Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
7 changed files
with
224 additions
and
158 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,61 +1,82 @@ | ||
| process.title = 'petbot_local'; | ||
|
|
||
| var config = require('../common/config'); | ||
| var client = require('socket.io-client'); | ||
| var _ = require('underscore'); | ||
|
|
||
| var LocalServer = function () { | ||
| this.socket = client.connect(config.HOST); | ||
| this.BOARD_LOW = 0; | ||
| this.BOARD_HIGH = 1; | ||
| this.pinMap = {}; | ||
| }; | ||
|
|
||
| LocalServer.prototype.handleSignal = function (data) { | ||
| var self = this; | ||
| if (data.name == 'killswitch') { | ||
| self.kill(); | ||
| } else { | ||
| var level = (data.active) ? self.BOARD_HIGH : self.BOARD_LOW; | ||
| self.write(data.name, level); | ||
| var T = require('tbone').tbone; | ||
| var tbone = T; | ||
|
|
||
| var servers = tbone.collections.base.make({ | ||
| lookupById: true | ||
| }); | ||
|
|
||
| var localServer = tbone.make(); | ||
| T('servers', servers); | ||
|
|
||
| localServer('drive', function () { | ||
| var driving = _.filter(_.pluck(T('servers') || {}, 'drive'), function (drive) { | ||
| return drive && (!!drive.right || !!drive.forward); | ||
| }); | ||
| return driving.length === 0 ? {} : driving[0]; | ||
| }); | ||
| localServer('awake', function () { | ||
| return _.keys(T('servers')).length > 0; | ||
| }); | ||
|
|
||
| var nextId = 1; | ||
| var socket = client.connect(config.HOST, { transports: ['xhr-polling'] }); | ||
| socket.on('connect', function() { | ||
| var me = tbone.make(); | ||
| me('id', nextId++); | ||
| servers.add(me); | ||
|
|
||
| console.log('connected to remote server'); | ||
| socket.emit('clientId', {id: config.DEVICE_ID}); | ||
|
|
||
| // Expect the server to say "keepDriving" every ~500 ms. | ||
| var driveTimeout; | ||
| function stopDrivingAfterTimeout() { | ||
| if (driveTimeout) { | ||
| clearTimeout(driveTimeout); | ||
| } | ||
| driveTimeout = setTimeout(function () { | ||
| me('drive', {}); | ||
| }, 1000); | ||
| } | ||
| } | ||
|
|
||
| LocalServer.prototype.sleep = function () { | ||
| console.log('local server is idle'); | ||
| } | ||
|
|
||
| LocalServer.prototype.wake = function () { | ||
| console.log('local server is awake'); | ||
| } | ||
|
|
||
| LocalServer.prototype.write = function (direction, level) { | ||
| console.log('direction ' + direction + ' at level ' + level); | ||
| } | ||
|
|
||
| LocalServer.prototype.kill = function () { | ||
| var self = this; | ||
| console.log('KILLSWITCH ENGAGE'); | ||
| _.each(pinMap, function (k, v) { | ||
| self.write(v.pin, self.BOARD_LOW) | ||
| }); | ||
| } | ||
|
|
||
| LocalServer.prototype.run = function () { | ||
| var self = this; | ||
| self.socket.on('connect', function() { | ||
| console.log('connected to remote server'); | ||
| self.socket.emit('clientId', {id: config.DEVICE_ID}); | ||
|
|
||
| self.wake(); | ||
|
|
||
| self.socket.on('direction', function(data) { | ||
| self.handleSignal(data); | ||
| }); | ||
| socket.on('drive', function(data) { | ||
| me('drive', data); | ||
| stopDrivingAfterTimeout(); | ||
| }); | ||
| socket.on('keepDriving', function () { | ||
| stopDrivingAfterTimeout(); | ||
| }); | ||
| T(function () { | ||
| if (!socket.disconnected) { | ||
| socket.emit('pins', localServer('pins')); | ||
| } | ||
| }); | ||
| T(function () { | ||
| if (!socket.disconnected) { | ||
| socket.emit('drive', localServer('drive')); | ||
| } | ||
| }); | ||
|
|
||
| self.socket.on('disconnect', function() { | ||
| console.log('disconnected from remote server'); | ||
| self.sleep(); | ||
| }); | ||
| socket.on('disconnect', function() { | ||
| console.log('disconnected from remote server'); | ||
| servers.remove(me); | ||
| }); | ||
| }; | ||
| }); | ||
|
|
||
| require('./' + process.env.LOCAL_SERVER + '.js')(localServer); | ||
|
|
||
| module.exports = LocalServer; | ||
| // Gracefully shutdown on SIGHUP | ||
| process.on('SIGHUP', function () { | ||
| try { | ||
| socket.disconnect(function() { | ||
| process.exit(0); | ||
| }); | ||
| } catch(e) { | ||
| process.exit(0); | ||
| } | ||
| }); |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| var T = require('tbone').tbone; | ||
| var tbone = T; | ||
|
|
||
| module.exports = function (me) { | ||
| T(function () { | ||
| var drive = me('drive'); | ||
| me('pins.right', drive.right === 1 ? 5 : 0); | ||
| me('pins.left', drive.right === -1 ? 5 : 0); | ||
| me('pins.forward', drive.forward === 1 ? 5 : 0); | ||
| me('pins.backward', drive.forward === -1 ? 5 : 0); | ||
| }); | ||
| T(function () { | ||
| me('pins.ready', !!me('awake')); | ||
| }); | ||
| }; |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.