Feature/web app organization

BoneCentral/Brain/AI/test.js

@@ -0,0 +1,8 @@
+var Poseidon = require('../app.js');
+
+var power = Poseidon.HardwareFactory.createPowerManager();
+
+setTimeout(function() {
+    power.exit();
+    process.exit();
+}, 10000);

BoneCentral/Brain/CppInterface/Factory.js

@@ -2,41 +2,37 @@
  * Created by Nathan Copier on 4/28/2016.
  */
 
-var HeadLights = require("./Headlights");
-var PowerManager = require("./PowerManager");
-var ThrustController = require("./ThrustController");
-var CppLogSource = require("./CppLogSource");
-var ImuSensor = require("./ImuSensor");
-var Sockets = require('../Sockets');
-var Ports = require('../Sockets/Ports.json');
+var HeadLights          = require("./Headlights");
+var PowerManager        = require("./PowerManager");
+var ThrustController    = require("./ThrustController");
+var ImuSensor           = require("./ImuSensor");
+var CppLogSource        = require("./CppLogSource");
 
 module.exports = (function() {
-
-    var logSocket = Sockets.createSocket(Ports.LoggerPort);
-    var dispatcherSocket = Sockets.createSocket(Ports.DispatcherPort);
-
-    function Factory() {}
+    function Factory(dispatcherSocket, logSocket) {
+        this.dispatcherSocket   = dispatcherSocket;
+        this.logSocket          = logSocket;
+    }
 
     Factory.prototype.createCppLogSource = function (loggerOutput) {
-        return new CppLogSource(logSocket.Output, loggerOutput)
+        return new CppLogSource(this.logSocket.Output, loggerOutput)
     };
 
     Factory.prototype.createHeadlights = function () {
-        return new HeadLights(dispatcherSocket.Input);
+        return new HeadLights(this.dispatcherSocket.Input);
     };
 
     Factory.prototype.createImuSensor = function () {
-        return new ImuSensor(dispatcherSocket.Output, dispatcherSocket.Input);
+        return new ImuSensor(this.dispatcherSocket.Output, this.dispatcherSocket.Input);
     };
 
     Factory.prototype.createPowerManager = function () {
-        return new PowerManager(dispatcherSocket.Input);
+        return new PowerManager(this.dispatcherSocket.Input);
     };
 
     Factory.prototype.createThrustController = function () {
-        return new ThrustController(dispatcherSocket.Input);
+        return new ThrustController(this.dispatcherSocket.Input);
     };
 
     return Factory;
-
 })();

BoneCentral/Brain/CppInterface/PeripheralsProcess.js

@@ -3,8 +3,8 @@
  */
 
 var Spawner = require("child_process");
-var Path = require("path");
-var Ports = require("../Sockets/Ports.json");
+var Path    = require("path");
+var Ports   = require("../Sockets/Ports.json");
 
 var initialize = function () {
     var args = [

BoneCentral/Brain/CppInterface/index.js

@@ -9,5 +9,5 @@ module.exports = {
     CppLogSource: require("./CppLogSource"),
     ImuSensor: require("./ImuSensor"),
     Factory: require("./Factory"),
-    Peripherals: require("./PeripheralsProcess")
+    Process: require("./PeripheralsProcess")
 };

BoneCentral/Brain/app.js

@@ -0,0 +1,24 @@
+var Config              = require('./config.json');
+var Ports               = require('./Sockets/Ports.json');
+var Sockets             = require('./Sockets');
+var Peripherals        	= require('./CppInterface/PeripheralsProcess.js');
+var HardwareFactory     = require('./CppInterface/Factory.js');
+var Vision              = require('./VisionInterface');
+
+var server              = Sockets.createSocket(Ports.DispatcherPort);
+var logServer           = Sockets.createSocket(Ports.LoggerPort);
+var hardwareFactory     = new HardwareFactory(server, logServer);
+var visionFactory       = new Vision.Factory();
+
+if(Config.appStartMode === "auto") {
+    Peripherals.initialize();
+}
+else {
+    console.log("Entering manual mode: run './Periphers --dispatcherPort="+
+        Ports.DispatcherPort+" --loggerPort="+Ports.LoggerPort+"'");
+}
+
+module.exports = {
+    HardwareFactory:    hardwareFactory,
+    VisionFactory:      visionFactory
+};

BoneCentral/Brain/config.json

@@ -0,0 +1,3 @@
+{
+    "appStartMode":"manual"
+}

BoneCentral/Brain/config.txt

@@ -0,0 +1,5 @@
+appStartMode:
+    manual  - The js app is started seperately from the c++ app. (The user must
+            manualy start the c++ app after starting the js app.)
+    auto    - The js app starts concurrently with the c++ app as if they were
+            one.

