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comperatorClient.js
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comperatorClient.js
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"use strict";
var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
return new (P || (P = Promise))(function (resolve, reject) {
function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
step((generator = generator.apply(thisArg, _arguments || [])).next());
});
};
var __generator = (this && this.__generator) || function (thisArg, body) {
var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;
return g = { next: verb(0), "throw": verb(1), "return": verb(2) }, typeof Symbol === "function" && (g[Symbol.iterator] = function() { return this; }), g;
function verb(n) { return function (v) { return step([n, v]); }; }
function step(op) {
if (f) throw new TypeError("Generator is already executing.");
while (g && (g = 0, op[0] && (_ = 0)), _) try {
if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
if (y = 0, t) op = [op[0] & 2, t.value];
switch (op[0]) {
case 0: case 1: t = op; break;
case 4: _.label++; return { value: op[1], done: false };
case 5: _.label++; y = op[1]; op = [0]; continue;
case 7: op = _.ops.pop(); _.trys.pop(); continue;
default:
if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }
if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }
if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }
if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }
if (t[2]) _.ops.pop();
_.trys.pop(); continue;
}
op = body.call(thisArg, _);
} catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }
if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };
}
};
Object.defineProperty(exports, "__esModule", { value: true });
var core_1 = require("@node-wot/core");
var binding_http_1 = require("@node-wot/binding-http");
var fs_1 = require("fs");
var pollingTime = 50;
var servient = new core_1.Servient();
servient.addClientFactory(new binding_http_1.HttpClientFactory());
servient.addClientFactory(new binding_http_1.HttpsClientFactory());
servient.addCredentials({
'esi:pantilt:1': {
username: "admin",
password: "hunter2",
}
});
function wait(ms) {
return new Promise(function (resolve) { return setTimeout(function () { resolve(); }, ms); });
}
var timeArray = [];
var pantiltPanPositionArray = [];
var pantiltTiltPositionArray = [];
var dtPanPositionArray = [];
var dtTiltPostionArray = [];
var time = 0;
servient.start().then(function (WoT) { return __awaiter(void 0, void 0, void 0, function () {
var dtTd, pantiltTd, dtThing, pantiltThing, interval, line;
return __generator(this, function (_a) {
switch (_a.label) {
case 0: return [4 /*yield*/, WoT.requestThingDescription('http://localhost:8080/machine')];
case 1:
dtTd = _a.sent();
return [4 /*yield*/, WoT.requestThingDescription('https://remotelab.esi.cit.tum.de:8081/PanTilt1')];
case 2:
pantiltTd = _a.sent();
return [4 /*yield*/, WoT.consume(dtTd)];
case 3:
dtThing = _a.sent();
return [4 /*yield*/, WoT.consume(pantiltTd)
// Home both first
];
case 4:
pantiltThing = _a.sent();
// Home both first
return [4 /*yield*/, dtThing.invokeAction('goHome')];
case 5:
// Home both first
_a.sent();
return [4 /*yield*/, pantiltThing.invokeAction('goHome')];
case 6:
_a.sent();
return [4 /*yield*/, wait(12000)
// Setup logging
];
case 7:
_a.sent();
interval = setInterval(function () { return __awaiter(void 0, void 0, void 0, function () {
var promises, _a, pantiltPanPositionOut, pantiltTiltPositionOut, dtPanPositionOut, dtTiltPostionOut, pantiltPanPosition, pantiltTiltPosition, dtPanPosition, dtTiltPostion;
return __generator(this, function (_b) {
switch (_b.label) {
case 0:
promises = [];
promises.push(pantiltThing.readProperty('panPosition'), pantiltThing.readProperty('tiltPosition'), dtThing.readProperty('panPosition'), dtThing.readProperty('tiltPosition'));
return [4 /*yield*/, Promise.all(promises)];
case 1:
_a = _b.sent(), pantiltPanPositionOut = _a[0], pantiltTiltPositionOut = _a[1], dtPanPositionOut = _a[2], dtTiltPostionOut = _a[3];
return [4 /*yield*/, pantiltPanPositionOut.value()];
case 2:
pantiltPanPosition = _b.sent();
return [4 /*yield*/, pantiltTiltPositionOut.value()];
case 3:
pantiltTiltPosition = _b.sent();
return [4 /*yield*/, dtPanPositionOut.value()];
case 4:
dtPanPosition = _b.sent();
return [4 /*yield*/, dtTiltPostionOut.value()];
case 5:
dtTiltPostion = _b.sent();
timeArray.push(time);
time = time + pollingTime;
pantiltPanPositionArray.push(pantiltPanPosition);
pantiltTiltPositionArray.push(pantiltTiltPosition);
dtPanPositionArray.push(parseFloat(dtPanPosition.toFixed(1)));
dtTiltPostionArray.push(parseFloat(dtTiltPostion.toFixed(1)));
return [2 /*return*/];
}
});
}); }, pollingTime);
return [4 /*yield*/, wait(1000)
// Pan with a speed of 15
];
case 8:
_a.sent();
// Pan with a speed of 15
dtThing.invokeAction('panContinuously', 15);
pantiltThing.invokeAction('panContinuously', 15);
// Stop after 3 seconds
return [4 /*yield*/, wait(3000)];
case 9:
// Stop after 3 seconds
_a.sent();
dtThing.invokeAction('stopMovement');
pantiltThing.invokeAction('stopMovement');
// wait for 0.5 seconds
return [4 /*yield*/, wait(500)
// Tilt with the speed of -8
];
case 10:
// wait for 0.5 seconds
_a.sent();
// Tilt with the speed of -8
dtThing.invokeAction('tiltContinuously', -8);
pantiltThing.invokeAction('tiltContinuously', -8);
// Stop after 3 seconds
return [4 /*yield*/, wait(3000)];
case 11:
// Stop after 3 seconds
_a.sent();
dtThing.invokeAction('stopMovement');
pantiltThing.invokeAction('stopMovement');
// wait for 0.5 seconds
return [4 /*yield*/, wait(500)
// Pan and tilt at the same time till max value
];
case 12:
// wait for 0.5 seconds
_a.sent();
// Pan and tilt at the same time till max value
dtThing.invokeAction('panContinuously', -10);
pantiltThing.invokeAction('panContinuously', -10);
dtThing.invokeAction('tiltContinuously', 12);
pantiltThing.invokeAction('tiltContinuously', 12);
return [4 /*yield*/, wait(10000)];
case 13:
_a.sent();
clearInterval(interval);
line = timeArray.join(',');
line = line + '\n';
line = line + pantiltPanPositionArray.join(',');
line = line + '\n';
line = line + pantiltTiltPositionArray.join(',');
line = line + '\n';
line = line + dtPanPositionArray.join(',');
line = line + '\n';
line = line + dtTiltPostionArray.join(',');
line = line + '\n';
line = line + '\n';
(0, fs_1.writeFileSync)('log.csv', line);
return [2 /*return*/];
}
});
}); });