logger.error("Missing client type.");
-
-		// When the client is connected to the server
-		this.client.on('connect', function(){
-			logger.info('Client connected from server');
-			this.client.emit('type', {
-				type: this.type,
-				options: {
-					name: this.type
-				}
-			});
-			if(!!this.callbacks.connect)
-				this.callbacks.connect();
-			// this.client.emit('order', {to:'client2',text:'Hello!'});
-		}.bind(this));
-
-		// When the client receive log from the server
-		this.client.on('log', function(data){
-			logger.info('[Server log] '+data);
-		}.bind(this));
-
-		// When the client receive order from the server
-		this.client.on('order', function(data){
-			// logger.info('[Order to '+data.to+'] '+data.text);
-			if(!!this.callbacks.order)
-				if (!!data.name)
-					this.callbacks.order(data.from, data.name, data.params || {});
-				else
-					logger.error("Order has no name ! : " + data);
-		}.bind(this));
-
-		// If after 500ms the client isn't connected, throw "server not found" error
-		setTimeout(function() {
-			if(this.client.disconnected)
-				this.errorServerNotFound();
-		}.bind(this), 500);
-	}
-
-	/**
-	 * connect
-	 * 
-	 * @param callback
-	 */
-	SocketClient.prototype.connect = function (callback) {
-		this.callbacks.connect = callback;
-	};
-
-	/**
-	 * order
-	 * 
-	 * @param callback
-	 */
-	SocketClient.prototype.order = function (callback) {
-		this.callbacks.order = callback;
-	};
-	/**
-	 * Send parameters
-	 * 
-	 * @param {string} to
-	 * @param {string} name
-	 * @param {Object} params
-	 */
-	SocketClient.prototype.send = function (to, name, params) {
-		// logger.debug('send %s to %s', name, to);
-		this.client.emit('order', {
-			to: to,
-			name: name,
-			params: params,
-			from: this.type
-		});
-	};
-
-	// Error functions
-	/**
-	 * Appends the error message in the logger
-	 * 
-	 * @param {string} msg message to send
-	 */
-	SocketClient.prototype.throwError = function (msg) {
-		logger.error(msg);
-	};
-	/**
-	 * Throw Server not found
-	 */
-	SocketClient.prototype.errorServerNotFound = function () {
-		this.throwError('Server not found at '+this.server_ip+', please make sure the server is running.');
-	};
-	/**
-	 * Throw Server timed out
-	 */
-	SocketClient.prototype.errorServerTimeout = function () {
-		this.throwError('Server timed out, please make sure the server is still running.');
-	};
-
-	return SocketClient;
-})();
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - diff --git a/doc/styles/jsdoc.css b/doc/styles/jsdoc.css deleted file mode 100644 index c13c7d4..0000000 --- a/doc/styles/jsdoc.css +++ /dev/null @@ -1,645 +0,0 @@ -@import url(https://fonts.googleapis.com/css?family=Montserrat:400,700); - -* { - box-sizing: border-box -} - -html, body { - height: 100%; - width: 100%; -} - -body { - color: #4d4e53; - background-color: white; - margin: 0 auto; - padding: 0 20px; - font-family: 'Helvetica Neue', Helvetica, sans-serif; - font-size: 16px; - line-height: 160%; -} - -a, -a:active { - color: #606; - text-decoration: none; -} - -a:hover { - text-decoration: none; -} - -article a { - border-bottom: 1px solid #ddd; -} - -article a:hover, article a:active { - border-bottom-color: #222; -} - -p, ul, ol, blockquote { - margin-bottom: 1em; -} - -h1, h2, h3, h4, h5, h6 { - font-family: 'Montserrat', sans-serif; -} - -h1, h2, h3, h4, h5, h6 { - color: #000; - font-weight: 400; - margin: 0; -} - -h1 { - font-weight: 300; - font-size: 48px; - margin: 1em 0 .5em; -} - -h1.page-title { - font-size: 48px; - margin: 1em 30px; -} - -h2 { - font-size: 24px; - margin: 1.5em 0 .3em; -} - -h3 { - font-size: 24px; - margin: 1.2em 0 .3em; -} - -h4 { - font-size: 18px; - margin: 1em 0 .2em; - color: #4d4e53; -} - -h4.name { - color: #fff; - background: #6d426d; - box-shadow: 0 .25em .5em #d3d3d3; - border-top: 1px solid #d3d3d3; - border-bottom: 1px solid #d3d3d3; - margin: 1.5em 0 0.5em; - padding: .75em 0 .75em 10px; -} - -h4.name a { - color: #fc83ff; -} - -h4.name a:hover { - border-bottom-color: #fc83ff; -} - -h5, .container-overview .subsection-title { - font-size: 120%; - letter-spacing: -0.01em; - margin: 8px 0 3px 0; -} - -h6 { - font-size: 100%; - letter-spacing: -0.01em; - margin: 6px 0 3px 0; - font-style: italic; -} - -tt, code, kbd, samp { - font-family: Consolas, Monaco, 'Andale Mono', monospace; - background: #f4f4f4; - padding: 1px 5px; -} - -.class-description { - font-size: 130%; - line-height: 140%; - margin-bottom: 1em; - margin-top: 1em; -} - -.class-description:empty { - margin: 0 -} - -#main { - float: right; - min-width: 360px; - width: calc(100% - 240px); -} - -header { - display: block -} - -section { - display: block; - background-color: #fff; - padding: 0 0 0 30px; -} - -.variation { - display: none -} - -.signature-attributes { - font-size: 60%; - color: #eee; - font-style: italic; - font-weight: lighter; -} - -nav { - float: left; - display: block; - width: 250px; - background: #fff; - overflow: auto; - position: fixed; - height: 100%; -} - -nav h3 { - margin-top: 12px; - font-size: 13px; - text-transform: uppercase; - letter-spacing: 1px; - font-weight: 700; - line-height: 24px; - margin: 15px 0 10px; - padding: 0; - color: #000; -} - -nav ul { - font-family: 'Lucida Grande', 'Lucida Sans Unicode', arial, sans-serif; - font-size: 100%; - line-height: 17px; - padding: 0; - margin: 0; - list-style-type: none; -} - -nav ul a, -nav ul a:active { - font-family: 'Montserrat', sans-serif; - line-height: 18px; - padding: 0; - display: block; - font-size: 12px; -} - -nav a:hover, -nav a:active { - color: #606; -} - -nav > ul { - padding: 0 10px; -} - -nav > ul > li > a { - color: #606; -} - -nav ul ul { - margin-bottom: 10px -} - -nav ul ul + ul { - margin-top: -10px; -} - -nav ul ul a { - color: hsl(207, 1%, 60%); - border-left: 1px solid hsl(207, 10%, 86%); -} - -nav ul ul a, -nav ul ul a:active { - padding-left: 20px -} - -nav h2 { - font-size: 12px; - margin: 0; - padding: 0; -} - -nav > h2 > a { - display: block; - margin: 10px 0 -10px; - color: #606 !important; -} - -footer { - color: hsl(0, 0%, 28%); - margin-left: 250px; - display: block; - padding: 15px; - font-style: italic; - font-size: 90%; -} - -.ancestors { - color: #999 -} - -.ancestors a { - color: #999 !important; -} - -.clear { - clear: both -} - -.important { - font-weight: bold; - color: #950B02; -} - -.yes-def { - text-indent: -1000px -} - -.type-signature { - color: #CA79CA -} - -.type-signature:last-child { - color: #eee; -} - -.name, .signature { - font-family: Consolas, Monaco, 'Andale Mono', monospace -} - -.signature { - color: #fc83ff; -} - -.details { - margin-top: 6px; - border-left: 2px solid #DDD; - line-height: 20px; - font-size: 14px; -} - -.details dt { - width: 120px; - float: left; - padding-left: 10px; -} - -.details dd { - margin-left: 70px; - margin-top: 6px; - margin-bottom: 6px; -} - -.details ul { - margin: 0 -} - -.details ul { - list-style-type: none -} - -.details pre.prettyprint { - margin: 0 -} - -.details .object-value { - padding-top: 0 -} - -.description { - margin-bottom: 1em; - margin-top: 1em; -} - -.code-caption { - font-style: italic; - font-size: 107%; - margin: 0; -} - -.prettyprint { - font-size: 14px; - overflow: auto; -} - -.prettyprint.source { - width: inherit; - line-height: 18px; - display: block; - background-color: #0d152a; - color: #aeaeae; -} - -.prettyprint code { - line-height: 18px; - display: block; - background-color: #0d152a; - color: #4D4E53; -} - -.prettyprint > code { - padding: 15px; -} - -.prettyprint .linenums code { - padding: 0 15px -} - -.prettyprint .linenums li:first-of-type code { - padding-top: 15px -} - -.prettyprint code span.line { - display: inline-block -} - -.prettyprint.linenums { - padding-left: 70px; - -webkit-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; -} - -.prettyprint.linenums ol { - padding-left: 0 -} - -.prettyprint.linenums li { - border-left: 3px #34446B solid; -} - -.prettyprint.linenums li.selected, .prettyprint.linenums li.selected * { - background-color: #34446B; -} - -.prettyprint.linenums li * { - -webkit-user-select: text; - -moz-user-select: text; - -ms-user-select: text; - user-select: text; -} - -.params, .props { - border-spacing: 0; - border: 1px solid #ddd; - border-collapse: collapse; - border-radius: 3px; - box-shadow: 0 1px 3px rgba(0,0,0,0.1); - width: 100%; - font-size: 14px; - margin: 1em 0; -} - -.params .type { - white-space: nowrap; -} - -.params code { - white-space: pre; -} - -.params td, .params .name, .props .name, .name code { - color: #4D4E53; - font-family: Consolas, Monaco, 'Andale Mono', monospace; - font-size: 100%; -} - -.params td, .params th, .props td, .props th { - margin: 0px; - text-align: left; - vertical-align: top; - padding: 10px; - display: table-cell; -} - -.params td { - border-top: 1px solid #eee -} - -.params thead tr, .props thead tr { - background-color: #fff; - font-weight: bold; -} - -.params .params thead tr, .props .props thead tr { - background-color: #fff; - font-weight: bold; -} - -.params td.description > p:first-child, .props td.description > p:first-child { - margin-top: 0; - padding-top: 0; -} - -.params td.description > p:last-child, .props td.description > p:last-child { - margin-bottom: 0; - padding-bottom: 0; -} - -span.param-type, .params td .param-type, .param-type dd { - color: #606; - font-family: Consolas, Monaco, 'Andale Mono', monospace -} - -.param-type dt, .param-type dd { - display: inline-block -} - -.param-type { - margin: 14px 0; -} - -.disabled { - color: #454545 -} - -/* navicon button */ -.navicon-button { - display: none; - position: relative; - padding: 2.0625rem 1.5rem; - transition: 0.25s; - cursor: pointer; - -webkit-user-select: none; - -moz-user-select: none; - -ms-user-select: none; - user-select: none; - opacity: .8; -} -.navicon-button .navicon:before, .navicon-button .navicon:after { - transition: 0.25s; -} -.navicon-button:hover { - transition: 0.5s; - opacity: 1; -} -.navicon-button:hover .navicon:before, .navicon-button:hover .navicon:after { - transition: 0.25s; -} -.navicon-button:hover .navicon:before { - top: .825rem; -} -.navicon-button:hover .navicon:after { - top: -.825rem; -} - -/* navicon */ -.navicon { - position: relative; - width: 2.5em; - height: .3125rem; - background: #000; - transition: 0.3s; - border-radius: 2.5rem; -} -.navicon:before, .navicon:after { - display: block; - content: ""; - height: .3125rem; - width: 2.5rem; - background: #000; - position: absolute; - z-index: -1; - transition: 0.3s 0.25s; - border-radius: 1rem; -} -.navicon:before { - top: .625rem; -} -.navicon:after { - top: -.625rem; -} - -/* open */ -.nav-trigger:checked + label:not(.steps) .navicon:before, -.nav-trigger:checked + label:not(.steps) .navicon:after { - top: 0 !important; -} - -.nav-trigger:checked + label .navicon:before, -.nav-trigger:checked + label .navicon:after { - transition: 0.5s; -} - -/* Minus */ -.nav-trigger:checked + label { - -webkit-transform: scale(0.75); - transform: scale(0.75); -} - -/* × and + */ -.nav-trigger:checked + label.plus .navicon, -.nav-trigger:checked + label.x .navicon { - background: transparent; -} - -.nav-trigger:checked + label.plus .navicon:before, -.nav-trigger:checked + label.x .navicon:before { - -webkit-transform: rotate(-45deg); - transform: rotate(-45deg); - background: #FFF; -} - -.nav-trigger:checked + label.plus .navicon:after, -.nav-trigger:checked + label.x .navicon:after { - -webkit-transform: rotate(45deg); - transform: rotate(45deg); - background: #FFF; -} - -.nav-trigger:checked + label.plus { - -webkit-transform: scale(0.75) rotate(45deg); - transform: scale(0.75) rotate(45deg); -} - -.nav-trigger:checked ~ nav { - left: 0 !important; -} - -.nav-trigger:checked ~ .overlay { - display: block; -} - -.nav-trigger { - position: fixed; - top: 0; - clip: rect(0, 0, 0, 0); -} - -.overlay { - display: none; - position: fixed; - top: 0; - bottom: 0; - left: 0; - right: 0; - width: 100%; - height: 100%; - background: hsla(0, 0%, 0%, 0.5); - z-index: 1; -} - -@media only screen and (min-width: 320px) and (max-width: 680px) { - body { - overflow-x: hidden; - } - - nav { - background: #FFF; - width: 250px; - height: 100%; - position: fixed; - top: 0; - right: 0; - bottom: 0; - left: -250px; - z-index: 3; - padding: 0 10px; - transition: left 0.2s; - } - - .navicon-button { - display: inline-block; - position: fixed; - top: 1.5em; - right: 0; - z-index: 2; - } - - #main { - width: 100%; - min-width: 360px; - } - - #main h1.page-title { - margin: 1em 0; - } - - #main section { - padding: 0; - } - - footer { - margin-left: 0; - } -} - -/** Add a '#' to static members */ -[data-type="member"] a::before { - content: '#'; - display: inline-block; - margin-left: -14px; - margin-right: 5px; -} diff --git a/doc/styles/prettify.css b/doc/styles/prettify.css deleted file mode 100644 index 629bde5..0000000 --- a/doc/styles/prettify.css +++ /dev/null @@ -1,79 +0,0 @@ -.pln { - color: #ddd; -} - -/* string content */ -.str { - color: #61ce3c; -} - -/* a keyword */ -.kwd { - color: #fbde2d; -} - -/* a comment */ -.com { - color: #aeaeae; -} - -/* a type name */ -.typ { - color: #8da6ce; -} - -/* a literal value */ -.lit { - color: #fbde2d; -} - -/* punctuation */ -.pun { - color: #ddd; -} - -/* lisp open bracket */ -.opn { - color: #000000; -} - -/* lisp close bracket */ -.clo { - color: #000000; -} - -/* a markup tag name */ -.tag { - color: #8da6ce; -} - -/* a markup attribute name */ -.atn { - color: #fbde2d; -} - -/* a markup attribute value */ -.atv { - color: #ddd; -} - -/* a declaration */ -.dec { - color: #EF5050; -} - -/* a variable name */ -.var { - color: #c82829; -} - -/* a function name */ -.fun { - color: #4271ae; -} - -/* Specify class=linenums on a pre to get line numbering */ -ol.linenums { - margin-top: 0; - margin-bottom: 0; -} diff --git a/doc/utcoupe_utcoupe.js.html b/doc/utcoupe_utcoupe.js.html deleted file mode 100644 index d8ffcb9..0000000 --- a/doc/utcoupe_utcoupe.js.html +++ /dev/null @@ -1,79 +0,0 @@ - - - - - utcoupe/utcoupe.js - Documentation - - - - - - - - - - - - - - - - -
- -

