Virtually all actuators working (short circuit on continuous servo)

utcoupe · May 23, 2017 · c8ac25a · c8ac25a
1 parent aebf958
commit c8ac25a
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Showing 4 changed files with 34 additions and 6 deletions.
diff --git a/clients/actuators/ax12.real.js b/clients/actuators/ax12.real.js
@@ -81,8 +81,9 @@ class Ax12Real extends Ax12 {
                 }
                 // this.ordersSerial.sendOrder(this.actuatorCommands.PARAMETER, [], callback);
                 this.logger.debug("INIT movements")
-                this.ordersSerial.sendOrder(this.actuatorCommands.AX12_ONE, [this.actuatorCommands.PR_MODULE_GRABBER], () => {});
+                this.ordersSerial.sendOrder(this.actuatorCommands.AX12_ONE, [this.actuatorCommands.PR_MODULE_GRABBER], () => {
                     this.ordersSerial.sendOrder(this.actuatorCommands.AX12_INIT, [this.actuatorCommands.PR_MODULE_GRABBER], () => {});
+                });
 
                 this.ordersSerial.sendOrder(this.actuatorCommands.AX12_ONE, [this.actuatorCommands.PR_MODULE_DUMMY], () => {
                    this.ordersSerial.sendOrder(this.actuatorCommands.AX12_INIT, [this.actuatorCommands.PR_MODULE_DUMMY], () => {});
@@ -140,7 +141,7 @@ class Ax12Real extends Ax12 {
 
     stop() {
         // this.logger.error("TODO: AX12 real stop()");
-        if (this.stdStreamConnected) {
+        if (this.stdStreamConnected && !!this.ordersSerial) {
             this.ordersSerial.sendOrder(this.actuatorCommands.HALT, []);
         } else {
             this.logger.error("TODO: AX12 real stop()");

diff --git a/clients/actuators/servo.real.js b/clients/actuators/servo.real.js
@@ -52,6 +52,27 @@ class ServoReal extends Servo {
                 if (receivedCommand.indexOf("0;") == 0) {
                     this.serialPortConnected = true;
                     this.ordersSerial = require("../shared/orders.serial")(this.serialPort);
+
+
+                    this.logger.debug("INIT movements")
+                    this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_OPEN, [this.actuatorCommands.PR_MODULE_ARM_ROTATE], () => {
+                        this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_CLOSE, [this.actuatorCommands.PR_MODULE_ARM_ROTATE], () => {});
+                    });
+                    this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_CLOSE, [this.actuatorCommands.PR_MODULE_ARM], () => {
+                        this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_OPEN, [this.actuatorCommands.PR_MODULE_ARM], () => {});
+                    });
+
+                    this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_OPEN, [this.actuatorCommands.PR_MODULE_DROP_R], () => {
+                        this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_CLOSE, [this.actuatorCommands.PR_MODULE_DROP_R], () => {});
+                    });
+                    this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_OPEN, [this.actuatorCommands.PR_MODULE_DROP_L], () => {
+                        this.ordersSerial.sendOrder(this.actuatorCommands.SERVO_CLOSE, [this.actuatorCommands.PR_MODULE_DROP_L], () => {});
+
+                    });
+
+
+
+
                 }
             }
         }

diff --git a/clients/extension/baseconstructor.js b/clients/extension/baseconstructor.js
@@ -101,14 +101,14 @@ class BaseConstructor extends Extension {
                     this.nbModulesToDrop--;
                 } else {
                     this.logger.error("Aucun module à déposer !");
-                    this.fifo.orderFinished();
+                    // this.fifo.orderFinished();
                 }
                 this.servos.moduleDrop( () => {
-                    this.logger.fatal("Entering in moduleDrop callback");
                     this.fifo.orderFinished();
                 });
                 this.fifo.newOrder(() => {
                     this.sendDataToIA("pr.module--", {});
+                    this.fifo.orderFinished();
                 }, "sendModule--");
                 break;
             case "engage":
@@ -241,7 +241,7 @@ class BaseConstructor extends Extension {
         if (this.color != "null")
             this.fifo.newOrder(() => {
                 this.processFifoOrder("rotate", {color: this.color})
-            });
+            }, "rotate");
 
     }
 

diff --git a/clients/shared/fifo.js b/clients/shared/fifo.js
@@ -19,6 +19,8 @@ class Fifo {
 	constructor() {
 		this.logger = require('log4js').getLogger('Fifo');
 		this.clean();
+
+		this.current_order_name = null;
 	}
 
 	/**
@@ -29,12 +31,15 @@ class Fifo {
 		this.fifo = [];
 		/** @type {boolean} */
 		this.order_in_progress = false;
+		this.current_order_name = null;
 	}
 
 	/**
 	 * Fonction à appeler lorsque un ordre est terminé. Cette fonction invoque directement l'ordre suivant (si il existe)
 	 */
 	orderFinished () {
+		this.logger.info(this.current_order_name + " done !");
+		this.current_order_name = null;
 		this.order_in_progress = false;
 		this.nextOrder();
 	}
@@ -62,7 +67,8 @@ class Fifo {
 			// logger.debug(this.fifo.length);
 			this.order_in_progress = true;
 			var object = this.fifo.shift();
-			// logger.debug("Calling : "+object.name);
+			this.current_order_name = object.name;
+			this.logger.info("Doing "+this.current_order_name);
 			object.callback();
 		}
 	}