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improve execute of stty. before stty executed always, when write byte to ttyacm, now once when mc connected

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This commit is contained in:
MaximZaitsev
2016-08-16 16:41:51 +03:00
parent ab85ccb5d8
commit 4c24366c54
2 changed files with 17 additions and 29 deletions
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car_srv/kotlinSrv/src/Car.kt
+14 -29
View File
@@ -5,9 +5,7 @@ import carControl.RouteExecutorImpl.MoveDirection
/**
* Created by user on 7/27/16.
*/
class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
val exec: dynamic
class Car constructor(val routeExecutor: RouteExecutor, val controller: Control) {
val velocityMove = 0.3278
val velocityRotation = 12.3
@@ -19,16 +17,11 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
var moveDirection: MoveDirection = MoveDirection.STOP
val routeExecutor: RouteExecutor
val controller: Control
init {
this.routeExecutor = routeExecutor
this.controller = controller
this.x = 0.0
this.y = 0.0
this.angle = 0.0
this.exec = require("child_process").exec
}
fun stopCar() {
@@ -61,29 +54,21 @@ class Car constructor(routeExecutor: RouteExecutor, controller: Control) {
fun move(moveDirection: MoveDirection, value: Int, callBack: () -> Unit) {
//value - angle for rotation command and distance for forward/backward command
val functionAfterStty = { error: dynamic, stdOut: dynamic, stdErr: dynamic ->
if (error != null) {
println("error in execute stty\n" + error.toString())
}
this.moveDirection = moveDirection
when (moveDirection) {
MoveDirection.STOP -> controller.stopCar()
MoveDirection.FORWARD -> controller.moveCarForward()
MoveDirection.BACKWARD -> controller.moveCarBackward()
MoveDirection.LEFT -> controller.moveCarLeft()
MoveDirection.RIGHT -> controller.moveCarRight()
}
if (moveDirection != MoveDirection.STOP) {
if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
controller.delay(getTimeForMoving(value, velocityMove), callBack)
} else {
controller.delay(getTimeForMoving(value, velocityRotation), callBack)
}
this.moveDirection = moveDirection
when (moveDirection) {
MoveDirection.STOP -> controller.stopCar()
MoveDirection.FORWARD -> controller.moveCarForward()
MoveDirection.BACKWARD -> controller.moveCarBackward()
MoveDirection.LEFT -> controller.moveCarLeft()
MoveDirection.RIGHT -> controller.moveCarRight()
}
if (moveDirection != MoveDirection.STOP) {
if (moveDirection == MoveDirection.FORWARD || moveDirection == MoveDirection.BACKWARD) {
controller.delay(getTimeForMoving(value, velocityMove), callBack)
} else {
controller.delay(getTimeForMoving(value, velocityRotation), callBack)
}
}
exec("stty -F ${MicroController.instance.transportFilePath} raw -echo -echoe -echok", functionAfterStty)
}
fun getTimeForMoving(value: Int, velocity: Double): Int {
car_srv/kotlinSrv/src/Udev.kt
+3
View File
@@ -4,9 +4,11 @@
class Udev {
val udev: dynamic
val exec: dynamic
init {
udev = require("udev")
exec = require("child_process").execSync
}
fun start() {
@@ -18,6 +20,7 @@ class Udev {
println("mc connected. transport file is " + device.DEVNAME)
microController.transportFilePath = device.DEVNAME;
mcTransport.initStreams(device.DEVNAME)
exec("stty -F ${MicroController.instance.transportFilePath} raw -echo -echoe -echok")
}
})