utcoupe/utcoupe.js

- - - - - - - -
-
- 
/**
- * Main application
- * 
- * @module utcoupe/utcoupe
- * @requires module:server/server
- */
-(function () {
-	/**
-	 * Server
-	 * @type {server/server.Server}
-	 */
-	var Server = require('../server/server.class.js');
-
-	var log4js = require('log4js');
-	var logger = log4js.getLogger('Server');
-
-	/** 
-	 * Create the server with default port
-	 */ 
-	var server = new Server();
-})();
-
-
-
- - - - -
- -
- -
- Documentation generated by JSDoc 3.4.3 on Sat Nov 12 2016 17:40:18 GMT+0100 (CET) using the docdash theme. -
- - - - - From f4727b8493fd80afa8fba65d58668350b87f8e4f Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 1 Apr 2017 19:52:07 +0200 Subject: [PATCH 13/74] Added ink-docstrap in dependencies --- package.json | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/package.json b/package.json index c4ddbba..0b82941 100644 --- a/package.json +++ b/package.json @@ -14,7 +14,8 @@ "log4js": "^0.6.38", "serialport": "^4.0.3", "socket.io": "^1.5.0", - "socket.io-client": "^1.5.0" + "socket.io-client": "^1.5.0", + "ink-docstrap": "1.3.0" }, "devDependencies": { "docdash": "^0.4.0", From f58cf3210137c4c9fea8ea8584691f638302d833 Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 1 Apr 2017 20:56:42 +0200 Subject: [PATCH 14/74] Added some doc and made base code working --- clients/Asserv/Asserv.class.js | 16 +++++++++++----- clients/Asserv/AsservReal.class.js | 18 ++++++++++++++++-- clients/Asserv/AsservSimu.class.js | 19 ++++++++++++++++--- clients/Robot/grobot.class.js | 20 +++++++++++++++++--- clients/Robot/robot.class.js | 20 +++++++++++++++++--- clients/Robot/tibot.class.js | 20 +++++++++++++++++--- clients/client.class.js | 25 ++++++++++++++++++++----- clients/fifo.class.js | 6 +++--- 8 files changed, 117 insertions(+), 27 deletions(-) diff --git a/clients/Asserv/Asserv.class.js b/clients/Asserv/Asserv.class.js index b8dc3ee..4f56deb 100644 --- a/clients/Asserv/Asserv.class.js +++ b/clients/Asserv/Asserv.class.js @@ -1,11 +1,15 @@ /** * Module exportant la classe abstraite Asserve * - * @module clients/Asserv/asserv + * @module clients/Asserv/Asserv */ - -module.exports = class Asserv{ +/** + * Class Asserv. + * + * @memberof module:clients/Asserv/Asserv + */ +class Asserv{ /** * Creates an instance of Asserv. * @param {any} client @@ -25,7 +29,7 @@ module.exports = class Asserv{ /** @type {Object} */ this.pos = {}; - /** @type {clients/Asserv/asserv.asserv} */ + /** @type {clients/fifo.Fifo} */ this.fifo = fifo; } @@ -158,4 +162,6 @@ module.exports = class Asserv{ * @param {Object} callback */ setPid(p, i, d, callback){} -} \ No newline at end of file +} + +module.exports = Asserv; \ No newline at end of file diff --git a/clients/Asserv/AsservReal.class.js b/clients/Asserv/AsservReal.class.js index 22f5b87..9203121 100644 --- a/clients/Asserv/AsservReal.class.js +++ b/clients/Asserv/AsservReal.class.js @@ -1,7 +1,21 @@ +/** + * Classe implémentant l'asservissement en mode réel. + * + * @module clients/Asserv/AsservReal + */ +const Asserv = require('Asserv.class.js'); -module.exports = class AsservReal extends Asserv{ +/** + * Classe implémentant l'asservissement en mode réel + * + * @memberof module:clients/Asserv/AsservReal + * @extends {clients/Asserv/Asserv.Asserv} + */ +class AsservReal extends Asserv{ constructor(){ } -} \ No newline at end of file +} + +module.exports = AsservReal; \ No newline at end of file diff --git a/clients/Asserv/AsservSimu.class.js b/clients/Asserv/AsservSimu.class.js index b3fe2e5..7102b7b 100644 --- a/clients/Asserv/AsservSimu.class.js +++ b/clients/Asserv/AsservSimu.class.js @@ -1,8 +1,21 @@ +/** + * Module Asservissement en mode simulateur + * + * @module clients/Asserv/AsservSimu + */ +const Asserv = require('Asserv.class.js'); - -module.exports = class AsservSimu extends Asserv{ +/** + * Classe héritant de l'asservissement, mode simulateur + * + * @memberof module:clients/Asserv/AsservSimu + * @extends {clients/Asserv/Asserv.Asserv} + */ +class AsservSimu extends Asserv{ constructor(){ } -} \ No newline at end of file +} + +module.exports = AsservSimu; \ No newline at end of file diff --git a/clients/Robot/grobot.class.js b/clients/Robot/grobot.class.js index 084e592..6ac06cb 100644 --- a/clients/Robot/grobot.class.js +++ b/clients/Robot/grobot.class.js @@ -1,8 +1,22 @@ +/** + * Module du grand robot + * + * @module clients/Robot/grobot + */ +const Robot = require('robot.class.js'); - -module.exports = class Grobot extends Robot{ +/** + * Grand Robot + * + * @class Grobot + * @memberof module:clients/Robot/grobot + * @extends {clients/Robot/robot.Robot} + */ +class Grobot extends Robot{ constructor(){ } -} \ No newline at end of file +} + +module.exports = Grobot; \ No newline at end of file diff --git a/clients/Robot/robot.class.js b/clients/Robot/robot.class.js index 3cc9d96..c211637 100644 --- a/clients/Robot/robot.class.js +++ b/clients/Robot/robot.class.js @@ -1,8 +1,22 @@ +/** + * Module du robot de base + * + * @module clients/Robot/robot + */ +const Client = require('../client.class.js'); - -module.exports = class Robot extends Client{ +/** + * Robot abstrait + * + * @class Robot + * @memberof module:clients/Robot/robot + * @extends {clients/client.Client} + */ +class Robot extends Client{ constructor(){ } -} \ No newline at end of file +} + +module.exports = Robot; \ No newline at end of file diff --git a/clients/Robot/tibot.class.js b/clients/Robot/tibot.class.js index 63dc1da..296ebfe 100644 --- a/clients/Robot/tibot.class.js +++ b/clients/Robot/tibot.class.js @@ -1,8 +1,22 @@ +/** + * Module du petit robot + * + * @module clients/Robot/tibot + */ +const Robot = require('robot.class.js'); - -module.exports = class Tibot extends Robot{ +/** + * Petit Robot + * + * @class Grobot + * @memberof module:clients/Robot/tibot + * @extends {clients/Robot/robot.Robot} + */ +class Tibot extends Robot{ constructor(){ } -} \ No newline at end of file +} + +module.exports = Tibot; \ No newline at end of file diff --git a/clients/client.class.js b/clients/client.class.js index 59a9d57..5461e2e 100644 --- a/clients/client.class.js +++ b/clients/client.class.js @@ -1,7 +1,20 @@ - - - -module.exports = class Client { +/** + * Module du client de base + * + * @module clients/client + */ + + +/** + * Client abstrait + * + * @memberof module:clients/client + */ +class Client { + /** + * Creates an instance of Client. + * @param {any} status + */ constructor(status){ this.Log4js = require('log4js'); this.SocketClient = require('../../server/socket_client.class.js'); @@ -24,4 +37,6 @@ module.exports = class Client { status(){ } -} \ No newline at end of file +} + +module.exports = Client; \ No newline at end of file diff --git a/clients/fifo.class.js b/clients/fifo.class.js index 8d359f1..0ba705d 100644 --- a/clients/fifo.class.js +++ b/clients/fifo.class.js @@ -1,8 +1,8 @@ /** * First In First Out module * - * @module clients/shared/fifo - * @see {@link clients/shared/fifo.Fifo} + * @module clients/fifo + * @see {@link clients/fifo.Fifo} */ module.exports = (function () { @@ -11,7 +11,7 @@ module.exports = (function () { /** * Fifo Constructor * - * @exports clients/shared/fifo.Fifo + * @memberof module:clients/fifo * @constructor */ function Fifo() { From 362d67e16a6d9fb15b841b94ad77d688fa1f4ec3 Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 1 Apr 2017 21:10:13 +0200 Subject: [PATCH 15/74] Added missing requires --- clients/Asserv/AsservReal.class.js | 1 + clients/Asserv/AsservSimu.class.js | 1 + clients/Robot/grobot.class.js | 1 + clients/Robot/robot.class.js | 1 + clients/Robot/tibot.class.js | 1 + 5 files changed, 5 insertions(+) diff --git a/clients/Asserv/AsservReal.class.js b/clients/Asserv/AsservReal.class.js index 9203121..bf45250 100644 --- a/clients/Asserv/AsservReal.class.js +++ b/clients/Asserv/AsservReal.class.js @@ -2,6 +2,7 @@ * Classe implémentant l'asservissement en mode réel. * * @module clients/Asserv/AsservReal + * @requires module:clients/Asserv/Asserv */ const Asserv = require('Asserv.class.js'); diff --git a/clients/Asserv/AsservSimu.class.js b/clients/Asserv/AsservSimu.class.js index 7102b7b..d8eaba7 100644 --- a/clients/Asserv/AsservSimu.class.js +++ b/clients/Asserv/AsservSimu.class.js @@ -2,6 +2,7 @@ * Module Asservissement en mode simulateur * * @module clients/Asserv/AsservSimu + * @requires module:clients/Asserv/Asserv */ const Asserv = require('Asserv.class.js'); diff --git a/clients/Robot/grobot.class.js b/clients/Robot/grobot.class.js index 6ac06cb..1ea428b 100644 --- a/clients/Robot/grobot.class.js +++ b/clients/Robot/grobot.class.js @@ -2,6 +2,7 @@ * Module du grand robot * * @module clients/Robot/grobot + * @requires module:clients/Robot/robot */ const Robot = require('robot.class.js'); diff --git a/clients/Robot/robot.class.js b/clients/Robot/robot.class.js index c211637..adaa8f9 100644 --- a/clients/Robot/robot.class.js +++ b/clients/Robot/robot.class.js @@ -2,6 +2,7 @@ * Module du robot de base * * @module clients/Robot/robot + * @requires module:clients/client */ const Client = require('../client.class.js'); diff --git a/clients/Robot/tibot.class.js b/clients/Robot/tibot.class.js index 296ebfe..f0ed3f8 100644 --- a/clients/Robot/tibot.class.js +++ b/clients/Robot/tibot.class.js @@ -2,6 +2,7 @@ * Module du petit robot * * @module clients/Robot/tibot + * @requires module:clients/Robot/robot */ const Robot = require('robot.class.js'); From be4d949148dddb6c8d66a080d13553acc5d54566 Mon Sep 17 00:00:00 2001 From: mmxm Date: Sat, 1 Apr 2017 21:10:21 +0200 Subject: [PATCH 16/74] clustering implemented (only tested with hokuyo corner) --- hokuyo/main.js | 4 +- lidar/lidar.class.js | 92 ++++++++++++------- webclient/pages/hokuyo/hokuyoDisplay.class.js | 12 +-- 3 files changed, 67 insertions(+), 41 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index 51eb2f5..e277aa7 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -29,7 +29,7 @@ var server = process.argv[2] || config.server; var command = process.argv[3] || config.hokuyo_command; - + process.env.UTCOUPE_WORKSPACE = config.UTCOUPE_WORKSPACE; if (!process.env.UTCOUPE_WORKSPACE) { logger.error("Missing UTCOUPE_WORKSPACE environment variable. Make sure to call 'sudo -E node ...'"); process.exit(1); @@ -152,7 +152,7 @@ bufferData = bufferData + temp[2]; client.send("lidar", "hokuyo.polar_raw_data", { "hokuyo": temp[0], "polarSpots" : JSON.parse(bufferData) }); count = 0; - logger.warn(JSON.parse(bufferData)); + //logger.warn(JSON.parse(bufferData)); } } } diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index a21b0bb..32fabf5 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -121,6 +121,8 @@ module.exports = (function () { function Spot(angle, distance){ this.angle = angle; this.distance = distance; + this.filtered = true; + this.inTheTable = false; } Spot.prototype.toCartesian = function(lidar, hokName) { let ret = []; @@ -131,10 +133,10 @@ module.exports = (function () { // x is the forward axe // y is the RIGHT axe looking from the top // ie : the hokuyo on the back left hand corner, oriented to 0, has the same frame as the table translated a little - // thus, hokuyo positive angles are at its right hand + // thus, hokuyo positive angles are at its left hand let cartPt = [ - this.distance * Math.cos(lidar.toRadian(this.angle)), - this.distance * Math.sin(lidar.toRadian(this.angle)) + this.distance * Math.cos(lidar.toRadian(-this.angle)), + this.distance * Math.sin(lidar.toRadian(-this.angle)) ] // Change to table frame this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), @@ -156,27 +158,42 @@ module.exports = (function () { this.y = y/nb; } + Cluster.prototype.diagBox = function() { + let Xmax = 0, Ymax = 0, Xmin = 10000, Ymin = 10000, x, y; + for(let i = 0 ; i < this.spots.length; i++){ + x = this.spots[i].x; + y = this.spots[i].y; + if (Xmax < x ) Xmax = x; + if (Xmin > x) Xmin = x; + if (Ymax < x ) Ymax = y; + if (Ymin > x) Ymin = y; + } + x = Xmax - Xmin; + y = Ymax - Ymin; + let d = Math.sqrt(x*x +y*y); + this.diag = d ; + } /** * When Hokuyo data arrives */ Lidar.prototype.onHokuyoPolar = function (hokuyoName, polarSpots) { - logger.warn("nb points :" + polarSpots.length) + //logger.warn("nb points :" + polarSpots.length) let spots = this.createSpot(polarSpots); this.toCartesian(hokuyoName, spots); //clusterize let clusters = this.clusterize(spots) - logger.warn("nb clusters" + clusters.length); + //logger.warn("nb clusters" + clusters.length); // First Filter - Delete unused clusters and corresponding spots : // too big or too small clusters let filteredSpots = this.filterPolar(clusters); - logger.warn("nb spots:" + filteredSpots.length); + //logger.warn("nb spots:" + filteredSpots.length); // Save this.lastCartSpots[hokuyoName] = {}; this.lastCartSpots[hokuyoName].isWorking = function() { return Date.now() - this.time < 2 * DELTA_T; }; // we had some data no long ago this.lastCartSpots[hokuyoName].time = Date.now(); - this.lastCartSpots[hokuyoName].spots = filteredSpots; + this.lastCartSpots[hokuyoName].filteredSpots = spots; this.lastCartSpots[hokuyoName].clusters = clusters; @@ -190,13 +207,11 @@ module.exports = (function () { //logger.warn(this.mergedSpots); /* Merge very close clusters provided by two different hokuyo */ - - + //this.toCartesian(hokuyoName, this.mergedSpots); // Filter (bis) - //this.mergedSpots = this.filterCart(this.mergedSpots); - + this.mergedFilterSpots = this.filterCart(this.mergedSpots); // Find enemy robots - this.robotsSpots = this.findRobots(this.mergedSpots); + this.robotsSpots = this.findRobots(this.mergedFilterSpots); this.displaySpots = this.prepareData(this.mergedSpots); //renvoie un tableau de coordonnées prêt à être affiché // Prepare data @@ -247,11 +262,11 @@ module.exports = (function () { D : distance maximale entre deux points d'un même cluster k : la distance est calculée entre le point i et les k points précédents *****/ - var clusters = [], k = 5; + var clusters = [], k = 6; if(spotsIn.length < k){ return clusters; } - var g = 0, D = 3; + var g = 0, D = 5; var G = []; //le point Spot[i] appartient au groupe G[i] var d=[]; @@ -315,20 +330,19 @@ module.exports = (function () { for(let i = 0; i < clusters.length ; i++){ count.push(clusters[i].spots.length); clusters[i].calculCenter(); - if (clusters[i].spots.length >= 3 && clusters[i].spots.length <= 10 - && clusters[i].x <300 && clusters[i].x > 0 - && clusters[i].y <200 && clusters[i].y > 0){ + if (clusters[i].spots.length >= 3 && clusters[i].spots.length <= 50 || 1){ count3 = count3 +1; count1.push(clusters[i].spots.length); filteredClusters.push(clusters[i]); for(let j = 0; j < clusters[i].spots.length ; j++){ filteredSpots.push(clusters[i].spots[j]) + clusters[i].spots[j].filtered = false } } } clusters = filteredClusters; - //logger.warn(count, count1, count3); + logger.warn(count, count1, count3); return filteredSpots; }; @@ -355,15 +369,18 @@ module.exports = (function () { // Keep only points in the table for(let pt of cartSpots){ - if (isInTable(pt)) { - ret.push(pt); - } + //if (pt.x > 0 && pt.x < 295 && pt.y>0 && pt.y<195) { + // pt.inTheTable = true; + if (pt.filtered == false){ + ret.push(pt); + } + //} } + return ret; }; - Lidar.prototype.mergeSpots = function(cartSpots) { let ret = []; let workingHokuyos = this.hokuyosWorking(); @@ -372,22 +389,26 @@ module.exports = (function () { //logger.warn("TODO: check that cartSpots[workingHokuyos[0].name].spots works"); if (workingHokuyos.length == 2) { - for(let spot of cartSpots.one.spots) { - if(spot.x < 300 && spot.y < 200){ - ret.push(spot); + for(let spot of cartSpots.one.filteredSpot) { + if (spot.x > 0 && spot.x < 200 && spot.y>0 && spot.y<195) { + spot.inTheTable = true } + ret.push(spot); + } - for(let spot of cartSpots.two.spots) { - if(spot.x < 300 && spot.y < 200 ){ - ret.push(spot); + for(let spot of cartSpots.two.filteredSpots) { + if (spot.x > 0 && spot.x < 200 && spot.y>0 && spot.y<195) { + spot.inTheTable = true } + ret.push(spot); } } else if (workingHokuyos.length == 1) { - for(let spot of cartSpots[workingHokuyos[0].name].spots) { - if(spot.x < 300 && spot.x > 0 && spot.y < 200 && spot.y > 0){ - ret.push(spot); + for(let spot of cartSpots[workingHokuyos[0].name].filteredSpots) { + if (spot.x > 0 && spot.x < 295 && spot.y>0 && spot.y<195) { + spot.inTheTable = true } + ret.push(spot); } } else if (workingHokuyos.length == 0) { logger.warn("Trying to merge point without active hokuyo"); @@ -395,12 +416,16 @@ module.exports = (function () { return ret; }; + Lidar.prototype.findRobots = function(cartSpots) { let ret = []; - let clusters = this.clusterize(cartSpots); + let clusters = this.clusterize(cartSpots); + logger.warn("nb robots :" + clusters.length) for (let i = 0 ; i < clusters.length ; i++){ clusters[i].calculCenter(); + clusters[i].diagBox(); + if (clusters[i].diag < 7 && clusters[i].diag > 3) ret.push([clusters[i].x, clusters[i].y]); } /*ret = [ @@ -413,7 +438,8 @@ module.exports = (function () { Lidar.prototype.prepareData = function(spots){ let ret = []; for(let i = 0; i < spots.length ; i++){ - ret.push([spots[i].x, spots[i].y]) + if (spots[i].inTheTable == true) + ret.push([spots[i].x, spots[i].y]) } return ret; } diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 3a59441..bb84f51 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -33,15 +33,15 @@ class HokuyoDisplay { this.realH = 0; this.W = 0; this.H = 0; - this.center = {}; - this.center.x = 0; + this.center = {}; + this.center.x = 0; this.center.y = 0; this.center.str = this.center.x + "," + this.center.y; // in the viewport frame this.viewportScale = 1; if (this.mode == this.MAIN) { var maxWidth = 1000; // px - + this.realW = 300; this.realH = 200; @@ -183,8 +183,8 @@ class HokuyoDisplay { var dot = this.r.circle(0, newSpot[1] * this.viewportScale, this.dotRadius).attr({ stroke: this.dotColor, fill: this.dotColor, - transform: "t," + this.center.str + "r180,0,0" + "r" + newSpot[0] + ",0,0"}); - // + " 0 0" + + + transform: "t," + this.center.str + "r180,0,0" + "r" + -newSpot[0] + ",0,0"}); + // + " 0 0" + + this.dots.set(newSpot[0], dot); } }.bind(this)); @@ -248,4 +248,4 @@ class HokuyoDisplay { } } -} \ No newline at end of file +} From 4b11c529212a6cc0ba2321519454ab58a149b846 Mon Sep 17 00:00:00 2001 From: Mewen Date: Sun, 2 Apr 2017 10:39:00 +0200 Subject: [PATCH 17/74] Launching and killing correctly the hokuyo NodeJS and C clients --- config.js | 3 ++- hokuyo/main.js | 40 ++++++++++++++++++++++++++++------------ server/server.class.js | 12 +++++++----- 3 files changed, 37 insertions(+), 18 deletions(-) diff --git a/config.js b/config.js index 444b715..bdcc020 100644 --- a/config.js +++ b/config.js @@ -8,5 +8,6 @@ module.exports = { "server": "127.0.0.1:3128", //"server": "192.168.0.100:3128", - "hokuyo_command": "$UTCOUPE_WORKSPACE/bin/hokuyo" + "hokuyo_command": "$UTCOUPE_WORKSPACE/bin/hokuyo", + "UTCOUPE_WORKSPACE": "/home/mewen/dev/UTCoupe/coupe17/" } diff --git a/hokuyo/main.js b/hokuyo/main.js index 51eb2f5..4b217ae 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -29,9 +29,12 @@ var server = process.argv[2] || config.server; var command = process.argv[3] || config.hokuyo_command; + if (!process.env.UTCOUPE_WORKSPACE) { + process.env.UTCOUPE_WORKSPACE = config.UTCOUPE_WORKSPACE; + } if (!process.env.UTCOUPE_WORKSPACE) { - logger.error("Missing UTCOUPE_WORKSPACE environment variable. Make sure to call 'sudo -E node ...'"); + logger.warn("Missing UTCOUPE_WORKSPACE environment variable. Make sure to call 'sudo -E node ...' or to fill UTCOUPE_WORKSPACE in config.js"); process.exit(1); } @@ -49,6 +52,15 @@ logger.info("Starting with pid " + process.pid); + // Exit handlers + //do something when app is closing + // process.on('exit', exit); // doesn't seem to work, don't know why... https://nodejs.org/api/process.html#process_event_exit + // catches ctrl+c event + process.on('SIGINT', exit); + // process.on('SIGTERM', quitC); // SIGTERM impossible to catch + //catches uncaught exceptions + //process.on('uncaughtException', uException); + client.order(function(from, name, params){ var now = Date.now(); logger.info("Time since last order : "+(now - lastT)); @@ -64,14 +76,13 @@ logger.info("Receive order to start"); start(); } else - logger.error("ALready started !"); + logger.error("Already started !"); break; case "shutdown": quitC("stop"); spawn('sudo', ['halt']); break; case "stop": - started = false; quitC("stop"); break; case "sync_git": @@ -95,6 +106,13 @@ }); } + function exit(code) { + logger.info("Closing Hokuyo C client"); + quitC(code); + logger.info("Exiting"); + process.exit(); + } + function quitC(code){ if(!!child){ logger.info("Closing child "+child.pid+" at "+code); @@ -105,6 +123,7 @@ logger.info("Father's pid : " + process.pid); // process.kill(process.pid, 'SIGINT'); } + started = false; } function uException(code){ @@ -122,18 +141,11 @@ var now = Date.now() - lastT; matchLogger(match_name, now); now = lastT; + var logcount = 101; // If there's a child, kill it quitC("start"); - // Exit handlers - //do something when app is closing - process.on('exit', quitC); - // catches ctrl+c event - // process.on('SIGINT', quitC); - //catches uncaught exceptions - //process.on('uncaughtException', uException); - // Functions function parseData(string) { //logger.warn(string.length); @@ -152,7 +164,11 @@ bufferData = bufferData + temp[2]; client.send("lidar", "hokuyo.polar_raw_data", { "hokuyo": temp[0], "polarSpots" : JSON.parse(bufferData) }); count = 0; - logger.warn(JSON.parse(bufferData)); + // logger.warn(JSON.parse(bufferData)); + if (logcount++ > 100) { + logger.info("Hokuyo correctly running"); + logcount = 0; + } } } } diff --git a/server/server.class.js b/server/server.class.js index a4e5571..e3b1bac 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -193,6 +193,7 @@ module.exports = (function () { this.progs[prog] = spawn('node', ['./clients/gr/main.js']); break; case 'hokuyo': + // this.progs[prog] = spawn('ssh', ['raspi', './hokuyo/main.js']); this.progs[prog] = spawn('node', ['./hokuyo/main.js']); break; case 'lidar': @@ -272,12 +273,13 @@ module.exports = (function () { Server.prototype.stop = function(prog) { if (prog == "pr") { this.progs[prog] = spawn('ssh', ['igep', 'pkill', 'node']); - } else if (prog == "hokuyo") { - this.progs[prog] = spawn('ssh', ['raspi', 'pkill', 'node']); } - if(this.utcoupe[prog]) { - this.progs[prog].kill(); - logger.info("stopped "+prog); + // else if (prog == "hokuyo") { + // this.progs[prog] = spawn('ssh', ['raspi', 'pkill', 'node']); + // } + if(!!this.utcoupe[prog]) { + logger.info("Killing "+prog); + this.progs[prog].kill("SIGINT"); this.utcoupe[prog] = false; } this.sendUTCoupe(); From 85a282f731f806006cba7b9f6da91811104b0399 Mon Sep 17 00:00:00 2001 From: Mewen Date: Sun, 2 Apr 2017 10:49:31 +0200 Subject: [PATCH 18/74] Moved C start/stop button in webclient --- webclient/index.js | 9 +++++++++ webclient/index.tpl.html | 2 ++ webclient/pages/telecommande/telecommande.js | 18 +++++++++--------- .../pages/telecommande/telecommande.tpl.html | 8 ++++---- 4 files changed, 24 insertions(+), 13 deletions(-) diff --git a/webclient/index.js b/webclient/index.js index 699b45f..0272a85 100644 --- a/webclient/index.js +++ b/webclient/index.js @@ -18,9 +18,18 @@ angular.module('app').controller('IndexCtrl', ['$rootScope', '$scope', 'UTCoupe' EPR_d: $scope.EPR_d }); } + $scope.stop = function(u) { Client.send('server', 'server.stop', u); } + + $scope.startC = function(u) { + Client.send("hokuyo", "start", {}); + } + + $scope.stopC = function(u) { + Client.send("hokuyo", "stop", {}); + } }]); angular.module('app').service('UTCoupe', ['$rootScope', 'Client', function($rootScope, Client) { diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index 1728e54..c50e385 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -58,6 +58,8 @@ Hokuyo + +

