@robotical/sensors-dashboard/dist/utils/get-addons-list.js

A dashboard tool for depicting Marty data by Robotical

"use strict";

Object.defineProperty(exports, "__esModule", {
  value: true
});
exports.default = getAllAddonsList;
require("core-js/modules/web.dom-collections.iterator.js");
require("core-js/modules/es.array.includes.js");
require("core-js/modules/es.string.includes.js");
var _Addon = _interopRequireDefault(require("../models/addons/Addon"));
var _AddonSub = _interopRequireDefault(require("../models/addons/AddonSub"));
var _addonNames = require("./types/addon-names");
var _excludedAddons = _interopRequireDefault(require("./constants/excluded-addons"));
var _servoNames = _interopRequireDefault(require("./constants/servo-names"));
var _renameValueLabel = _interopRequireDefault(require("./rename-value-label"));
var _whoAmINames = _interopRequireDefault(require("./constants/whoAmI-names"));
var _raft = require("@robotical/webapp-types/dist-types/src/types/raft");
function _interopRequireDefault(e) { return e && e.__esModule ? e : { default: e }; }
/* Marty */

function getAddonsListMarty(addons) {
  const addonsNormalised = [];
  for (const addon of addons) {
    const whoAmI = (0, _whoAmINames.default)(addon.whoAmI);
    if (_excludedAddons.default.includes(whoAmI)) continue;
    const subAddons = [];
    for (const valKey in addon.vals) {
      // @ts-ignore
      const value = addon.vals[valKey];
      // if (typeof value === "number") {
      const addonInputName = (0, _renameValueLabel.default)(valKey, addon.name);
      subAddons.push(new _AddonSub.default(addonInputName, value));
      // }
    }
    addonsNormalised.push(new _Addon.default(whoAmI, subAddons));
  }
  return addonsNormalised;
}
function getServosListMarty(servos) {
  const smartServos = servos.smartServos;
  const posAddonSub = [];
  const currAddonSub = [];
  const addonsNormalised = [];
  for (const servo of smartServos) {
    posAddonSub.push(new _AddonSub.default(_servoNames.default[servo.id], servo.pos));
    currAddonSub.push(new _AddonSub.default(_servoNames.default[servo.id], servo.current));
  }
  addonsNormalised.push(new _Addon.default(_addonNames.MOTOR_POSITION_NAME, posAddonSub));
  addonsNormalised.push(new _Addon.default(_addonNames.MOTOR_CURRENT_NAME, currAddonSub));
  return addonsNormalised;
}
function getAccelListMarty(accel) {
  const addonSubs = [new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_X, accel.x), new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_Y, accel.y), new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_Z, accel.z)];
  return [new _Addon.default(_addonNames.ACCELEROMETER_NAME, addonSubs)];
}
function getAllAddonsListMarty(marty) {
  const stateInfo = marty.raftStateInfo;
  const addons = stateInfo.addOnInfo.addons;
  const servos = stateInfo.smartServos;
  const accel = stateInfo.imuData.accel;
  let addons_ = [];
  let servos_ = [];
  let accel_ = [];
  // let magneto_: Addon[] = [];
  try {
    addons_ = getAddonsListMarty(addons);
  } catch (e) {
    console.log(e);
  }
  try {
    servos_ = getServosListMarty(servos);
  } catch (e) {
    console.log(e);
  }
  try {
    accel_ = getAccelListMarty(accel);
  } catch (e) {
    console.log(e);
  }

  // try {
  //   magneto_ = getMagnetoList(magneto);
  // } catch (e) {
  //   console.log(e);
  // }

  return addons_.concat(servos_).concat(accel_);
}

/* Cog */
function getAllAddonsListCog(cog) {
  if (!cog.raftStateInfo) {
    return [];
  }
  const light = cog.raftStateInfo.light;
  const accel = cog.raftStateInfo.accelerometer;
  let light_ = [];
  let accel_ = [];
  try {
    light_ = getLightListCog(light);
  } catch (e) {
    console.log(e);
  }
  try {
    accel_ = getAccelListCog(accel);
  } catch (e) {
    console.log(e);
  }
  try {
    const cogState = cog.publishedDataAnalyser.cogState;
    const cogStateList = getCogStateList(cogState);
    return light_.concat(accel_).concat(cogStateList);
  } catch (e) {
    console.log(e);
  }
  return light_.concat(accel_);
}
function getCogStateList(cogState) {
  const addonSubs = [new _AddonSub.default(_addonNames.COG_TILT_NAME, cogState.tilt), new _AddonSub.default(_addonNames.COG_MOVEMENT_TYPE_NAME, cogState.movementType), new _AddonSub.default(_addonNames.COG_BUTTON_CLICK_NAME, cogState.buttonClick), new _AddonSub.default(_addonNames.COG_OBJECT_SENSE_NAME, cogState.objectSense), new _AddonSub.default(_addonNames.COG_LIGHT_SENSE_NAME, cogState.lightSense)];
  return [new _Addon.default(_addonNames.COG_STATE_NAME, addonSubs)];
}
function getAccelListCog(accel) {
  const addonSubs = [new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_X, accel.ax), new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_Y, accel.ay), new _AddonSub.default(_addonNames.ACCELEROMETER_NAME_Z, accel.az)];
  return [new _Addon.default(_addonNames.ACCELEROMETER_NAME, addonSubs)];
}
function getLightListCog(light) {
  const addonSubs = [new _AddonSub.default(_addonNames.COG_LIGHT_AMB, light.amb0), new _AddonSub.default(_addonNames.COG_IR_LEFT, light.ir0), new _AddonSub.default(_addonNames.COG_IR_RIGHT, light.ir1), new _AddonSub.default(_addonNames.COG_IR_BUTTON, light.ir2)];
  return [new _Addon.default(_addonNames.COG_LIGHT_NAME, addonSubs)];
}
function getAllAddonsList(raft) {
  if (raft.type === _raft.RaftTypeE.COG) {
    return getAllAddonsListCog(raft);
  } else {
    return getAllAddonsListMarty(raft);
  }
}