fix simulation for gyro/acc

microsoft · Nov 6, 2023 · 7129d81 · 7129d81
1 parent 5978203
commit 7129d81
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Showing 3 changed files with 77 additions and 35 deletions.
diff --git a/packages/drivers/src/accelerometer.ts b/packages/drivers/src/accelerometer.ts
@@ -6,6 +6,7 @@ import {
 } from "@devicescript/server"
 import { AccelerometerServerSpec } from "@devicescript/core"
 import { AccelerometerConfig } from "@devicescript/servers"
+import { startSimulatorServer } from "./servers"
 
 // shake/gesture detection based on
 // https://github.com/lancaster-university/codal-core/blob/master/source/driver-models/Accelerometer.cpp
@@ -318,8 +319,40 @@ export async function startAccelerometer(
     driver: AccelerometerDriver,
     options: AccelerometerOptions & SensorServerOptions
 ): Promise<ds.Accelerometer> {
-    const server = new AccelerometerServer(driver, options)
-    const client = new ds.Accelerometer(startServer(server, options))
+    let roleName: string
+    if (ds.isSimulator() && !options.simOk)
+        roleName = startSimulatorServer({
+            name: options.roleName,
+            variant: () => options.variant,
+            spec: ds.Accelerometer.spec,
+        })
+    else {
+        const server = new AccelerometerServer(driver, options)
+        roleName = startServer(server, options)
+    }
+    const client = new ds.Accelerometer(roleName)
+    return client
+}
+
+/**
+ * Start an accelerometer. See also startIMU().
+ */
+export async function startGyroscope(
+    driver: GyroscopeDriver,
+    options: GyroscopeOptions & SensorServerOptions
+): Promise<ds.Gyroscope> {
+    let roleName: string
+    if (ds.isSimulator() && !options.simOk)
+        roleName = startSimulatorServer({
+            name: options.roleName,
+            variant: () => options.variant,
+            spec: ds.Gyroscope.spec,
+        })
+    else {
+        const server = new GyroscopeServer(driver, options)
+        roleName = startServer(server, options)
+    }
+    const client = new ds.Gyroscope(roleName)
     return client
 }
 
@@ -330,11 +363,8 @@ export async function startIMU(
     driver: AccelerometerDriver & GyroscopeDriver,
     options: AccelerometerOptions & GyroscopeOptions & SensorServerOptions
 ) {
-    const accelerometer = new ds.Accelerometer(
-        startServer(new AccelerometerServer(driver, options), options)
-    )
-    const gyroscope = new ds.Accelerometer(
-        startServer(new GyroscopeServer(driver, options), options)
-    )
+    const accelerometer = startAccelerometer(driver, options)
+    const gyroscope = startGyroscope(driver, options)
+
     return { accelerometer, gyroscope }
 }
diff --git a/packages/drivers/src/servers.ts b/packages/drivers/src/servers.ts
@@ -42,7 +42,7 @@ export interface SimpleSensorBaseOptions {
     minReading?(): ds.AsyncValue<number>
     maxReading?(): ds.AsyncValue<number>
     readingError?(): ds.AsyncValue<number>
-    variant?(): () => number
+    variant?: () => number
     errorFraction?: number
     errorValue?: number
     min?: number
@@ -56,43 +56,54 @@ export interface SimpleSensorOptions extends SimpleSensorBaseOptions {
     spec: ds.ServiceSpec
 }
 
-let simRoles: any
-
+let _simRoles: any
 function simRole(pref: string) {
     for (let i = 0; ; i++) {
         const k = pref + "_" + i
-        if (!simRoles[k]) {
-            simRoles[k] = true
+        if (!_simRoles[k]) {
+            _simRoles[k] = true
             return k
         }
     }
 }
 
+export interface SimulatorServerOptions {
+    errorValue?: number
+    min?: number
+    max?: number
+
+    baseName?: string
+    name?: string
+    variant?: () => number
+    spec: ds.ServiceSpec
+}
+
+export function startSimulatorServer(options: SimulatorServerOptions) {
+    if (!_simRoles) _simRoles = {}
+    let name = options.name
+    if (!name) {
+        if (options.baseName) name = options.baseName + "_" + options.spec.name
+        else name = simRole(options.spec.name)
+    } else _simRoles[name] = true
+    const keys: (keyof SimulatorServerOptions)[] = ["min", "max", "errorValue"]
+    let num = 0
+    for (const key of keys) {
+        if (options[key] !== undefined) addkv(key, options[key])
+    }
+    if (options.variant) addkv("variant", options.variant())
+    console.debug(`request sim: ${name}`)
+    return name
+
+    function addkv(key: string, value: any) {
+        name += (num === 0 ? "?" : "&") + key + "=" + value
+        num++
+    }
+}
+
 export function startSimpleServer(
     options: SimpleSensorOptions & ServerOptions
 ) {
-    if (ds.isSimulator() && !options.simOk) {
-        if (!simRoles) simRoles = {}
-        let name = options.name
-        if (!name) {
-            if (options.baseName)
-                name = options.baseName + "_" + options.spec.name
-            else name = simRole(options.spec.name)
-        } else simRoles[name] = true
-        const keys: (keyof SimpleSensorOptions)[] = ["min", "max", "errorValue"]
-        let num = 0
-        for (const key of keys) {
-            if (options[key] !== undefined) addkv(key, options[key])
-        }
-        if (options.variant) addkv("variant", options.variant())
-        console.debug(`request sim: ${name}`)
-        return name
-
-        function addkv(key: string, value: any) {
-            name += (num === 0 ? "?" : "&") + key + "=" + value
-            num++
-        }
-    }
+    if (ds.isSimulator() && !options.simOk) return startSimulatorServer(options)
     return startServer(new SimpleSensorServer(options), options)
 }
 

diff --git a/packages/server/src/servercore.ts b/packages/server/src/servercore.ts
@@ -8,6 +8,7 @@ type DsServer = typeof ds & {
 
 export interface ServerOptions {
     roleName?: string
+    simOk?: boolean
 }
 
 let eventWorker: SequentialWorker