diff --git a/webclient/pages/telecommande/telecommande.js b/webclient/pages/telecommande/telecommande.js index ad5c91b..3a9e5ea 100644 --- a/webclient/pages/telecommande/telecommande.js +++ b/webclient/pages/telecommande/telecommande.js @@ -173,15 +173,15 @@ angular.module('app').controller('TelecommandeCtrl', ['$rootScope', '$scope', 'C }); - $(document).on("click", "#rc_hok_start", function(e) { - Client.send("hokuyo", "start", {}); - console.log("Message `start` sent"); - }); - - $(document).on("click", "#rc_hok_stop", function(e) { - Client.send("hokuyo", "stop", {}); - console.log("Message `stop` sent"); - }); + // $(document).on("click", "#rc_hok_start", function(e) { + // Client.send("hokuyo", "start", {}); + // console.log("Message `start` sent"); + // }); + + // $(document).on("click", "#rc_hok_stop", function(e) { + // Client.send("hokuyo", "stop", {}); + // console.log("Message `stop` sent"); + // }); /*$scope.rc_pr_pos_value = 0.5; diff --git a/webclient/pages/telecommande/telecommande.tpl.html b/webclient/pages/telecommande/telecommande.tpl.html index f018596..cd363b3 100644 --- a/webclient/pages/telecommande/telecommande.tpl.html +++ b/webclient/pages/telecommande/telecommande.tpl.html @@ -88,8 +88,8 @@

PR



-

Hokuyo

- + - +--> +
  • + Serveur websocket + +
  • IA @@ -58,8 +62,8 @@ Hokuyo - - + +

    • diff --git a/webclient/webclient.css b/webclient/webclient.css index c2e7c46..e074ab5 100644 --- a/webclient/webclient.css +++ b/webclient/webclient.css @@ -9,6 +9,10 @@ li { color: green; } +.activeButton { + background-color: #81E939; +} + .config { color: #fff; background: #000; From 034510413197ef5547e4b54e9f802a2540bb72bf Mon Sep 17 00:00:00 2001 From: mmxm Date: Sun, 2 Apr 2017 18:38:01 +0200 Subject: [PATCH 29/74] bug fixe on merging clusters from different hokuyo --- lidar/lidar.class.js | 25 ++++++++++++++++++++++--- server/server.class.js | 2 ++ 2 files changed, 24 insertions(+), 3 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index bc2965b..3cad9e7 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -391,14 +391,33 @@ module.exports = (function () { Lidar.prototype.findRobots = function(cartSpots) { let ret = []; - + let d = 10000, j=0, x, y, diff = 0; let clusters = this.clusterize(cartSpots); for (let i = 0 ; i < clusters.length ; i++){ + clusters[i].calculCenter(); + } + for (let i = 0 ; i < clusters.length ; i++){ + j = i+1; + while(j < clusters.length){ + if (j != i){ + x = Math.abs(clusters[i].x - clusters[j].x); + y = Math.abs(clusters[i].y - clusters[j].y); + d = Math.sqrt(x*x + y*y) + if(d < 20){ + clusters[i].spots = clusters[i].spots.concat(clusters[j].spots); + clusters.splice(j, 1); + diff ++; + } + } + j = j+1; + } + } + for (let i = 0 ; i < clusters.length ; i++){ + clusters[i].calculCenter(); if (clusters[i].spots.length >3){ - clusters[i].calculCenter(); if(clusters[i].x > X_MIN_ZONE && clusters[i].x < X_MAX_ZONE && clusters[i].y < Y_MAX_ZONE && clusters[i].y > Y_MIN_ZONE){ clusters[i].diagBox(); - if (clusters[i].diag < 10 && clusters[i].diag > 4 ) + if (clusters[i].diag < 30 && clusters[i].diag > 4 ) ret.push([clusters[i].x, clusters[i].y]); } } diff --git a/server/server.class.js b/server/server.class.js index 1dabb8c..3175ede 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -37,6 +37,8 @@ module.exports = (function () { this.ip = networkInterfaces["wlan0"][0].address; } else if (!!networkInterfaces["Wi-Fi"]){ this.ip = networkInterfaces["Wi-Fi"][0].address; + } else { + this.ip = "127.0.0.1"; } } catch(e) { From 3b5594b71b187929fe7a61dd70a7a5010f07afbc Mon Sep 17 00:00:00 2001 From: Mewen Date: Sun, 2 Apr 2017 19:26:57 +0200 Subject: [PATCH 30/74] Hokuyo and Lidar correct status --- hokuyo/main.js | 19 ++++++++++++++++--- lidar/lidar.class.js | 2 +- lidar/main.js | 2 +- 3 files changed, 18 insertions(+), 5 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index 5461e9e..81d8a58 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -48,7 +48,7 @@ var lastStatus = { "status": "waiting" }; - sendChildren(lastStatus); + changeStatus("waiting"); logger.info("Starting with pid " + process.pid); @@ -133,7 +133,7 @@ function start(){ // We just an order to start, with the flavour :P (color, number of robots) - sendChildren({"status": "starting"}); + changeStatus("starting"); // Generates the match name (for the log file) var tmp = new Date(); @@ -230,11 +230,12 @@ case "HI:)": // send "C started" to server logger.info('C Hokuyo software says "Hi !" :)'); - sendChildren({"status": "starting"}); + changeStatus("starting"); break; case "DATA": //logger.info('C Hokuyo software sends datas'); parseData(inputAr[i].substring(6)); + changeStatus("everythingIsAwesome"); break; case "INFO": logger.info('C Hokuyo software sends information :'+inputAr[i].substring(6)); @@ -285,6 +286,10 @@ child.stderr.on('data', function(data) { logger.error(data.toString()); + sendChildren({"status": "error"}); + setTimeout(function(){ + sendChildren({"status": "waiting", "children":[]}); + }, 5000); }); @@ -323,6 +328,14 @@ return data; } + function changeStatus(newStatus) { + if (newStatus != lastStatus.status) { + logger.info("New status : " + newStatus); + lastStatus.status = newStatus; + sendChildren(lastStatus) + } + }; + // Sends status to server function sendChildren(status){ diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 3cad9e7..458f260 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -106,7 +106,7 @@ module.exports = (function () { }; Lidar.prototype.changeStatus = function(newStatus) { - logger.info("New status : " + newStatus); + logger.info("New lidar status : " + newStatus); this.status = newStatus; this.sendStatus(this.status); }; diff --git a/lidar/main.js b/lidar/main.js index 47582ac..1bc5d89 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -106,7 +106,7 @@ } break; case "hokuyo.polar_raw_data": - if (hokMng.started = 1) { //a modifier + if (hokMng.started) { hokMng.onHokuyoPolar(params.hokuyo, params.polarSpots); } else { logger.warn("Start the Lidar before sending data !"); From a8033e71b24245b47bfba3e2adfb4324c38e8ebd Mon Sep 17 00:00:00 2001 From: Mewen Date: Sun, 2 Apr 2017 19:30:03 +0200 Subject: [PATCH 31/74] Fixed verbose bug --- server/server.class.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/server/server.class.js b/server/server.class.js index 740c6e1..c244118 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -171,7 +171,7 @@ module.exports = (function () { // The order is valid // logger.info("Data " +data.name+ " from " +data.from+ " to " +data.to); if (!this.verbose && - this.spamList.indexOf(data.name) != 1) { + this.spamList.indexOf(data.name) != -1) { this.server.to(data.to).emit('order', data); } else { this.server.to('webclient').to(data.to).emit('order', data); From 6837cb2122d997243fd460b46707ab365d17cd85 Mon Sep 17 00:00:00 2001 From: Mewen Date: Sun, 2 Apr 2017 19:46:05 +0200 Subject: [PATCH 32/74] Updated Lidar and hokuyo starting process --- webclient/index.js | 10 +++++ webclient/index.tpl.html | 2 + webclient/pages/reseau/reseau.js | 76 ++++++++++++++++---------------- 3 files changed, 51 insertions(+), 37 deletions(-) diff --git a/webclient/index.js b/webclient/index.js index ea73b04..b7e9fe1 100644 --- a/webclient/index.js +++ b/webclient/index.js @@ -34,6 +34,16 @@ angular.module('app').controller('IndexCtrl', ['$rootScope', '$scope', 'UTCoupe' $scope.stopC = function() { Client.send("hokuyo", "stop", {}); } + + $scope.resumeLidar = function() { + Client.send("lidar", "start", { + "color": $scope.our_color + }); + } + + $scope.pauseLidar = function() { + Client.send("lidar", "stop", {}); + } }]); angular.module('app').service('UTCoupe', ['$rootScope', 'Client', function($rootScope, Client) { diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index 3172c58..f274daf 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -56,6 +56,8 @@ Lidar + +