BoneCentral/WebApplication/hardware.js

@@ -0,0 +1,137 @@
+var fileSystem      	= require('fs');
+var path        		= require("path");
+var Poseidon    		= require('../Brain/app.js');
+
+var WebLogger       	= require('./WebLogger');
+var FileLogger      	= require('./FileLogger');
+
+var fileLogger 		  	= new FileLogger("./test.log");
+var webLogger 			= new WebLogger(fileLogger);
+
+var thrustController    = Poseidon.HardwareFactory.createThrustController();
+var powerManager 		= Poseidon.HardwareFactory.createPowerManager();
+var imuSensor 			= Poseidon.HardwareFactory.createImuSensor();
+var headLights 			= Poseidon.HardwareFactory.createHeadlights();
+
+function DMSG(x) {
+    console.log(x);
+}
+
+module.exports = {
+    pullWebLog: function() {
+        return webLogger.pull();
+    },
+
+    move: function(value) {
+        DMSG("Moving: " + value);
+        thrustController.move(value);
+    },
+    dive: function(value) {
+        DMSG("Diving: " + value);
+        thrustController.dive(value);
+    },
+    secondaryDive: function(value) {
+        DMSG("Diving2: " + value);
+        thrustController.secondaryDive(value);
+    },
+    yaw: function(value) {
+        DMSG("Yawing: " + value);
+        thrustController.yaw(value);
+    },
+    pitch: function(value) {
+        DMSG("Pitching: " + value);
+        thrustController.pitch(value);
+    },
+    roll: function(value) {
+        DMSG("Rolling: " + value);
+        thrustController.roll(value);
+    },
+    goDirection: function(move, dive, dive2) {
+        DMSG("Go Direction: " + move + ", " + dive2 + ", " + dive);
+        thrustController.goDirection(move, dive2, dive);
+    },
+    rotate: function(yaw, pitch, roll) {
+        DMSG("Rotate: " + yaw + ", " + pitch + ", " + roll);
+        thrustController.rotate(yaw, pitch, roll);
+    },
+    killThrust: function() {
+        DMSG("Kill Thrusters");
+        thrustController.kill();
+    },
+
+    turnOnImu: function() {
+        powerManager.turnOnImu();
+    },
+    turnOffImu: function() {
+        powerManager.turnOffImu();
+    },
+    getAcceleration: function() {
+        imuSensor.getAcceleration().done(function(accel) {
+            webLogger.info("Acceleration: " + JSON.stringify(accel));
+        });
+    },
+    getAngularAcceleration: function() {
+        imuSensor.getAngularAcceleration().done(function(accel) {
+            webLogger.info("Angular Acceleration: " + JSON.stringify(accel));
+        });
+    },
+    getHeading: function() {
+        imuSensor.getHeading().done(function(heading) {
+            webLogger.info("Heading: " + JSON.stringify(heading));
+        });
+    },
+    getInternalTemperature: function() {
+        imuSensor.getInternalTemperature().done(function(temperature) {
+            webLogger.info("Internal Temperature: " + JSON.stringify(temperature));
+        });
+    },
+    getExternalTemperature: function() {
+        imuSensor.getExternalTemperature().done(function(temperature) {
+            webLogger.info("External Temperature: " + JSON.stringify(temperature));
+        });
+    },
+    getInternalPressure: function() {
+        imuSensor.getInternalPressure().done(function(pressure) {
+            webLogger.info("Internal Pressure: " + JSON.stringify(pressure));
+        });
+    },
+    getExternalPressure: function() {
+        imuSensor.getExternalPressure().done(function(pressure) {
+            webLogger.info("External Pressure: " + JSON.stringify(pressure));
+        });
+    },
+
+    exit: function() {
+        powerManager.exit();
+    	process.exit();
+    },
+
+    turnOnEscs: function() {
+        DMSG("Turn On Escs");
+        powerManager.turnOnEscs();
+    },
+    turnOffEscs: function() {
+        DMSG("Turn Off Escs");
+        powerManager.turnOffEscs();
+    },
+
+    toggleLights: function() {
+        DMSG("Toggle Lights");
+        headLights.toggleLights();
+    },
+
+    runScript: function(index) {
+        fileSystem.readdir("./TestScripts", function (err, fileNames) {
+    		if(fileNames[index]) {
+                var filePath = path.resolve("TestScripts", fileNames[index]);
+                if(require.cache[filePath]) delete require.cache[filePath];
+    			var script = require(filePath);
+                script.execute(thrustController, imuSensor, webLogger, headLights, powerManager);
+    			return ('ran ' + fileNames[index]);
+    		}
+    		else {
+    			return ('script not found');
+    		}
+    	})
+    }
+};