  • diff --git a/webclient/pages/reseau/reseau.js b/webclient/pages/reseau/reseau.js index 858b8a5..a32ea1d 100644 --- a/webclient/pages/reseau/reseau.js +++ b/webclient/pages/reseau/reseau.js @@ -20,13 +20,13 @@ angular.module('app').service('Reseau', ['$rootScope', 'Client', function($rootS $(document).on("click", ".hokuyo", function(e) { switch(e.target.innerHTML){ - case "Start": - Client.send("hokuyo", "start", { - "color": $("#rc_hok_color").val()}); - break; - case "Stop": - Client.send("hokuyo", "stop", {}); - break; + // case "Start": + // Client.send("hokuyo", "start", { + // "color": $("#rc_hok_color").val()}); + // break; + // case "Stop": + // Client.send("hokuyo", "stop", {}); + // break; case "Shutdown": Client.send("hokuyo", "shutdown", {}); break; @@ -51,19 +51,19 @@ angular.module('app').service('Reseau', ['$rootScope', 'Client', function($rootS } }); - $(document).on("click", ".lidar", function(e) { - if(e.target.innerHTML == "yellow"){ - Client.send("lidar", "start", { - "color": "yellow" - }); - } else if(e.target.innerHTML == "blue"){ - Client.send("lidar", "start", { - "color": "blue" - }); - } else { - Client.send("lidar", "stop", {}); - } - }); + // $(document).on("click", ".lidar", function(e) { + // if(e.target.innerHTML == "yellow"){ + // Client.send("lidar", "start", { + // "color": "yellow" + // }); + // } else if(e.target.innerHTML == "blue"){ + // Client.send("lidar", "start", { + // "color": "blue" + // }); + // } else { + // Client.send("lidar", "stop", {}); + // } + // }); /* --------- Prints ------------- */ @@ -109,23 +109,25 @@ angular.module('app').service('Reseau', ['$rootScope', 'Client', function($rootS if(parentId == "clients" || parentId == "children"){ devClass = name.toLowerCase(); - if(color == "waiting"){ - // Hok params - if(devClass == "lidar"){ - // newDiv.innerHTML += ""; - newDiv.innerHTML += "Start : "; - newDiv.innerHTML += ""; - } else { - newDiv.innerHTML += ""; - } - - - if(devClass == "hokuyo") - newDiv.innerHTML += "
    "; - else - newDiv.innerHTML += "
    "; - } else{ - newDiv.innerHTML += "
    "; + // if(color == "waiting"){ + // // Hok params + // if(devClass == "lidar"){ + // // newDiv.innerHTML += ""; + // newDiv.innerHTML += "Start : "; + // newDiv.innerHTML += ""; + // } else { + // newDiv.innerHTML += ""; + // } + + + // + // else + // newDiv.innerHTML += "
    "; + // } else{ + // newDiv.innerHTML += "
    "; + // } + if(devClass == "hokuyo"){ + newDiv.innerHTML += "
    "; } } From 07ece08aa9b272d3b739980b48b0321b8b0ce71e Mon Sep 17 00:00:00 2001 From: mmxm Date: Tue, 4 Apr 2017 21:00:46 +0200 Subject: [PATCH 33/74] New feature : angular calibration using rocket position on the field (tested on one hokuyo) --- lidar/lidar.class.js | 116 +++++++++++++++++++++++++++++++++++-------- 1 file changed, 94 insertions(+), 22 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 3cad9e7..6f66cd9 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -38,21 +38,30 @@ module.exports = (function () { this.sendStatus = sendStatus; this.statusTimer; - this.lastSignOfLife = {}; // of each hokuyo this.hokuyoPositions = { one: { - "x": -6.2, - "y": -6.2, - "w": 0 + "x": -6.2, //-6.2 + "y": -6.2, //-6.2 + "w": 0 , //0 + "decalage" : [], + "init" : 3 }, two: { - "x": 306.2, - "y": 100, - "w": 180 + "x": 306.2, //306.2 + "y": 100, //100 + "w": 180 , //180 + "decalage" : [], + "init" : 0 } } + this.rocketPositions = { + one : { + "x" : 185, + "y" : 4 + } + } // If other color logger.warn("TODO: change Lidar color depending ours"); @@ -178,16 +187,31 @@ module.exports = (function () { let d = Math.sqrt(x*x +y*y); this.diag = d ; } + Cluster.prototype.toCartesian = function(lidar, hokName) { + let ret = []; + let hokPos = lidar.hokuyoPositions[hokName]; + let cartPt = [ + this.distance * Math.cos(lidar.toRadian(-this.angle)), + this.distance * Math.sin(lidar.toRadian(-this.angle)) + ] + // Change to table frame + this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), + this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) + + } /** * When Hokuyo data arrives */ Lidar.prototype.onHokuyoPolar = function (hokuyoName, polarSpots) { //logger.warn("nb points :" + polarSpots.length) let spots = this.createSpot(polarSpots); - this.toCartesian(hokuyoName, spots); + if (this.hokuyoPositions[hokuyoName].init != 0){ + this.calibration(spots, hokuyoName) + } // Save + this.lastCartSpots[hokuyoName] = {}; this.lastCartSpots[hokuyoName].isWorking = function() { return Date.now() - this.time < 2 * DELTA_T; }; // we had some data no long ago this.lastCartSpots[hokuyoName].time = Date.now(); @@ -331,22 +355,9 @@ module.exports = (function () { Lidar.prototype.filterCart = function(cartSpots) { let ret = []; - - function isInTable (p) { - var ret = p[0] > 0 - && p[0] < 300 - && p[1] > 0 - && p[1] < 200; - return ret; - } - // Keep only points in the table for(let pt of cartSpots){ - //if (pt.x > 0 && pt.x < 295 && pt.y>0 && pt.y<195) { - // pt.inTheTable = true; ret.push(pt); - - //} } @@ -438,6 +449,67 @@ module.exports = (function () { return ret; } + /*** + *Fixes small hokuyo angulation postionning error + *by using the rockets positions on the play aera + ***/ + Lidar.prototype.calibration = function(spots, hokName){ + let clusters = this.clusterize(spots); + let hokPos = this.hokuyoPositions[hokName]; + let angle; + let detected = false; + function isNear(lidar, cluster, rocketName, d){ + let x = lidar.rocketPositions[rocketName].x; + let y = lidar.rocketPositions[rocketName].y; + + //logger.warn([cluster.x, lidar.rocketPositions["one"].x]); + if (cluster.x > x - d + && cluster.x < x + d + && cluster.y > y - d + && cluster.y < y + d){ + logger.warn("fusee detectee") + return true; + } + else return false; + } + function angleGap(lidar, cluster, rocketName, hokName){ + var tab1 = lidar.toPolar(cluster, hokName); + var tab2 = lidar.toPolar(lidar.rocketPositions[rocketName], hokName); + //logger.warn([tab1[0], tab2[0]]) + return (tab2[0] - tab1 [0]) + } + for (let i = 0; i < clusters.length ; i++){ + clusters[i].calculCenter(); + if (isNear(this, clusters[i], "one", 35) == true){ + angle = angleGap(this, clusters[i], "one", hokName) + hokPos.decalage.push(angle) + detected = true; + } + } + hokPos.init = hokPos.init - 1 ; + if (hokPos.init == 0 && detected == true){ + let a = 0; + let nb = hokPos.decalage.length + for( let i = 0; i < nb; i++){ + a = a + hokPos.decalage[i]; + } + logger.warn("Recalibrage de l'hokuyo " + hokName + " : " + a/nb); + hokPos.w = hokPos.w + a/nb + } + + } + + Lidar.prototype.toPolar = function(object, hokName){ + let ret = []; + let hokPos = this.hokuyoPositions[hokName]; + let x = object.x - hokPos.x + let y = object.y - hokPos.y + let distance = Math.sqrt(x*x + y*y); + let angle = this.toDegree(Math.atan2(y, x) - this.toRadian(hokPos.w)) + + return [angle, distance]; + } + Lidar.prototype.toRadian = function(angleInDegree) { let angleInRadian; @@ -449,7 +521,7 @@ module.exports = (function () { Lidar.prototype.toDegree = function(angleInRadian) { let angleInDegree; - angleInDegree = angleInRadian * 180 / Math.PI; + angleInDegree = angleInRadian* 180 / Math.PI; return angleInDegree; }; From 4d0ca0c6a6d121226c3c87d89784af51d1d7ed1d Mon Sep 17 00:00:00 2001 From: Mindstan Date: Thu, 6 Apr 2017 18:39:01 +0200 Subject: [PATCH 34/74] Added Actuators --- clients/Extension/Actuators/actuator.class.js | 19 +++++++++++++++ clients/Extension/Actuators/ax12.class.js | 23 +++++++++++++++++++ clients/Extension/Actuators/servo.class.js | 23 +++++++++++++++++++ clients/Extension/Actuators/stepper.class.js | 23 +++++++++++++++++++ 4 files changed, 88 insertions(+) create mode 100644 clients/Extension/Actuators/actuator.class.js create mode 100644 clients/Extension/Actuators/ax12.class.js create mode 100644 clients/Extension/Actuators/servo.class.js create mode 100644 clients/Extension/Actuators/stepper.class.js diff --git a/clients/Extension/Actuators/actuator.class.js b/clients/Extension/Actuators/actuator.class.js new file mode 100644 index 0000000..7354f32 --- /dev/null +++ b/clients/Extension/Actuators/actuator.class.js @@ -0,0 +1,19 @@ +/** + * Module définissant un actuator abstrait + * + * @module clients/Extension/Actuators/actuator + */ + +/** + * Classe abstraite représentant un actuator + * + * @class Actuator + * @memberof module:clients/Extension/Actuators/actuator + */ +class Actuator { + constructor () { + // + } +} + +module.exports = Actuator; \ No newline at end of file diff --git a/clients/Extension/Actuators/ax12.class.js b/clients/Extension/Actuators/ax12.class.js new file mode 100644 index 0000000..5ec046e --- /dev/null +++ b/clients/Extension/Actuators/ax12.class.js @@ -0,0 +1,23 @@ +/** + * Module implémentant un actuator pour l'AX12 + * + * @module clients/Extension/Actuators/ax12 + * @requires module:clients/Extension/Actuators/actuator + */ + +const Actuator = require('actuator.class.js'); + +/** + * Classe implémentant un actuator pour l'AX12 + * + * @class Ax12 + * @memberof clients/Extension/Actuators/ax12 + * @extends {clients/Extension/Actuators/actuator.Actuator} + */ +class Ax12 extends Actuator { + constructor (){ + // + } +} + +module.exports = Ax12; \ No newline at end of file diff --git a/clients/Extension/Actuators/servo.class.js b/clients/Extension/Actuators/servo.class.js new file mode 100644 index 0000000..dcb2f5a --- /dev/null +++ b/clients/Extension/Actuators/servo.class.js @@ -0,0 +1,23 @@ +/** + * Module implémentant l'actuator pour le servo-moteur + * + * @module clients/Extension/Actuators/servo + * @requires clients/Extension/Actuators/actuator + */ + +const Actuator = require('actuator.class.js'); + +/** + * Classe implémentant l'actuator pour le servo-moteur + * + * @class Servo + * @memberof clients/Extension/Actuators/servo + * @extends {clients/Extension/Actuators/actuator.Actuator} + */ +class Servo extends Actuator { + constructor () { + // + } +} + +module.exports = Servo; \ No newline at end of file diff --git a/clients/Extension/Actuators/stepper.class.js b/clients/Extension/Actuators/stepper.class.js new file mode 100644 index 0000000..b8ee0c3 --- /dev/null +++ b/clients/Extension/Actuators/stepper.class.js @@ -0,0 +1,23 @@ +/** + * Module implémentant l'actuator pour le capteur pas-à-pas + * + * @module clients/Extension/Actuators/stepper + * @requires clients/Extension/Actuators/actuator + */ + +const Actuator = require('actuator.class.js'); + +/** + * Classe implémentant l'actuator pour le capteur pas-à-pas + * + * @class Stepper + * @memberof clients/Extension/Actuators/stepper + * @extends {clients/Extension/Actuators/actuator.Actuator} + */ +class Stepper extends Actuator { + constructor () { + // + } +} + +module.exports = Stepper; \ No newline at end of file From 82b19f2f8ac1fb5bc14fe312eddfff4699b9de8a Mon Sep 17 00:00:00 2001 From: Mindstan Date: Thu, 6 Apr 2017 19:12:49 +0200 Subject: [PATCH 35/74] Added strict mode --- clients/Asserv/Asserv.class.js | 2 ++ clients/Asserv/AsservReal.class.js | 2 ++ clients/Asserv/AsservSimu.class.js | 2 ++ clients/Extension/Actuators/actuator.class.js | 2 ++ clients/Extension/Actuators/ax12.class.js | 2 ++ clients/Extension/Actuators/servo.class.js | 2 ++ clients/Extension/Actuators/stepper.class.js | 2 ++ clients/Extension/baseconstructor.class.js | 2 ++ clients/Extension/canon.class.js | 2 ++ clients/Extension/extension.class.js | 2 ++ clients/Extension/jack.class.js | 2 ++ clients/Extension/sweeper.class.js | 2 ++ clients/Extension/unitgrabber.class.js | 2 ++ clients/Robot/grobot.class.js | 2 ++ clients/Robot/robot.class.js | 2 ++ clients/Robot/tibot.class.js | 2 ++ clients/client.class.js | 2 ++ clients/fifo.class.js | 2 ++ 18 files changed, 36 insertions(+) diff --git a/clients/Asserv/Asserv.class.js b/clients/Asserv/Asserv.class.js index 4f56deb..d763858 100644 --- a/clients/Asserv/Asserv.class.js +++ b/clients/Asserv/Asserv.class.js @@ -4,6 +4,8 @@ * @module clients/Asserv/Asserv */ +"use strict"; + /** * Class Asserv. * diff --git a/clients/Asserv/AsservReal.class.js b/clients/Asserv/AsservReal.class.js index bf45250..f6f6062 100644 --- a/clients/Asserv/AsservReal.class.js +++ b/clients/Asserv/AsservReal.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Asserv/Asserv */ +"use strict"; + const Asserv = require('Asserv.class.js'); /** diff --git a/clients/Asserv/AsservSimu.class.js b/clients/Asserv/AsservSimu.class.js index d8eaba7..a4bbbcb 100644 --- a/clients/Asserv/AsservSimu.class.js +++ b/clients/Asserv/AsservSimu.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Asserv/Asserv */ +"use strict"; + const Asserv = require('Asserv.class.js'); /** diff --git a/clients/Extension/Actuators/actuator.class.js b/clients/Extension/Actuators/actuator.class.js index 7354f32..8fd13aa 100644 --- a/clients/Extension/Actuators/actuator.class.js +++ b/clients/Extension/Actuators/actuator.class.js @@ -4,6 +4,8 @@ * @module clients/Extension/Actuators/actuator */ +"use strict"; + /** * Classe abstraite représentant un actuator * diff --git a/clients/Extension/Actuators/ax12.class.js b/clients/Extension/Actuators/ax12.class.js index 5ec046e..4f4cd91 100644 --- a/clients/Extension/Actuators/ax12.class.js +++ b/clients/Extension/Actuators/ax12.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/Actuators/actuator */ +"use strict"; + const Actuator = require('actuator.class.js'); /** diff --git a/clients/Extension/Actuators/servo.class.js b/clients/Extension/Actuators/servo.class.js index dcb2f5a..85d04ff 100644 --- a/clients/Extension/Actuators/servo.class.js +++ b/clients/Extension/Actuators/servo.class.js @@ -5,6 +5,8 @@ * @requires clients/Extension/Actuators/actuator */ +"use strict"; + const Actuator = require('actuator.class.js'); /** diff --git a/clients/Extension/Actuators/stepper.class.js b/clients/Extension/Actuators/stepper.class.js index b8ee0c3..683453e 100644 --- a/clients/Extension/Actuators/stepper.class.js +++ b/clients/Extension/Actuators/stepper.class.js @@ -5,6 +5,8 @@ * @requires clients/Extension/Actuators/actuator */ +"use strict"; + const Actuator = require('actuator.class.js'); /** diff --git a/clients/Extension/baseconstructor.class.js b/clients/Extension/baseconstructor.class.js index 1daa29c..f1dd459 100644 --- a/clients/Extension/baseconstructor.class.js +++ b/clients/Extension/baseconstructor.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/extension */ +"use strict"; + const Extension = require('extension.class.js'); /** diff --git a/clients/Extension/canon.class.js b/clients/Extension/canon.class.js index ec97ddd..91d5a95 100644 --- a/clients/Extension/canon.class.js +++ b/clients/Extension/canon.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/extension */ +"use strict"; + const Extension = require('extension.class.js'); /** diff --git a/clients/Extension/extension.class.js b/clients/Extension/extension.class.js index 5feff3b..ee1cae1 100644 --- a/clients/Extension/extension.class.js +++ b/clients/Extension/extension.class.js @@ -5,6 +5,8 @@ * @requires module:clients/client */ +"use strict"; + const Client = require('../client.class.js'); /** diff --git a/clients/Extension/jack.class.js b/clients/Extension/jack.class.js index 672a286..54444c3 100644 --- a/clients/Extension/jack.class.js +++ b/clients/Extension/jack.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/extension */ +"use strict"; + const Extension = require('extension.class.js'); /** diff --git a/clients/Extension/sweeper.class.js b/clients/Extension/sweeper.class.js index 3681380..e82173b 100644 --- a/clients/Extension/sweeper.class.js +++ b/clients/Extension/sweeper.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/extension */ +"use strict"; + const Extension = require('extension.class.js'); /** diff --git a/clients/Extension/unitgrabber.class.js b/clients/Extension/unitgrabber.class.js index 9c79431..a2728c8 100644 --- a/clients/Extension/unitgrabber.class.js +++ b/clients/Extension/unitgrabber.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Extension/extension */ +"use strict"; + const Extension = require('extension.class.js'); /** diff --git a/clients/Robot/grobot.class.js b/clients/Robot/grobot.class.js index 1ea428b..ce01709 100644 --- a/clients/Robot/grobot.class.js +++ b/clients/Robot/grobot.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Robot/robot */ +"use strict"; + const Robot = require('robot.class.js'); /** diff --git a/clients/Robot/robot.class.js b/clients/Robot/robot.class.js index adaa8f9..93a4d2d 100644 --- a/clients/Robot/robot.class.js +++ b/clients/Robot/robot.class.js @@ -5,6 +5,8 @@ * @requires module:clients/client */ +"use strict"; + const Client = require('../client.class.js'); /** diff --git a/clients/Robot/tibot.class.js b/clients/Robot/tibot.class.js index f0ed3f8..aab59c4 100644 --- a/clients/Robot/tibot.class.js +++ b/clients/Robot/tibot.class.js @@ -5,6 +5,8 @@ * @requires module:clients/Robot/robot */ +"use strict"; + const Robot = require('robot.class.js'); /** diff --git a/clients/client.class.js b/clients/client.class.js index 9a30c12..96d38bb 100644 --- a/clients/client.class.js +++ b/clients/client.class.js @@ -5,6 +5,8 @@ * @requires module:server/socket_client */ +"use strict"; + /** * Client abstrait diff --git a/clients/fifo.class.js b/clients/fifo.class.js index 0ba705d..7794712 100644 --- a/clients/fifo.class.js +++ b/clients/fifo.class.js @@ -5,6 +5,8 @@ * @see {@link clients/fifo.Fifo} */ +"use strict"; + module.exports = (function () { var logger = require('log4js').getLogger('Fifo'); From 7672a4c17e27653f90dc452c09261678702d5dfc Mon Sep 17 00:00:00 2001 From: Mindstan Date: Thu, 6 Apr 2017 20:37:05 +0200 Subject: [PATCH 36/74] Remade Fifo, now is a class --- clients/fifo.class.js | 32 ++++++++++++++++++-------------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/clients/fifo.class.js b/clients/fifo.class.js index 7794712..a56c10c 100644 --- a/clients/fifo.class.js +++ b/clients/fifo.class.js @@ -7,23 +7,28 @@ "use strict"; -module.exports = (function () { - var logger = require('log4js').getLogger('Fifo'); +/** + * First In First Out class + * + * @class Fifo + * @memberof module:clients/fifo + */ +class Fifo { /** * Fifo Constructor - * - * @memberof module:clients/fifo - * @constructor */ - function Fifo() { + constructor() { + this.logger = require('log4js').getLogger('Fifo'); this.clean(); } /** * Clean + * + * @param {function} callback */ - Fifo.prototype.clean = function(callback) { + clean (callback) { /** fifo */ this.fifo = []; /** @type {boolean} */ @@ -33,7 +38,7 @@ module.exports = (function () { /** * Order finished */ - Fifo.prototype.orderFinished = function() { + orderFinished () { this.order_in_progress = false; this.nextOrder(); } @@ -44,7 +49,7 @@ module.exports = (function () { * @param {Object} callback * @param {string} [name] */ - Fifo.prototype.newOrder = function(callback, name) { + newOrder (callback, name) { if (name === undefined) name = ""; this.fifo.push({callback: callback, name: name}); @@ -54,16 +59,15 @@ module.exports = (function () { /** * Next Order */ - Fifo.prototype.nextOrder = function() { + nextOrder () { if(!this.order_in_progress && this.fifo.length > 0) { // logger.debug(this.fifo.length); this.order_in_progress = true; - object = this.fifo.shift(); + var object = this.fifo.shift(); // logger.debug("Calling : "+object.name); object.callback(); } } +} - - return Fifo; -})(); +module.exports = Fifo; From 2dabbb592399f5bfb2669b2bee71c049d629f31b Mon Sep 17 00:00:00 2001 From: Mindstan Date: Thu, 6 Apr 2017 20:54:01 +0200 Subject: [PATCH 37/74] Added documentation --- clients/fifo.class.js | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/clients/fifo.class.js b/clients/fifo.class.js index a56c10c..fd09d95 100644 --- a/clients/fifo.class.js +++ b/clients/fifo.class.js @@ -2,7 +2,6 @@ * First In First Out module * * @module clients/fifo - * @see {@link clients/fifo.Fifo} */ "use strict"; @@ -10,13 +9,12 @@ /** * First In First Out class * - * @class Fifo * @memberof module:clients/fifo */ class Fifo { /** - * Fifo Constructor + * Construit une nouvelle FiFo vide. */ constructor() { this.logger = require('log4js').getLogger('Fifo'); @@ -24,19 +22,17 @@ class Fifo { } /** - * Clean - * - * @param {function} callback + * Vide la file et remet order_in_progress à faux */ - clean (callback) { - /** fifo */ + clean () { + /** @type {Array<{callback: function, name: String}>} */ this.fifo = []; /** @type {boolean} */ this.order_in_progress = false; } /** - * Order finished + * Fonction à appeler lorsque un ordre est terminé. Cette fonction invoque directement l'ordre suivant (si il existe) */ orderFinished () { this.order_in_progress = false; @@ -44,7 +40,8 @@ class Fifo { } /** - * New Order + * Ajoute un ordre à la file par le biais d'une fonction. Nommer l'ordre ne sert que pour le débuggage. + * La fonction invoque automatiquement nextOrder(). * * @param {Object} callback * @param {string} [name] @@ -57,7 +54,8 @@ class Fifo { } /** - * Next Order + * Si un ordre n'est pas déjà en cours et si la fifo n'est pas vide, + * cette fonction enlève et éxécute la prochaine fonction de la file. */ nextOrder () { if(!this.order_in_progress && this.fifo.length > 0) { From 32969267062ba88005afe333f0a4542e5a8d7b0a Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 19:32:53 +0200 Subject: [PATCH 38/74] Add the launch script of hokuyo in 2015 --- scripts/hokuyo/main.sh | 8 ++++++++ 1 file changed, 8 insertions(+) create mode 100644 scripts/hokuyo/main.sh diff --git a/scripts/hokuyo/main.sh b/scripts/hokuyo/main.sh new file mode 100644 index 0000000..b33003d --- /dev/null +++ b/scripts/hokuyo/main.sh @@ -0,0 +1,8 @@ +#!/bin/sh + +pkill node +echo "Lauching Hokuyo" +cd /root/coupe15/new_hokuyo/urg_library-1.0.4/samples +echo > /var/log/utcoupe/client.log +node test.js > /var/log/utcoupe/client.log 2>&1 + From b0d35f0bd800427a029dc0f271a6d358c5f22e33 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:03:34 +0200 Subject: [PATCH 39/74] Add things to make the hokuyo work without being root --- scripts/install_utcoupe_setup.sh | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/scripts/install_utcoupe_setup.sh b/scripts/install_utcoupe_setup.sh index c159ee7..62a8797 100755 --- a/scripts/install_utcoupe_setup.sh +++ b/scripts/install_utcoupe_setup.sh @@ -1,4 +1,4 @@ -#!/bin/sh +#!/bin/bash ### The goal of this script is to install all UTCoupe specific packages to have a working setup. ### This script is called automatically when you run a npm install. @@ -40,6 +40,13 @@ function env_setup() { echo "export UTCOUPE_WORKSPACE=$PWD" >> $HOME/.bashrc source $HOME/.bashrc fi + if ! id -Gn $USER | grep -qw "dialout"; then + sudo usermod -a -G dialout $USER + fi + if [ ! -d "/var/log/utcoupe" ]; then + sudo mkdir /var/log/utcoupe + fi + sudo chown $USER:$USER /var/log/utcoupe } ### Compile and install the UTCoupe libraries From 405fa3873bb486f342ed5087ca5c283c59334894 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:04:25 +0200 Subject: [PATCH 40/74] Remove hokuyo stuff, not used anymore because directly in hokuyo client --- config.js | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/config.js b/config.js index d13adb3..6e68133 100644 --- a/config.js +++ b/config.js @@ -6,8 +6,6 @@ */ module.exports = { - "server": "127.0.0.1:3128", - //"server": "192.168.0.100:3128", - "hokuyo_command": "home/francois/dev/utcoupe/coupe17/bin/hokuyo", - "UTCOUPE_WORKSPACE": "/home/francois/dev/utcoupe/coupe17/" + "server": "127.0.0.1:3128" + //"server": "192.168.0.100:3128" } From 2768e545eafc9eec1075de7197db301321c24522 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:04:53 +0200 Subject: [PATCH 41/74] Remove unused file --- hokuyo/config.js | 5 ----- 1 file changed, 5 deletions(-) delete mode 100644 hokuyo/config.js diff --git a/hokuyo/config.js b/hokuyo/config.js deleted file mode 100644 index 8d594c5..0000000 --- a/hokuyo/config.js +++ /dev/null @@ -1,5 +0,0 @@ -module.exports = { - server: "192.168.0.100:3128", // server adress + port - //server: "127.0.0.1:3128", - command: "/root/coupe15/hokuyo/bin/hokuyo" // C sw place -}; From 9260617a352ac8718650703b9795ea11d1182122 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:09:39 +0200 Subject: [PATCH 42/74] Change path to hokuyo logfile, now in main utcoupe log folder --- hokuyo/src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hokuyo/src/main.c b/hokuyo/src/main.c index 3b265c5..787240c 100644 --- a/hokuyo/src/main.c +++ b/hokuyo/src/main.c @@ -51,7 +51,7 @@ int main(int argc, char **argv){ hok1.urg = 0; // Open log file - logfile = fopen("/var/log/hokuyo.log", "a+"); + logfile = fopen("/var/log/utcoupe/hokuyo.log", "a+"); // logfile = stderr; if (logfile == NULL) { fprintf(stderr, "Can't open log file (what do you think about beeing a sudoer ? :P )\n"); From eefb63427a157fe8a1ab4c7c8ff3288171afd8b6 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:10:52 +0200 Subject: [PATCH 43/74] Adapt code to run hokuyo in normal mode and not in sudo --- hokuyo/main.js | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index 81d8a58..8139fcc 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -27,14 +27,9 @@ var nth = 0; var server = process.argv[2] || config.server; - var command = process.argv[3] || config.hokuyo_command; if (!process.env.UTCOUPE_WORKSPACE) { - process.env.UTCOUPE_WORKSPACE = config.UTCOUPE_WORKSPACE; - } - - if (!process.env.UTCOUPE_WORKSPACE) { - logger.warn("Missing UTCOUPE_WORKSPACE environment variable. Make sure to call 'sudo -E node ...' or to fill UTCOUPE_WORKSPACE in config.js"); + logger.warn("Missing UTCOUPE_WORKSPACE environment variable... Please make sur you have launched the install script"); process.exit(1); } @@ -254,7 +249,6 @@ // Execute C program - // var command = "/home/pi/coupe15/hokuyo/bin/hokuyo"; var command = process.env.UTCOUPE_WORKSPACE + "/bin/hokuyo"; var args = []; // [color]; // var options = // default : { cwd: undefined, env: process.env}; From 12e64e3ec772776c7288b175cbe9f45d57076725 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sat, 8 Apr 2017 23:15:18 +0200 Subject: [PATCH 44/74] Remove some useless code and blank --- hokuyo/main.js | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index 8139fcc..c28c77f 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -35,7 +35,7 @@ var client = new SocketClient({ server_ip: server, - type: "hokuyo", + type: "hokuyo" }); var started = false; @@ -168,10 +168,6 @@ } } } - - // Send all robots - - } function parseInfo(string) { @@ -247,7 +243,6 @@ } } - // Execute C program var command = process.env.UTCOUPE_WORKSPACE + "/bin/hokuyo"; var args = []; // [color]; @@ -286,7 +281,6 @@ }, 5000); }); - child.on('close', function(code) { started = false; if (code == 0) @@ -299,6 +293,7 @@ sendChildren({"status": "waiting", "children":[]}); }); } + function getStatus(){ var data = { "status": "", @@ -328,8 +323,7 @@ lastStatus.status = newStatus; sendChildren(lastStatus) } - }; - + } // Sends status to server function sendChildren(status){ From 7775b46dea9d277a21dccdcb7067c2a3cb4a47be Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Sun, 9 Apr 2017 17:05:12 +0200 Subject: [PATCH 45/74] Hokuyo buttons visible by default, otherwise can't launch remote hokuyo --- webclient/index.tpl.html | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index f274daf..1665d7a 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -63,9 +63,9 @@
  • Hokuyo - - - + + +

    • From 4717cc3010905e922b33cf5d3a91144696449354 Mon Sep 17 00:00:00 2001 From: Mewen Date: Tue, 11 Apr 2017 13:24:17 +0200 Subject: [PATCH 46/74] Changed message to AI --- hokuyo/main.js | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index c28c77f..b4e203f 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -321,7 +321,7 @@ if (newStatus != lastStatus.status) { logger.info("New status : " + newStatus); lastStatus.status = newStatus; - sendChildren(lastStatus) + sendChildren(lastStatus); } } @@ -330,7 +330,10 @@ lastStatus = status; client.send("server", "server.childrenUpdate", lastStatus); - client.send("ia", "hokuyo.nb_hokuyo", { nb: nb_active_hokuyos }); + client.send("ia", "lidar.status", { + nb: nb_active_hokuyos, + status: lastStatus.status + }); } function isOk(){ From 027c704d735748413ff20366e42db09058fdb434 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Thu, 13 Apr 2017 19:31:52 +0200 Subject: [PATCH 47/74] Add startup script for hokuyo and adapt install script to install it (not tested) --- scripts/install_utcoupe_setup.sh | 14 +++++++++ scripts/utcoupe_hokuyo.sh | 51 ++++++++++++++++++++++++++++++++ 2 files changed, 65 insertions(+) create mode 100755 scripts/utcoupe_hokuyo.sh diff --git a/scripts/install_utcoupe_setup.sh b/scripts/install_utcoupe_setup.sh index 62a8797..5825b58 100755 --- a/scripts/install_utcoupe_setup.sh +++ b/scripts/install_utcoupe_setup.sh @@ -35,18 +35,32 @@ function apt_install() { ### Setup the variable environment to taget the UTCoupe main folder function env_setup() { + # Add the UTCOUPE_WORKSPACE env variable if [ -z "$UTCOUPE_WORKSPACE" ]; then green_echo "Env variable is not set." echo "export UTCOUPE_WORKSPACE=$PWD" >> $HOME/.bashrc source $HOME/.bashrc fi + # Add a file where to find UTCOUPE_WORKSPACE for node launched at startup + if [ ! -f "/etc/default/utcoupe" ]; then + sudo touch "/etc/default/utcoupe" + sudo echo "UTCOUPE_WORKSPACE=$PWD" >> /etc/default/utcoupe + fi + # Add the current user to the dialout group (to r/w in /dev files) if ! id -Gn $USER | grep -qw "dialout"; then sudo usermod -a -G dialout $USER fi + # Create the utcoupe folder where log files are stored if [ ! -d "/var/log/utcoupe" ]; then sudo mkdir /var/log/utcoupe fi + # Change the ownership of the utcoupe log folder sudo chown $USER:$USER /var/log/utcoupe + # Install the hokuyo automatic startup script (only for raspberry pi zero) + if [ "$ARCH" = "armv6l" ]; then + sudo install $UTCOUPE_WORKSPACE/scripts/utcoupe_hokuyo.sh /etc/init.d/ + sudo update-rc.d utcoupe_hokuyo.sh defaults 99 + fi } ### Compile and install the UTCoupe libraries diff --git a/scripts/utcoupe_hokuyo.sh b/scripts/utcoupe_hokuyo.sh new file mode 100755 index 0000000..c32e985 --- /dev/null +++ b/scripts/utcoupe_hokuyo.sh @@ -0,0 +1,51 @@ +#!/bin/sh +### BEGIN INIT INFO +# Provides: utcoupe_hokuyo +# Default-Start 2 3 4 5 +# Default-Stop 0 1 6 +# Short-Description: Starts the utcoupe node client for the hokuyo +### END INIT INFO +#/etc/init.d/utcoupe_hokuyo + +#export PATH=$PATH:/usr/local/bin +#export NODE_PATH=$NODE_PATH:/usr/local/lib/node_modules + +PID_FILE=/var/log/utcoupe/utcoupe_hokuyo.pid + +function start_hokuyo { + echo -n "Starting the utcoupe_hokuyo node client..." + exec forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE main.js + echo "done." +} + +function stop_hokuyo { + echo -n "Terminating the utcoupe_hokuyo node client...." + exec forever stop --sourceDir=$UTCOUPE_WORKSPACE/hokuyo main.js + echo "done." +} + +# Retrieves the UTCOUPE_WORKSPACE value +[ -f /etc/default/utcoupe ] && . /etc/default/utcoupe +if [ -z "$UTCOUPE_WORKSPACE" ] ; then + echo "UTCOUPE_WORKSPACE is not set, please set it in /etc/default/utcoupe" >&2 + exit 1 +fi + +case "$1" in +start) + start_hokuyo + ;; +stop) + stop_hokuyo + ;; +restart|reload|force-reload) + stop_hokuyo + start_hokuyo + ;; +*) + echo "Usage: /etc/init.d/utcoupe_hokuyo {start|stop|restart}" + exit 1 + ;; +esac + +exit 0 From 2a65ea208b4d07398d32eae76b56c45e332d373d Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 15 Apr 2017 18:11:29 +0000 Subject: [PATCH 48/74] Startup script finally working... --- scripts/utcoupe_hokuyo.sh | 43 +++++++++++++++++++++++++++------------ 1 file changed, 30 insertions(+), 13 deletions(-) diff --git a/scripts/utcoupe_hokuyo.sh b/scripts/utcoupe_hokuyo.sh index c32e985..0976c5e 100755 --- a/scripts/utcoupe_hokuyo.sh +++ b/scripts/utcoupe_hokuyo.sh @@ -1,36 +1,53 @@ -#!/bin/sh +#!/bin/bash ### BEGIN INIT INFO # Provides: utcoupe_hokuyo -# Default-Start 2 3 4 5 -# Default-Stop 0 1 6 -# Short-Description: Starts the utcoupe node client for the hokuyo +# Required-Start: +# Required-Stop: +# Default-Start: 2 3 4 5 +# Default-Stop: 0 1 6 +# Short-Description: UTCoupe node client for the hokuyo ### END INIT INFO -#/etc/init.d/utcoupe_hokuyo -#export PATH=$PATH:/usr/local/bin -#export NODE_PATH=$NODE_PATH:/usr/local/lib/node_modules -PID_FILE=/var/log/utcoupe/utcoupe_hokuyo.pid +PID_FILE_D=/var/log/utcoupe/utcoupe_hokuyo_deamon.pid +PID_FILE_F=/var/log/utcoupe/utcoupe_hokuyo_forever.pid -function start_hokuyo { +start_hokuyo() { echo -n "Starting the utcoupe_hokuyo node client..." - exec forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE main.js +# start-stop-daemon -p $PID_FILE_D -m -b -u $USER -S --exec forever -- --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -l /var/log/utcoupe/forever.log -p $PID_FILE_F main.js + +# start-stop-daemon -p $PID_FILE_D -v -m -b --start --exec /usr/local/bin/node -- $UTCOUPE_WORKSPACE/hokuyo/main.js +# start-stop-daemon --start -m --pidfile $PID_FILE_D --background --startas /bin/bash -- -E -c "/usr/local/bin/node $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1" + + # Working ! +# UTCOUPE_WORKSPACE=$UTCOUPE_WORKSPACE start-stop-daemon --start -m --pidfile $PID_FILE_D --startas /bin/bash -- -c "node $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1" + + UTCOUPE_WORKSPACE=$UTCOUPE_WORKSPACE start-stop-daemon --start -m --pidfile $PID_FILE_D --background --exec /usr/local/bin/node -- $UTCOUPE_WORKSPACE/hokuyo/main.js + +# start-stop-daemon --start -m --pidfile $PID_FILE_D --background --startas node -- $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1 +# forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE_F main.js +# su - $USER -c "$UTCOUPE_WORKSPACE/node_modules/forever/bin/forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE_F main.js" +#--> fail because fucking node is launching in sudo echo "done." } -function stop_hokuyo { +stop_hokuyo() { echo -n "Terminating the utcoupe_hokuyo node client...." - exec forever stop --sourceDir=$UTCOUPE_WORKSPACE/hokuyo main.js +# forever stop --sourceDir=$UTCOUPE_WORKSPACE/hokuyo main.js +# start-stop-daemon -K -v -p $PID_FILE_D --startas /bin/bash -- -c "node $UTCOUPE_WORKSPACE/hokuyo/main.sh" + start-stop-daemon -K -v -p $PID_FILE_D --exec /usr/local/bin/node echo "done." } -# Retrieves the UTCOUPE_WORKSPACE value [ -f /etc/default/utcoupe ] && . /etc/default/utcoupe if [ -z "$UTCOUPE_WORKSPACE" ] ; then echo "UTCOUPE_WORKSPACE is not set, please set it in /etc/default/utcoupe" >&2 exit 1 fi +#export PATH=$PATH:$UTCOUPE_WORKSPACE/node_modules/forever/bin +#export NODE_PATH=$NODE_PATH:$UTCOUPE_WORKSPACE/node_module/forever/lib + case "$1" in start) start_hokuyo From 45367ee2b9d89f008e0afe9f7755486a33003bce Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 15 Apr 2017 18:42:28 +0000 Subject: [PATCH 49/74] Hokuyo init script cleanup --- scripts/utcoupe_hokuyo.sh | 27 ++++----------------------- 1 file changed, 4 insertions(+), 23 deletions(-) diff --git a/scripts/utcoupe_hokuyo.sh b/scripts/utcoupe_hokuyo.sh index 0976c5e..0c016c4 100755 --- a/scripts/utcoupe_hokuyo.sh +++ b/scripts/utcoupe_hokuyo.sh @@ -8,46 +8,27 @@ # Short-Description: UTCoupe node client for the hokuyo ### END INIT INFO - -PID_FILE_D=/var/log/utcoupe/utcoupe_hokuyo_deamon.pid -PID_FILE_F=/var/log/utcoupe/utcoupe_hokuyo_forever.pid +PID_FILE=/var/log/utcoupe/utcoupe_hokuyo_deamon.pid start_hokuyo() { echo -n "Starting the utcoupe_hokuyo node client..." -# start-stop-daemon -p $PID_FILE_D -m -b -u $USER -S --exec forever -- --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -l /var/log/utcoupe/forever.log -p $PID_FILE_F main.js - -# start-stop-daemon -p $PID_FILE_D -v -m -b --start --exec /usr/local/bin/node -- $UTCOUPE_WORKSPACE/hokuyo/main.js -# start-stop-daemon --start -m --pidfile $PID_FILE_D --background --startas /bin/bash -- -E -c "/usr/local/bin/node $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1" - - # Working ! -# UTCOUPE_WORKSPACE=$UTCOUPE_WORKSPACE start-stop-daemon --start -m --pidfile $PID_FILE_D --startas /bin/bash -- -c "node $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1" - - UTCOUPE_WORKSPACE=$UTCOUPE_WORKSPACE start-stop-daemon --start -m --pidfile $PID_FILE_D --background --exec /usr/local/bin/node -- $UTCOUPE_WORKSPACE/hokuyo/main.js - -# start-stop-daemon --start -m --pidfile $PID_FILE_D --background --startas node -- $UTCOUPE_WORKSPACE/hokuyo/main.js > /var/log/utcoupe/hokuyo_daemon.log 2>&1 -# forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE_F main.js -# su - $USER -c "$UTCOUPE_WORKSPACE/node_modules/forever/bin/forever --sourceDir=$UTCOUPE_WORKSPACE/hokuyo -p $PID_FILE_F main.js" -#--> fail because fucking node is launching in sudo + UTCOUPE_WORKSPACE=$UTCOUPE_WORKSPACE start-stop-daemon --start -m --pidfile $PID_FILE --background --exec /usr/local/bin/node -- $UTCOUPE_WORKSPACE/hokuyo/main.js echo "done." } stop_hokuyo() { echo -n "Terminating the utcoupe_hokuyo node client...." -# forever stop --sourceDir=$UTCOUPE_WORKSPACE/hokuyo main.js -# start-stop-daemon -K -v -p $PID_FILE_D --startas /bin/bash -- -c "node $UTCOUPE_WORKSPACE/hokuyo/main.sh" - start-stop-daemon -K -v -p $PID_FILE_D --exec /usr/local/bin/node + start-stop-daemon -K -v -p $PID_FILE --exec /usr/local/bin/node echo "done." } +# Retrieves the UTCOUPE_WORKSPACE env variable [ -f /etc/default/utcoupe ] && . /etc/default/utcoupe if [ -z "$UTCOUPE_WORKSPACE" ] ; then echo "UTCOUPE_WORKSPACE is not set, please set it in /etc/default/utcoupe" >&2 exit 1 fi -#export PATH=$PATH:$UTCOUPE_WORKSPACE/node_modules/forever/bin -#export NODE_PATH=$NODE_PATH:$UTCOUPE_WORKSPACE/node_module/forever/lib - case "$1" in start) start_hokuyo From 509f201307adbd55a620686f7531cf972a347c7a Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 15 Apr 2017 18:54:23 +0000 Subject: [PATCH 50/74] Update install script, add instruction for pi zero + script not launched if not from right --- scripts/install_utcoupe_setup.sh | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) diff --git a/scripts/install_utcoupe_setup.sh b/scripts/install_utcoupe_setup.sh index 5825b58..a231d6e 100755 --- a/scripts/install_utcoupe_setup.sh +++ b/scripts/install_utcoupe_setup.sh @@ -44,11 +44,11 @@ function env_setup() { # Add a file where to find UTCOUPE_WORKSPACE for node launched at startup if [ ! -f "/etc/default/utcoupe" ]; then sudo touch "/etc/default/utcoupe" - sudo echo "UTCOUPE_WORKSPACE=$PWD" >> /etc/default/utcoupe + sudo sh -c "echo 'UTCOUPE_WORKSPACE=$PWD' >> /etc/default/utcoupe" fi # Add the current user to the dialout group (to r/w in /dev files) if ! id -Gn $USER | grep -qw "dialout"; then - sudo usermod -a -G dialout $USER + sudo usermod -a -G dialout $USER fi # Create the utcoupe folder where log files are stored if [ ! -d "/var/log/utcoupe" ]; then @@ -57,7 +57,7 @@ function env_setup() { # Change the ownership of the utcoupe log folder sudo chown $USER:$USER /var/log/utcoupe # Install the hokuyo automatic startup script (only for raspberry pi zero) - if [ "$ARCH" = "armv6l" ]; then + if [ ! -f "/etc/init.d/utcoupe_hokuyo.sh" ] && [ "$ARCH" = "armv6l" ]; then sudo install $UTCOUPE_WORKSPACE/scripts/utcoupe_hokuyo.sh /etc/init.d/ sudo update-rc.d utcoupe_hokuyo.sh defaults 99 fi @@ -121,8 +121,16 @@ function launch_script() { fi } +# Verify that the script is launched from the good place +if [ ! "${PWD##*/}" = "coupe17" ]; then + red_echo "You have to launch this script from UTCoupe main directory : ./script/${0##*/}" + exit 1 +fi + +# Ask the user if he wants launch the script printf "Launch install script ? [Y/n]?" read answer if [ "$answer" = "" ] || [ "$answer" = "y" ] || [ "$answer" = "Y" ]; then launch_script fi + From 9e0a9726c27e0605f176a653d877110858c7afc1 Mon Sep 17 00:00:00 2001 From: Thomas Fuhrmann Date: Mon, 17 Apr 2017 20:11:26 +0200 Subject: [PATCH 51/74] Merge of single file test --- .gitignore | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.gitignore b/.gitignore index e510c85..e397b0d 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,4 @@ -+++++++++### Main git ignore files +### Main git ignore files ### Beware, there are som gitignore files in subdirectories, for local and specific files # Generated executables @@ -10,7 +10,6 @@ build/ CMakeCache* CMakeFiles* cmake_install* -Makefile # Generated scons / arduino files .sconsign.dblite @@ -28,6 +27,7 @@ npm-debug.log *.sublime* .idea .vscode/ +cmake-build-debug/ # UTCoupe folders bin/ @@ -42,4 +42,4 @@ doc/ *sync_time_stamp *liburg_c.a *.swp -tmp.bmp + From dfe98091790d8aee8845932db60b2eac0cbdc7c5 Mon Sep 17 00:00:00 2001 From: Mewen Date: Mon, 17 Apr 2017 19:03:49 +0200 Subject: [PATCH 52/74] Merge modifs for zsh shell users --- scripts/install_utcoupe_setup.sh | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/scripts/install_utcoupe_setup.sh b/scripts/install_utcoupe_setup.sh index 88226e3..3637931 100755 --- a/scripts/install_utcoupe_setup.sh +++ b/scripts/install_utcoupe_setup.sh @@ -23,17 +23,17 @@ function apt_install() { if [ "$ARCH" = "x86_64" ]; then green_echo "x86 architecture detected." sudo apt-get install nodejs npm nodejs-legacy linux-headers-$(uname -r) - else if [ "$ARCH" = "armv7l" ]; then + elif [ "$ARCH" = "armv7l" ]; then green_echo "Raspberry Pi 3 system detected, remove previous npm installation to setup the used version." sudo apt-get install raspberrypi-kernel-headers sudo apt-get remove npm nodejs nodejs-legacy curl -sL https://deb.nodesource.com/setup_4.x | sudo -E bash - sudo npm install npm@3.5.2 -g - else if [ "$ARCH" = "armv6l" ]; then + elif [ "$ARCH" = "armv6l" ]; then sudo apt-get install raspberrypi-kernel-headers sudo apt-get remove npm nodejs nodejs-legacy wget https://nodejs.org/dist/v4.8.1/node-v4.8.1-linux-armv6l.tar.gz - tar -xvf node-v4.8.1-linux-armv6l.tar.gz + tar -xvf node-v4.8.1-linux-armv6l.tar.gz cd node-v4.8.1-linux-armv6l sudo cp -R * /usr/local/ cd .. @@ -45,11 +45,18 @@ function apt_install() { ### Setup the variable environment to taget the UTCoupe main folder function env_setup() { - # Add the UTCOUPE_WORKSPACE env variable + # Add the UTCOUPE_WORKSPACE env variable, default consider as bash shell if [ -z "$UTCOUPE_WORKSPACE" ]; then green_echo "Env variable is not set." - echo "export UTCOUPE_WORKSPACE=$PWD" >> $HOME/.bashrc - source $HOME/.bashrc + if [ "$SHELL" = "/bin/zsh" ]; then + echo "export UTCOUPE_WORKSPACE=$PWD" >> $HOME/.zshrc + printf "Warning :\n" + printf "Please \"source ~/.zshrc\" and run again this script if necessary\n" + exit 1 + else + echo "export UTCOUPE_WORKSPACE=$PWD" >> $HOME/.bashrc + source $HOME/.bashrc + fi fi # Add a file where to find UTCOUPE_WORKSPACE for node launched at startup if [ ! -f "/etc/default/utcoupe" ]; then @@ -103,6 +110,7 @@ function compile_hokuyo() { } function launch_script() { + env_setup printf "Install apt missing packets ? [Y/n]?" From 8bb7171d3ec01132be4e8ee66fb2589eacf6e3a8 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sat, 22 Apr 2017 18:39:08 +0200 Subject: [PATCH 53/74] Fixed hokuyo count bug, clear webclient display on silence --- lidar/lidar.class.js | 2 +- webclient/pages/hokuyo/hokuyoDisplay.class.js | 24 ++++++++++++++++--- 2 files changed, 22 insertions(+), 4 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 430480d..2c74fa5 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -258,7 +258,7 @@ module.exports = (function () { // For each active hokuyo, add hokuyo information to return value for (let hokName in lastData){ // logger.debug(Date.now() - lastData[hokName].time + " -> " + ((Date.now() - lastData[hokName].time < 2 * DELTA_T)?"ok":"not ok")); - if (lastData[hokName].isWorking) { + if (lastData[hokName].isWorking()) { hokuyos.push({ "name": hokName, "position": this.hokuyoPositions[hokName] diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 83dbab6..2c43099 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -6,14 +6,15 @@ class HokuyoDisplay { this.ONE = "one"; this.TWO = "two"; - this.dotRadius = 1; // cm + this.dotRadius = 1; // cm this.parentId = parentId; this.mode = mode; this.div = $('#' + this.parentId); - this.isBusy = false; // lock - this.isBusy = false; + this.isBusy = false; // lock + + this.clearMainTimeout = null; // timeout in case we don't receive data for a while if (reinitColor) { Raphael.getColor.reset(); @@ -208,6 +209,10 @@ class HokuyoDisplay { this.isBusy = true; + if (!!this.clearMainTimeout) { + clearTimeout(this.clearMainTimeout); + } + // console.log(hokuyos); // For each hokuyo @@ -252,5 +257,18 @@ class HokuyoDisplay { this.isBusy = false; + this.clearMainTimeout = setTimeout(clearMain, 1000); + } + + clearMain() { + // For each object + for(let hok of this.hokuyos) { + hok.remove(); + } + + // For each object + for(let obj of this.objects) { + obj.remove(); + } } } From c35f3e558ee8423bb34f35bdf3178383ee3c1b48 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 17:09:19 +0000 Subject: [PATCH 54/74] Disconnect hokuyo on exiting --- hokuyo/src/main.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/hokuyo/src/main.c b/hokuyo/src/main.c index 787240c..e5aa50c 100644 --- a/hokuyo/src/main.c +++ b/hokuyo/src/main.c @@ -24,8 +24,9 @@ FILE* logfile; void exit_handler() { fprintf(logfile, "\n%sClosing lidar(s), please wait...\n", PREFIX); - /*if (hok1.urg != 0) + if (hok1.urg != 0) urg_disconnect(hok1.urg); + /* if (hok2.urg != 0) urg_disconnect(hok2.urg); */ From d91b17e650b6597b5a9b1d7e62261756af6cd5b1 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 17:36:45 +0000 Subject: [PATCH 55/74] Set timeout to 100ms instead of 1s --- hokuyo/src/global.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hokuyo/src/global.h b/hokuyo/src/global.h index 104388d..95da081 100644 --- a/hokuyo/src/global.h +++ b/hokuyo/src/global.h @@ -16,7 +16,7 @@ #define MAX_CLUSTERS 50 // nombre maxi de clusters #define MAX_ROBOTS 4 // au cas où qu'on précise pas à l'appel du programme #define BORDER_MARGIN 50 -#define TIMEOUT 1000 +#define TIMEOUT 100 #define CONE_DIAM_MAX 690 // à modifier en fonction du cône utilisé From 6d1dfe68fbeec176c9d9feb260bb38f746104cf6 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sat, 22 Apr 2017 19:50:57 +0200 Subject: [PATCH 56/74] Show button, temp --- webclient/index.tpl.html | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index 1665d7a..9e4c5b9 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -62,10 +62,10 @@
  • Hokuyo - - - - + + + +

    • From 107d645a073761e5ca587248a6b6b456c10bd066 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 18:27:49 +0000 Subject: [PATCH 57/74] Changed hokuyos pos --- lidar/lidar.class.js | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 2c74fa5..2959d10 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -19,6 +19,7 @@ module.exports = (function () { var Y_MIN_ZONE = 0; var CLUSTER_DISTANCE = 5; var CLUSTER_K = 6; + // var SILENCE_TIMEOUT = 300; /** * Lidar Constructor @@ -42,14 +43,14 @@ module.exports = (function () { this.hokuyoPositions = { one: { - "x": -6.2, //-6.2 - "y": -6.2, //-6.2 + "x": -4, //-6.2 + "y": -4, //-6.2 "w": 0 , //0 "decalage" : [], "init" : 3 }, two: { - "x": 306.2, //306.2 + "x": 304, //306.2 "y": 100, //100 "w": 180 , //180 "decalage" : [], @@ -111,7 +112,7 @@ module.exports = (function () { this.statusTimer = setTimeout( function(){ this.updateStatus(); - }.bind(this), 200); + }.bind(this), 2*DELTA_T /*SILENCE_TIMEOUT*/); }; Lidar.prototype.changeStatus = function(newStatus) { From c99bfdc4a4bde4adde39c67ebec35c5c6c07e135 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 21:18:50 +0000 Subject: [PATCH 58/74] Fixed send status spamm by Hokuyo node + clean up lidar --- hokuyo/main.js | 5 ---- lidar/lidar.class.js | 12 ++++++--- lidar/main.js | 58 +++----------------------------------------- 3 files changed, 12 insertions(+), 63 deletions(-) diff --git a/hokuyo/main.js b/hokuyo/main.js index b4e203f..cd56632 100644 --- a/hokuyo/main.js +++ b/hokuyo/main.js @@ -330,10 +330,6 @@ lastStatus = status; client.send("server", "server.childrenUpdate", lastStatus); - client.send("ia", "lidar.status", { - nb: nb_active_hokuyos, - status: lastStatus.status - }); } function isOk(){ @@ -342,6 +338,5 @@ client.send("ia", "isOkAnswer", lastStatus); client.send("server", "server.childrenUpdate", lastStatus); - client.send("ia", "hokuyo.nb_hokuyo", { nb: nb_active_hokuyos }); } })(); diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 2959d10..0db87bf 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -67,7 +67,7 @@ module.exports = (function () { // If other color logger.warn("TODO: change Lidar color depending ours"); - this.sendStatus(this.status); + this.sendStatus(this.status, 0); // Status loop @@ -118,7 +118,7 @@ module.exports = (function () { Lidar.prototype.changeStatus = function(newStatus) { logger.info("New lidar status : " + newStatus); this.status = newStatus; - this.sendStatus(this.status); + this.sendStatus(this.status, this.hokuyosWorking().length); }; Lidar.prototype.start = function(color) { @@ -244,8 +244,12 @@ module.exports = (function () { }; // Send it to AI - this.send("lidar.all", toBeSent); - this.lastDataSent = Date.now(); + if(this.status == "error"){ + logger.warn("Fell in an error while computing !"); + } else { + this.send("lidar.all", toBeSent); + this.lastDataSent = Date.now(); + } } this.updateStatus(); diff --git a/lidar/main.js b/lidar/main.js index 1bc5d89..7b6ff7b 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -25,65 +25,14 @@ var hokMng = new Lidar(function (name, params){ client.send("ia", name, params); - }, function (newStatus) { + }, function (newStatus, nbHok) { sendChildren({ - "status": newStatus + "status": newStatus, + "nb": nbHok }); }); client.connect(function(){ -/* - setTimeout(function() { - client.send("lidar", "start", { - color: "yellow" - }); // TMP - }, 300); - - setTimeout(function() { - client.send("lidar", "hokuyo.polar_raw_data", { - hokuyo: "one", - polarSpots: [ - [ -40, 200 ], - [ -35, 200 ], - [ -30, 200 ], - [ -25, 230 ], - [ -20, 100 ], - [ -15, 105 ], - [ -5, 120 ], - [ 0, 100 ], - [ 5, 90 ], - [ 10, 95 ], - [ 15, 100 ], - [ 20, 100 ], - [ 25, 130 ], - [ 30, 135 ] - ] - }); // TMP - }, 1000); - - - setTimeout(function() { - client.send("lidar", "hokuyo.polar_raw_data", { - hokuyo: "two", - polarSpots: [ - [ -40, 155 ], - [ -30, 155 ], - [ -35, 150 ], - [ -25, 150 ], - [ -20, 100 ], - [ -15, 105 ], - [ -5, 120 ], - [ 0, 100 ], - [ 5, 90 ], - [ 10, 95 ], - [ 15, 100 ], - [ 20, 100 ], - [ 25, 230 ], - [ 30, 235 ] - ] - }); // TMP - }, 1100);*/ - client.order(function(from, name, params){ @@ -168,6 +117,7 @@ // Sends status to server function sendChildren(status){ client.send("server", "server.childrenUpdate", status); + client.send("ia", "lidar.status", status); // client.send("ia", "hokuyo.nb_hokuyo", { nb: nb_active_hokuyos }); } From 2758615bc044962ddec3f65f368492a276324008 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 21:30:15 +0000 Subject: [PATCH 59/74] Fixed clearMain bug --- webclient/pages/hokuyo/hokuyoDisplay.class.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 2c43099..3615fc1 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -257,7 +257,7 @@ class HokuyoDisplay { this.isBusy = false; - this.clearMainTimeout = setTimeout(clearMain, 1000); + this.clearMainTimeout = setTimeout(this.clearMain, 1000); } clearMain() { From 3769fc127107a4e481470d0ee2cf465c964742a9 Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 21:59:59 +0000 Subject: [PATCH 60/74] Clear hokuyo plot finally working ! --- webclient/pages/hokuyo/hokuyoDisplay.class.js | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 3615fc1..c064455 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -257,13 +257,15 @@ class HokuyoDisplay { this.isBusy = false; - this.clearMainTimeout = setTimeout(this.clearMain, 1000); + this.clearMainTimeout = setTimeout(function() { + this.clearMain(); + }.bind(this), 1000); } clearMain() { // For each object - for(let hok of this.hokuyos) { - hok.remove(); + for(let hokName in this.hokuyos) { + this.hokuyos[hokName].remove(); } // For each object From 7acc1e7c5a792fb1071e961a7db0c3915cf5c87f Mon Sep 17 00:00:00 2001 From: utcoupe-dev rpi3-3 Date: Sat, 22 Apr 2017 23:00:35 +0000 Subject: [PATCH 61/74] Trying to find that lag... --- lidar/lidar.class.js | 2 ++ 1 file changed, 2 insertions(+) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 0db87bf..1507d82 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -268,6 +268,8 @@ module.exports = (function () { "name": hokName, "position": this.hokuyoPositions[hokName] }); + } else { + logger.warn("Haven't heard from " + hokName + " since " + (Date.now() - lastData[hokName].time)); } } From a2b3a6b949f2893746375658160b22324b678d79 Mon Sep 17 00:00:00 2001 From: mmxm Date: Thu, 4 May 2017 20:48:03 +0200 Subject: [PATCH 62/74] Recalage avec fusee: correction de bugs --- lidar/lidar.class.js | 42 +++++++++++++++++++++++++++++++----------- lidar/main.js | 2 ++ 2 files changed, 33 insertions(+), 11 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 1507d82..2e2d815 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -43,24 +43,30 @@ module.exports = (function () { this.hokuyoPositions = { one: { - "x": -4, //-6.2 - "y": -4, //-6.2 + "x": -2, //-6.2 + "y": -2, //-6.2 "w": 0 , //0 "decalage" : [], - "init" : 3 + "init" : 2, //Nb de boucles de recalage + "rockets" : ["two"] }, two: { "x": 304, //306.2 "y": 100, //100 "w": 180 , //180 "decalage" : [], - "init" : 0 + "init" : 2, + "rockets" : ["one"] } } this.rocketPositions = { one : { "x" : 185, "y" : 4 + }, + two : { + "x" : 115, + "y" : 4 } } @@ -464,11 +470,11 @@ module.exports = (function () { let clusters = this.clusterize(spots); let hokPos = this.hokuyoPositions[hokName]; let angle; - let detected = false; + let finish = false function isNear(lidar, cluster, rocketName, d){ let x = lidar.rocketPositions[rocketName].x; let y = lidar.rocketPositions[rocketName].y; - + //logger.warn([cluster.x, x]); //logger.warn([cluster.x, lidar.rocketPositions["one"].x]); if (cluster.x > x - d && cluster.x < x + d @@ -483,20 +489,34 @@ module.exports = (function () { var tab1 = lidar.toPolar(cluster, hokName); var tab2 = lidar.toPolar(lidar.rocketPositions[rocketName], hokName); //logger.warn([tab1[0], tab2[0]]) - return (tab2[0] - tab1 [0]) + return (tab2[0] - tab1[0]) } for (let i = 0; i < clusters.length ; i++){ clusters[i].calculCenter(); - if (isNear(this, clusters[i], "one", 35) == true){ + finish = false; + /*if (isNear(this, clusters[i], "one", 15) == true && finish == false){ angle = angleGap(this, clusters[i], "one", hokName) hokPos.decalage.push(angle) - detected = true; + finish = true; + } + if (isNear(this, clusters[i], "two", 15) == true && finish == false){ + angle = angleGap(this, clusters[i], "two", hokName) + hokPos.decalage.push(angle) + finish = true; + }*/ + for(let j=0; j < hokPos.rockets.length; j++){ + if (isNear(this, clusters[i], hokPos.rockets[j], 30) == true && finish == false){ + angle = angleGap(this, clusters[i], hokPos.rockets[j], hokName) + hokPos.decalage.push(angle) + finish = true; + logger.warn("fusee detectee"); + } } } hokPos.init = hokPos.init - 1 ; - if (hokPos.init == 0 && detected == true){ + let nb = hokPos.decalage.length; + if (hokPos.init == 0 && nb > 0){ let a = 0; - let nb = hokPos.decalage.length for( let i = 0; i < nb; i++){ a = a + hokPos.decalage[i]; } diff --git a/lidar/main.js b/lidar/main.js index 7b6ff7b..f1898c1 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -65,6 +65,8 @@ // quitC("stop"); spawn('sudo', ['halt']); break; + case "calibration": + break; case "stop": hokMng.stop(); // quitC("stop"); From 5452b6902c1174a362e46cf0c86bc636c6f3aeae Mon Sep 17 00:00:00 2001 From: Mindstan Date: Thu, 4 May 2017 21:01:07 +0200 Subject: [PATCH 63/74] Added calibration --- Not tested yet --- webclient/index.js | 4 ++++ webclient/index.tpl.html | 1 + 2 files changed, 5 insertions(+) diff --git a/webclient/index.js b/webclient/index.js index b7e9fe1..4e3d687 100644 --- a/webclient/index.js +++ b/webclient/index.js @@ -35,6 +35,10 @@ angular.module('app').controller('IndexCtrl', ['$rootScope', '$scope', 'UTCoupe' Client.send("hokuyo", "stop", {}); } + $scope.calibration = function() { + Client.send("hokuyo", "calibration", {}); + } + $scope.resumeLidar = function() { Client.send("lidar", "start", { "color": $scope.our_color diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index 9e4c5b9..065b312 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -66,6 +66,7 @@ +

    From cc544d5ba91479af79cb7ea037ba253fce502311 Mon Sep 17 00:00:00 2001 From: Mindstan Date: Sat, 6 May 2017 21:16:07 +0200 Subject: [PATCH 64/74] DAE now lighter --- simulateur/3d/mod_lun_bleu.dae | 20 +- simulateur/3d/mod_lun_bleu_jaune.dae | 178 ++++++------ simulateur/3d/mod_lun_bleu_jaune_old.dae | 344 +++++++++++++++++++++++ simulateur/3d/mod_lun_bleu_old.dae | 136 +++++++++ simulateur/3d/mod_lun_jaune.dae | 30 +- simulateur/3d/mod_lun_jaune_old.dae | 136 +++++++++ simulateur/3d/titane.dae | 10 +- 7 files changed, 735 insertions(+), 119 deletions(-) create mode 100644 simulateur/3d/mod_lun_bleu_jaune_old.dae create mode 100644 simulateur/3d/mod_lun_bleu_old.dae create mode 100644 simulateur/3d/mod_lun_jaune_old.dae diff --git a/simulateur/3d/mod_lun_bleu.dae b/simulateur/3d/mod_lun_bleu.dae index 73708f9..7ff579c 100644 --- a/simulateur/3d/mod_lun_bleu.dae +++ b/simulateur/3d/mod_lun_bleu.dae @@ -3,10 +3,10 @@ Blender User - Blender 2.77.0 commit date:1970-01-01, commit time:00:00, hash:unknown + Blender 2.78.0 - 2017-01-16T16:14:46 - 2017-01-16T16:14:46 + 2017-05-06T19:10:31 + 2017-05-06T19:10:31 Z_UP @@ -26,7 +26,7 @@ 0.5992157 0.5992157 0.5992157 1 - 0.009374999 0.009374999 0.009374999 1 + 0.004687499 0.004687499 0.004687499 1 50 @@ -52,7 +52,7 @@ 0.07215687 0.3043137 0.5364706 1 - 0.009374999 0.009374999 0.009374999 1 + 0.004687499 0.004687499 0.004687499 1 50 @@ -77,7 +77,7 @@ - 0.03150022 0.1000001 0 0.03134822 0.1000001 0.00308758 0.03134822 0 0.00308758 0.03089499 0.1000001 0.006145477 0.03014397 0.1000001 0.009144067 0.03014397 0 0.009144067 0.03089499 0 0.006145477 0.02910232 0.1000001 0.01205468 0.02778077 0.1000001 0.01484882 0.02778077 0 0.01484882 0.02619147 0.1000001 0.01750046 0.02435016 0.1000001 0.01998353 0.02435016 0 0.01998353 0.02619147 0 0.01750046 0.02910232 0 0.01205468 0.02227377 0.1000001 0.02227377 0.01998353 0.1000001 0.02434968 0.01998353 0 0.02434968 0.01750046 0.1000001 0.02619135 0.01484894 0.1000001 0.02778065 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-0.9176029 -0.1981829 -0.2350797 -0.9515573 -0.146972 -0.2059951 -0.967453 -0.1376417 -0.1749808 -0.9749034 -0.08055669 -0.1505923 -0.9853085 -0.532429 -0.4667633 -0.7061526 -0.5268206 -0.3688185 -0.7657892 -0.504284 -0.4453193 -0.739857 -0.3904907 -0.4070234 -0.8257415 -0.612482 -0.3574233 -0.7050634 -0.6204041 -0.366406 -0.6934303 -0.5141701 -0.3462099 -0.7847089 -0.5593798 -0.2428347 -0.7925438 -0.368427 -0.2945887 -0.8817477 -0.3249 -0.2692337 -0.9066163 -0.4383094 -0.2346473 -0.8676553 -0.4722444 -0.2503168 -0.8451786 -0.4762042 -0.3412665 -0.8104115 -0.6235029 -0.2411563 -0.7436988 -0.6200438 -0.2372261 -0.7478433 -0.6785752 -0.2443794 -0.6926864 -0.6516304 -0.1015158 -0.751713 -0.6700823 -0.09681034 -0.7359467 -0.7027051 -0.0558055 -0.7092894 -0.6045535 -0.06965094 -0.7935136 -0.4072753 -0.137475 -0.9028995 -0.4263197 -0.1436237 -0.8930979 -0.5581843 -0.0830968 -0.8255454 -0.5199822 -0.06506115 -0.8516958 -0.4988085 -0.01576346 -0.866569 -0.5370584 -0.2216439 -0.8139057 -0.278615 -0.1831219 -0.9427832 -0.3203231 -0.2110744 -0.9234938 -0.07863169 -0.08631122 -0.9931604 -0.1696641 -0.1212549 -0.978014 -0.2738511 -0.1017755 -0.956372 -0.2672388 -0.09926307 -0.9585043 -0.3181513 -0.06733405 -0.9456458 -0.372603 -0.07742631 -0.9247552 -0.212046 -0.03758919 -0.9765365 -0.1545513 -0.06049823 -0.9861308 -0.1206093 -0.04388183 -0.9917297 From 65b6932c9749ff302a1ac17179af34e6449bcc96 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sat, 6 May 2017 23:37:40 +0200 Subject: [PATCH 65/74] Nothing important --- config.js | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/config.js b/config.js index 6e68133..3189424 100644 --- a/config.js +++ b/config.js @@ -7,5 +7,6 @@ module.exports = { "server": "127.0.0.1:3128" - //"server": "192.168.0.100:3128" + // "server": "192.168.1.131:3128", + "hokuyo_command": "$UTCOUPE_WORKSPACE/bin/hokuyo" } From 9f7fee056a1b1e4e62aa4720dc8a35606b5cad0c Mon Sep 17 00:00:00 2001 From: mmxm Date: Sun, 7 May 2017 01:01:31 +0200 Subject: [PATCH 66/74] =?UTF-8?q?Am=C3=A9lioration=20recalage=20+=20bouton?= =?UTF-8?q?=20recalage=20=20+=20Gestion=20des=20couleurs?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Changer les positions des hokuyos en fonction de la couleur --- lidar/lidar.class.js | 151 ++++++++++++++++++++++++++------------- lidar/main.js | 4 ++ webclient/index.js | 3 + webclient/index.tpl.html | 27 +++---- 4 files changed, 124 insertions(+), 61 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 2e2d815..072499a 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -12,13 +12,13 @@ module.exports = (function () { var logger = log4js.getLogger('lidar.lidar'); var DELTA_T = 100; // ms between two data shipping - var DELTA_T_CHECK = 200; // ms between two data shipping - var X_MAX_ZONE = 295; + var DELTA_T_CHECK = 500; // ms between two data shipping + var X_MAX_ZONE = 300; var X_MIN_ZONE = 0; - var Y_MAX_ZONE = 195; + var Y_MAX_ZONE = 200; var Y_MIN_ZONE = 0; - var CLUSTER_DISTANCE = 5; - var CLUSTER_K = 6; + var CLUSTER_DISTANCE = 3; + var CLUSTER_K = 10; // var SILENCE_TIMEOUT = 300; /** @@ -42,31 +42,24 @@ module.exports = (function () { this.lastSignOfLife = {}; // of each hokuyo this.hokuyoPositions = { - one: { - "x": -2, //-6.2 - "y": -2, //-6.2 - "w": 0 , //0 - "decalage" : [], - "init" : 2, //Nb de boucles de recalage - "rockets" : ["two"] - }, - two: { - "x": 304, //306.2 - "y": 100, //100 - "w": 180 , //180 - "decalage" : [], - "init" : 2, - "rockets" : ["one"] - } } + this.rocketPositions = { one : { - "x" : 185, - "y" : 4 + "x" : 2, + "y" : 137 }, two : { "x" : 115, - "y" : 4 + "y" : 2 + }, + three : { + "x" : 185, + "y" : 2 + }, + four : { + "x" : 298, + "y" : 137 } } @@ -79,6 +72,50 @@ module.exports = (function () { // Status loop this.updateStatus(); } + Lidar.prototype.setColor = function(){ + if (this.color == "blue"){ + this.hokuyoPositions = { + one: { + "x": -2, //-6.2 + "y": -2, //-6.2 + "w": 0 , //0 + "decalage" : [], + "init" : 0, //Nb de boucles de recalage + "rockets" : ["one", "two"] + }, + two: { + "x": 306, //306.2 + "y": 100, //100 + "w": 180 , //180 + "decalage" : [], + "init" : 0, + "rockets" : ["three", "four"] + } + } + } + if (this.color == "yellow"){ + this.hokuyoPositions = { + one: { + "x": -6.2, //-6.2 + "y": -6.2, //-6.2 + "w": 0 , //0 + "decalage" : [], + "init" : 0, //Nb de boucles de recalage + "rockets" : ["one", "two"] + }, + two: { + "x": 306.2, //306.2 + "y": 100, //100 + "w": 180, //180 + "decalage" : [], + "init" : 0, + "rockets" : ["three", "four"] + } + } + } + + + } Lidar.prototype.updateStatus = function() { clearTimeout(this.statusTimer); @@ -132,8 +169,16 @@ module.exports = (function () { this.started = true; this.changeStatus("error"); // as far as we do not receive hokuyo data logger.info("Started as " + this.color); + this.setColor() //assigne une position à chaque hokuyo en fonction de la couleur du robot + }; + Lidar.prototype.recalage = function(nb){ + this.setColor(); + this.hokuyoPositions["one"].init = nb; + this.hokuyoPositions["two"].init = nb; + } + Lidar.prototype.stop = function() { this.color = undefined; this.started = false; @@ -160,8 +205,11 @@ module.exports = (function () { this.distance * Math.sin(lidar.toRadian(-this.angle)) ] // Change to table frame + //this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), + //this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) + this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), - this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) + this.y = hokPos.y - cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) } @@ -180,14 +228,14 @@ module.exports = (function () { } Cluster.prototype.diagBox = function() { - let Xmax = 0, Ymax = 0, Xmin = 10000, Ymin = 10000, x, y; + var Xmax = 0, Ymax = 0, Xmin = 10000, Ymin = 10000, x, y; for(let i = 0 ; i < this.spots.length; i++){ x = this.spots[i].x; y = this.spots[i].y; - if (Xmax < x ) Xmax = x; - if (Xmin > x) Xmin = x; - if (Ymax < x ) Ymax = y; - if (Ymin > x) Ymin = y; + if (Xmax < x ) {Xmax = x;} + if (Xmin > x) {Xmin = x;} + if (Ymax < y ){ Ymax = y;} + if (Ymin > y) {Ymin = y;} } x = Xmax - Xmin; y = Ymax - Ymin; @@ -202,8 +250,10 @@ module.exports = (function () { this.distance * Math.sin(lidar.toRadian(-this.angle)) ] // Change to table frame + //this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), + //this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) this.x = hokPos.x + cartPt[0] * Math.cos(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.sin(lidar.toRadian(hokPos.w)), - this.y = hokPos.y + cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) + this.y = hokPos.y - cartPt[0] * Math.sin(lidar.toRadian(hokPos.w)) + cartPt[1] * Math.cos(lidar.toRadian(hokPos.w)) } /** @@ -231,15 +281,17 @@ module.exports = (function () { // Merge spots //logger.warn(this.lastCartSpots) + // Retourne un tableau de points provenant des deux hokuyos this.mergedSpots = this.mergeSpots(this.lastCartSpots); - //logger.warn(this.mergedSpots); - /* Merge very close clusters provided by two different hokuyo */ + //this.toCartesian(hokuyoName, this.mergedSpots); // Filter (bis) + //Ne fait rien this.mergedFilterSpots = this.filterCart(this.mergedSpots); + // Find enemy robots - this.robotsSpots = this.findRobots(this.mergedFilterSpots); + this.robotsSpots = this.findRobots(this.mergedSpots); this.displaySpots = this.prepareData(this.mergedSpots); //renvoie un tableau de coordonnées prêt à être affiché // Prepare data @@ -306,7 +358,7 @@ module.exports = (function () { var jmin, dmin, x, y clusters[0] = new Cluster; - clusters[0].spots = new Array; + //clusters[0].spots = new Array; /* A modifier !! On met les k premiers points dans un même cluster */ @@ -314,17 +366,17 @@ module.exports = (function () { let nulSpot = new Spot; nulSpot.angle = 0; nulSpot.distance = 0;nulSpot.x = 0; nulSpot.y = 0; - for (i = 0; i < k; i++){ + for (let i = 0; i < k; i++){ spotsIn.unshift(nulSpot); G.push(0); clusters[0].spots.push(spotsIn[i]); } - for (var i = k; i < spotsIn.length; i++){ + for (let i = k; i < spotsIn.length; i++){ G.push(0); if (spotsIn[i].distance > 1){ jmin = 1; dmin = 0; - for (var j = 1; j <= k; j++){ + for (let j = 1; j <= k; j++){ x = spotsIn[i].x - spotsIn[i - j].x; y = spotsIn[i].y - spotsIn[i - j].y ; d[j] =Math.sqrt(x*x + y*y); @@ -340,7 +392,7 @@ module.exports = (function () { G[i - jmin] = g; clusters[g] = new Cluster; - clusters[g].spots = new Array; + // clusters[g].spots = new Array; } g = G[i - jmin]; @@ -349,7 +401,7 @@ module.exports = (function () { } } } - for (i = 0; i < k; i++){ + for (let i = 0; i < k; i++){ spotsIn.shift(); } clusters.shift(); @@ -427,7 +479,8 @@ module.exports = (function () { x = Math.abs(clusters[i].x - clusters[j].x); y = Math.abs(clusters[i].y - clusters[j].y); d = Math.sqrt(x*x + y*y) - if(d < 20){ + + if(d < 30){ clusters[i].spots = clusters[i].spots.concat(clusters[j].spots); clusters.splice(j, 1); diff ++; @@ -438,14 +491,17 @@ module.exports = (function () { } for (let i = 0 ; i < clusters.length ; i++){ clusters[i].calculCenter(); - if (clusters[i].spots.length >3){ + //if (clusters[i].spots.length >3 && clusters[i].spots.length < 120){ if(clusters[i].x > X_MIN_ZONE && clusters[i].x < X_MAX_ZONE && clusters[i].y < Y_MAX_ZONE && clusters[i].y > Y_MIN_ZONE){ clusters[i].diagBox(); - if (clusters[i].diag < 30 && clusters[i].diag > 4 ) + + if (clusters[i].diag < 16 && clusters[i].diag > 3) ret.push([clusters[i].x, clusters[i].y]); } - } + //} } + //logger.info([clusters.length, ret.length]) + /*ret = [ [ 150, 100 ], [ 100, 135 ] @@ -457,6 +513,7 @@ module.exports = (function () { let ret = []; for(let i = 0; i < spots.length ; i++){ if (spots[i].inTheTable == true) + //if(spots[i].x > -20 && spots[i].x < 320 && spots[i].y>-20 && spots[i].y<220) ret.push([spots[i].x, spots[i].y]) } return ret; @@ -480,7 +537,6 @@ module.exports = (function () { && cluster.x < x + d && cluster.y > y - d && cluster.y < y + d){ - logger.warn("fusee detectee") return true; } else return false; @@ -505,11 +561,10 @@ module.exports = (function () { finish = true; }*/ for(let j=0; j < hokPos.rockets.length; j++){ - if (isNear(this, clusters[i], hokPos.rockets[j], 30) == true && finish == false){ - angle = angleGap(this, clusters[i], hokPos.rockets[j], hokName) + if (isNear(this, clusters[i], hokPos.rockets[j], 25) == true && finish == false){ + angle = -angleGap(this, clusters[i], hokPos.rockets[j], hokName) hokPos.decalage.push(angle) finish = true; - logger.warn("fusee detectee"); } } } diff --git a/lidar/main.js b/lidar/main.js index f1898c1..2fd0cfd 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -66,6 +66,10 @@ spawn('sudo', ['halt']); break; case "calibration": + hokMng.recalage(10); //Recalage des hokuyos + break; + case "color": + hokMng.changeColor() break; case "stop": hokMng.stop(); diff --git a/webclient/index.js b/webclient/index.js index 4e3d687..19ffabe 100644 --- a/webclient/index.js +++ b/webclient/index.js @@ -48,6 +48,9 @@ angular.module('app').controller('IndexCtrl', ['$rootScope', '$scope', 'UTCoupe' $scope.pauseLidar = function() { Client.send("lidar", "stop", {}); } + $scope.calibLidar = function() { + Client.send("lidar", "calibration", {}); + } }]); angular.module('app').service('UTCoupe', ['$rootScope', 'Client', function($rootScope, Client) { diff --git a/webclient/index.tpl.html b/webclient/index.tpl.html index 065b312..e178d31 100644 --- a/webclient/index.tpl.html +++ b/webclient/index.tpl.html @@ -2,12 +2,12 @@ @@ -17,7 +17,7 @@
  • IA - +
    Color: {{ our_color }} @@ -41,28 +41,29 @@
  • GR - - + +

  • PR - - + +

  • Lidar - - - - + + + + +

  • Hokuyo - + From 6e814b20df14f84211aa7686e9c16bd9c6209b58 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 01:17:13 +0200 Subject: [PATCH 67/74] Added robot position in webclient view --- webclient/pages/hokuyo/hokuyoDisplay.class.js | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 2c43099..d0de6e0 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -244,6 +244,11 @@ class HokuyoDisplay { fill: this.dotColor, transform: "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0", "fill-opacity": .4}) ); + this.objects.push( this.r.text(robot[0], robot[1], "["+ robot[0] + "; " + robot[1] +"]").attr({ + fill: this.dotColor, + "font-size": "6px", + transform: "t,50,25" + "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0"}) ); + } // console.log(cartesianSpots); From 4e7299882e356de6eb7a2916d55870b7ce57b87a Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 01:25:18 +0200 Subject: [PATCH 68/74] Int caption instead of float --- webclient/pages/hokuyo/hokuyoDisplay.class.js | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 56c0b31..93c4451 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -244,7 +244,7 @@ class HokuyoDisplay { fill: this.dotColor, transform: "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0", "fill-opacity": .4}) ); - this.objects.push( this.r.text(robot[0], robot[1], "["+ robot[0] + "; " + robot[1] +"]").attr({ + this.objects.push( this.r.text(robot[0], robot[1], "["+ parseInt(robot[0]) + "; " + parseInt(robot[1]) +"]").attr({ fill: this.dotColor, "font-size": "6px", transform: "t,50,25" + "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0"}) ); From ad85a6037d833caf9129b9be6963d354733ac124 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 11:19:45 +0200 Subject: [PATCH 69/74] Add some orders to server spamlist (verbose mode) --- lidar/lidar.class.js | 6 +++--- server/server.class.js | 3 ++- webclient/pages/orders/orders.js | 28 ++++++++++++---------------- 3 files changed, 17 insertions(+), 20 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 072499a..89c13fd 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -305,9 +305,9 @@ module.exports = (function () { if(this.status == "error"){ logger.warn("Fell in an error while computing !"); } else { - this.send("lidar.all", toBeSent); - this.lastDataSent = Date.now(); - } + this.send("lidar.all", toBeSent); + this.lastDataSent = Date.now(); + } } this.updateStatus(); diff --git a/server/server.class.js b/server/server.class.js index c244118..38b9d67 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -88,7 +88,8 @@ module.exports = (function () { 'hokuyo': false } - this.spamList = ["hokuyo.polar_raw_data"]; + this.spamList = ["hokuyo.polar_raw_data", "lidar.all", 'logger', 'utcoupe', 'simulateur', 'gr.pos', 'pr.pos']; + // When the client is connected this.server.on('connection', function (client) { diff --git a/webclient/pages/orders/orders.js b/webclient/pages/orders/orders.js index aeda2a7..77c8ff2 100644 --- a/webclient/pages/orders/orders.js +++ b/webclient/pages/orders/orders.js @@ -8,22 +8,18 @@ angular.module('app').service('Orders', ['$rootScope', 'Client', function($rootS this.orders = []; this.init = function () { Client.order(function (from, name, data, to) { - if( name != 'logger' - && name != 'utcoupe' - && name != 'simulateur' - && name != 'gr.pos' - && name != 'pr.pos') { - this.orders.unshift({ - from: from, - name: name, - data: JSON.stringify(data), - to: to, - }); - if(this.orders.length > 500) - this.orders.pop(); - if($rootScope.act_page == 'orders') { - $rootScope.$apply(); - } + // Be careful, some orders are filtered by the server, set verbose mode to see them or go to server.server.class.js:175 + + this.orders.unshift({ + from: from, + name: name, + data: JSON.stringify(data), + to: to, + }); + if(this.orders.length > 500) + this.orders.pop(); + if($rootScope.act_page == 'orders') { + $rootScope.$apply(); } }.bind(this)); }; From e04b786aeb4c5e7829da6e47b799ad9523dd5b6d Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 14:06:11 +0200 Subject: [PATCH 70/74] Hokuyos position in Lidar node, change pos with color, send light messages --- lidar/lidar.class.js | 96 +++++++++++++++++++++++--------------------- lidar/main.js | 2 +- 2 files changed, 52 insertions(+), 46 deletions(-) diff --git a/lidar/lidar.class.js b/lidar/lidar.class.js index 89c13fd..50cd28b 100644 --- a/lidar/lidar.class.js +++ b/lidar/lidar.class.js @@ -46,19 +46,19 @@ module.exports = (function () { this.rocketPositions = { one : { - "x" : 2, + "x" : 4, "y" : 137 }, two : { "x" : 115, - "y" : 2 + "y" : 4 }, three : { "x" : 185, - "y" : 2 + "y" : 4 }, four : { - "x" : 298, + "x" : 296, "y" : 137 } } @@ -72,46 +72,37 @@ module.exports = (function () { // Status loop this.updateStatus(); } + + Lidar.prototype.convertXA = function(obj) { + obj.x = 300 - obj.x; + obj.a = 180 - obj.a; + + return obj; + }; + Lidar.prototype.setColor = function(){ - if (this.color == "blue"){ - this.hokuyoPositions = { - one: { - "x": -2, //-6.2 - "y": -2, //-6.2 - "w": 0 , //0 - "decalage" : [], - "init" : 0, //Nb de boucles de recalage - "rockets" : ["one", "two"] - }, - two: { - "x": 306, //306.2 - "y": 100, //100 - "w": 180 , //180 - "decalage" : [], - "init" : 0, - "rockets" : ["three", "four"] - } - } + this.hokuyoPositions = { + one: { + "x": -6.2, //-6.2 + "y": 2062, //-6.2 + "w": 0 , //0 + "decalage" : [], + "init" : 0, //Nb de boucles de recalage + "rockets" : ["one", "two"] + }, + two: { + "x": 306.2, //306.2 + "y": 100, //100 + "w": 180 , //180 + "decalage" : [], + "init" : 0, + "rockets" : ["three", "four"] + } } + if (this.color == "yellow"){ - this.hokuyoPositions = { - one: { - "x": -6.2, //-6.2 - "y": -6.2, //-6.2 - "w": 0 , //0 - "decalage" : [], - "init" : 0, //Nb de boucles de recalage - "rockets" : ["one", "two"] - }, - two: { - "x": 306.2, //306.2 - "y": 100, //100 - "w": 180, //180 - "decalage" : [], - "init" : 0, - "rockets" : ["three", "four"] - } - } + this.hokuyoPositions.one = this.convertXA(this.hokuyoPositions.one); + this.hokuyoPositions.two = this.convertXA(this.hokuyoPositions.two); } @@ -167,9 +158,10 @@ module.exports = (function () { Lidar.prototype.start = function(color) { this.color = color; this.started = true; + this.lastCartSpots = {}; this.changeStatus("error"); // as far as we do not receive hokuyo data logger.info("Started as " + this.color); - this.setColor() //assigne une position à chaque hokuyo en fonction de la couleur du robot + this.setColor(); //assigne une position à chaque hokuyo en fonction de la couleur du robot }; @@ -267,8 +259,13 @@ module.exports = (function () { if (this.hokuyoPositions[hokuyoName].init != 0){ this.calibration(spots, hokuyoName) } - // Save + if (!!this.lastCartSpots[hokuyoName] + && !this.lastCartSpots[hokuyoName].isWorking()) { + logger.warn("Hearing from " + hokuyoName + " for the first time since " + (Date.now() - this.lastCartSpots[hokuyoName].time) + " ms"); + } + + // Save this.lastCartSpots[hokuyoName] = {}; this.lastCartSpots[hokuyoName].isWorking = function() { return Date.now() - this.time < 2 * DELTA_T; }; // we had some data no long ago this.lastCartSpots[hokuyoName].time = Date.now(); @@ -294,18 +291,27 @@ module.exports = (function () { this.robotsSpots = this.findRobots(this.mergedSpots); this.displaySpots = this.prepareData(this.mergedSpots); //renvoie un tableau de coordonnées prêt à être affiché + let hokuyos = this.hokuyosWorking(); + // Prepare data let toBeSent = { - hokuyos: this.hokuyosWorking(), + hokuyos: hokuyos, cartesianSpots: this.displaySpots, robotsSpots: this.robotsSpots }; + // Prepare data + let toBeSentLight = { + hokuyos: hokuyos, + robotsSpots: this.robotsSpots + }; + // Send it to AI if(this.status == "error"){ logger.warn("Fell in an error while computing !"); } else { this.send("lidar.all", toBeSent); + this.send("lidar.light", toBeSentLight); this.lastDataSent = Date.now(); } } @@ -327,7 +333,7 @@ module.exports = (function () { "position": this.hokuyoPositions[hokName] }); } else { - logger.warn("Haven't heard from " + hokName + " since " + (Date.now() - lastData[hokName].time)); + logger.warn(hokName + " not working since " + (Date.now() - lastData[hokName].time)); } } diff --git a/lidar/main.js b/lidar/main.js index 2fd0cfd..679bb6b 100644 --- a/lidar/main.js +++ b/lidar/main.js @@ -58,7 +58,7 @@ if (hokMng.started) { hokMng.onHokuyoPolar(params.hokuyo, params.polarSpots); } else { - logger.warn("Start the Lidar before sending data !"); + // logger.warn("Start the Lidar before sending data !"); } break; case "shutdown": From ee10358caf260cfa3e4a070ee91c9aa59cb93f04 Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 14:07:36 +0200 Subject: [PATCH 71/74] Two level spam list --- server/server.class.js | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/server/server.class.js b/server/server.class.js index 38b9d67..4146831 100644 --- a/server/server.class.js +++ b/server/server.class.js @@ -88,7 +88,8 @@ module.exports = (function () { 'hokuyo': false } - this.spamList = ["hokuyo.polar_raw_data", "lidar.all", 'logger', 'utcoupe', 'simulateur', 'gr.pos', 'pr.pos']; + this.spamListLevel1 = ["lidar.all", 'utcoupe', 'simulateur', 'gr.pos', 'pr.pos']; + this.spamListLevel2 = ["hokuyo.polar_raw_data"]; // When the client is connected @@ -172,9 +173,14 @@ module.exports = (function () { // The order is valid // logger.info("Data " +data.name+ " from " +data.from+ " to " +data.to); if (!this.verbose && - this.spamList.indexOf(data.name) != -1) { + this.spamListLevel1.concat(this.spamListLevel2).indexOf(data.name) != -1) { + // Verbose mode level 1 : send most of spam messages + this.server.to(data.to).emit('order', data); + } else if (this.spamListLevel2.indexOf(data.name) != -1) { + // Not verbose, don't copy level 2 spam message to webclients this.server.to(data.to).emit('order', data); } else { + // Not verbose, copy to all regular messages this.server.to('webclient').to(data.to).emit('order', data); } } From 8773518eb33c69d0b20125bc26e452b01903dc0d Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 14:08:49 +0200 Subject: [PATCH 72/74] Lights lidar messages --- webclient/pages/hokuyo/hokuyo.js | 13 +++++++++++ webclient/pages/hokuyo/hokuyoDisplay.class.js | 14 +++++++----- webclient/pages/orders/orders.js | 22 ++++++++++--------- 3 files changed, 33 insertions(+), 16 deletions(-) diff --git a/webclient/pages/hokuyo/hokuyo.js b/webclient/pages/hokuyo/hokuyo.js index b1a4946..75bee5a 100644 --- a/webclient/pages/hokuyo/hokuyo.js +++ b/webclient/pages/hokuyo/hokuyo.js @@ -146,6 +146,19 @@ angular.module('app').service('Hokuyo', ['$rootScope', '$sce', 'Client', if (!this.displays.main.isBusy) { this.displays.main.updateAll(data.hokuyos, data.robotsSpots, data.cartesianSpots); } + } else if (name == 'lidar.light' + && !!this.displays.main) { + // Save for later + this.lastData.main = {}; + this.lastData.main.hokuyos = data.hokuyos; + this.lastData.main.robotsSpots = data.robotsSpots; + + // console.log("Received all"); + + // Show + if (!this.displays.main.isBusy) { + this.displays.main.updateAll(data.hokuyos, data.robotsSpots, null); + } } else if (name == 'lidar.robots' && !!this.displays.main) { // this.displays.main.updateRobots(data.robots); diff --git a/webclient/pages/hokuyo/hokuyoDisplay.class.js b/webclient/pages/hokuyo/hokuyoDisplay.class.js index 93c4451..2927dca 100644 --- a/webclient/pages/hokuyo/hokuyoDisplay.class.js +++ b/webclient/pages/hokuyo/hokuyoDisplay.class.js @@ -252,12 +252,14 @@ class HokuyoDisplay { } // console.log(cartesianSpots); - for(let spot of cartesianSpots) { - this.objects.push( this.r.circle(spot[0], spot[1], this.dotRadius).attr({ - stroke: this.dotColor, - fill: this.dotColor, - transform: "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0", - "fill-opacity": .4}) ); + if (!!cartesianSpots) { + for(let spot of cartesianSpots) { + this.objects.push( this.r.circle(spot[0], spot[1], this.dotRadius).attr({ + stroke: this.dotColor, + fill: this.dotColor, + transform: "t," + this.center.str + "s" + this.viewportScale + "," + this.viewportScale + ",0,0", + "fill-opacity": .4}) ); + } } this.isBusy = false; diff --git a/webclient/pages/orders/orders.js b/webclient/pages/orders/orders.js index 77c8ff2..6e109ca 100644 --- a/webclient/pages/orders/orders.js +++ b/webclient/pages/orders/orders.js @@ -10,16 +10,18 @@ angular.module('app').service('Orders', ['$rootScope', 'Client', function($rootS Client.order(function (from, name, data, to) { // Be careful, some orders are filtered by the server, set verbose mode to see them or go to server.server.class.js:175 - this.orders.unshift({ - from: from, - name: name, - data: JSON.stringify(data), - to: to, - }); - if(this.orders.length > 500) - this.orders.pop(); - if($rootScope.act_page == 'orders') { - $rootScope.$apply(); + if (name != "logger") { + this.orders.unshift({ + from: from, + name: name, + data: JSON.stringify(data), + to: to, + }); + if(this.orders.length > 500) + this.orders.pop(); + if($rootScope.act_page == 'orders') { + $rootScope.$apply(); + } } }.bind(this)); }; From 9b2db5b19fbf5b8ce1a778f9099ab23d1e745a4a Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 14:13:14 +0200 Subject: [PATCH 73/74] Bug on socketio-client path fixed --- webclient/webclient.html | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/webclient/webclient.html b/webclient/webclient.html index c9bcdd2..4a57bf8 100644 --- a/webclient/webclient.html +++ b/webclient/webclient.html @@ -13,7 +13,7 @@ - + From d4a6cce27cbbfe996bf9cb416eaa35f36dfcbeca Mon Sep 17 00:00:00 2001 From: Mewen MICHEL Date: Sun, 7 May 2017 14:22:55 +0200 Subject: [PATCH 74/74] Added tmp.bmp and config.js in gitignore --- .gitignore | 4 ++++ config.js | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 602acf0..70e8b82 100644 --- a/.gitignore +++ b/.gitignore @@ -33,6 +33,10 @@ cmake-build-debug/ bin/ doc/ +# UTCoupe files +tmp.bmp +config.js + # Some other files *get_distance *get_distance_intensity diff --git a/config.js b/config.js index 3189424..2eb81a7 100644 --- a/config.js +++ b/config.js @@ -6,7 +6,7 @@ */ module.exports = { - "server": "127.0.0.1:3128" + "server": "127.0.0.1:3128", // "server": "192.168.1.131:3128", "hokuyo_command": "$UTCOUPE_WORKSPACE/bin/hokuyo" }