adding queueing

devnook · Dec 5, 2014 · 0fd7bbc · 0fd7bbc
1 parent 5e012a1
commit 0fd7bbc
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Showing 4 changed files with 114 additions and 20 deletions.
diff --git a/app/blockly-ui/blockly-ui.html b/app/blockly-ui/blockly-ui.html
@@ -66,7 +66,23 @@
   },
 
   setColor: function(color) {
-    this.sendRequest_('/color', { color: color });
+
+    var COLOURS = {
+          '#ff0000': 'red',
+          '#4169e1':  'royalblue',
+          '#00ff7f': 'springgreen',
+          '#ffff00': 'yellow',
+          '#191970': 'midnightblue',
+          '#c71585': 'mediumvioletred',
+          '#adff2f': 'greenyellow'
+
+        };
+
+
+    colorName = COLOURS[color];
+        console.log(color, colorName)
+
+    this.sendRequest_('/color', { color: colorName });
   },
 
   sendRequest_: function(url, content) {
@@ -149,7 +165,7 @@
 
       #blockly-wrapper {
         width: 60%;
-        height: 480px;
+        height: 560px;
       }
 
       #editor {
@@ -160,7 +176,7 @@
 
       #code-wrapper {
         width: 40%;
-        height: 480px;
+        height: 560px;
         background-color: #fff;
       }
 
@@ -223,6 +239,7 @@
       <block type="sphero_roll"></block>
       <block type="sphero_turn"></block>
       <block type="sphero_set_color"></block>
+      <block type="colour_picker"></block>
     </xml>
 
 
@@ -267,6 +284,30 @@
       attached: function() {
         Blockly.HSV_SATURATION = 1;
         Blockly.HSV_VALUE = 0.75;
+
+        var COLOURS = {
+          '#ff0000': 'red',
+          '#4169e1':  'royalblue',
+          '#00ff7f': 'springgreen',
+          '#ffff00': 'yellow',
+          '#191970': 'midnightblue',
+          '#c71585': 'mediumvioletred',
+          '#adff2f': 'greenyellow'
+
+        };
+
+        Blockly.FieldColour.COLOURS = [
+          '#FF0000',  // red
+          '#4169E1',  // royalblue
+          '#00FF7F', // springgreen
+          '#FFFF00', // yellow
+          '#191970', // midnightblue
+          '#c71585',  // mediumvioletred
+          '#adff2f' // greenyellow
+
+        ];
+
+
         //configureBlockColor('text_print', 340); // pink
         //configureBlockColor('math_number', 330); // blue
         console.log(Blockly.Blocks.text.init)

diff --git a/app/blockly-ui/sphero_blocks.js b/app/blockly-ui/sphero_blocks.js
@@ -59,8 +59,9 @@ Blockly.Blocks['sphero_set_color'] = {
     this.setHelpUrl('http://www.example.com/');
     this.setColour(330);
     this.appendDummyInput()
-        .appendField("set color to")
-        .appendField(new Blockly.FieldAngle("270"), "color");
+        .appendField("set color");
+    this.appendValueInput("color");
+    this.setInputsInline(true);
     this.setPreviousStatement(true);
     this.setNextStatement(true);
     this.setTooltip('');
@@ -69,8 +70,10 @@ Blockly.Blocks['sphero_set_color'] = {
 
 Blockly.JavaScript['sphero_set_color'] = function(block) {
   var angle_color = block.getFieldValue('color');
+  var color = Blockly.JavaScript.valueToCode(
+      block, 'color', Blockly.JavaScript.ORDER_ATOMIC);
   // TODO: Assemble JavaScript into code variable.
-  var code = 'color = ' + angle_color + ';\n' +
+  var code = 'color = ' + color + ';\n' +
       'ball.setColor(color);\n';
   return code;
 };

diff --git a/sphero/sphero_driver.js b/sphero/sphero_driver.js
@@ -12,8 +12,14 @@ var ROBOT_NAME = 'Purple with joy';
 var spheroReady = false;
 
 Cylon.robot({
-  connection: { name: 'sphero', adaptor: 'sphero', port: '/dev/cu.Sphero-RRP-AMP-SPP' },
-  device: { name: 'Sphero-RRP', driver: 'sphero' },
+  //connection: { name: 'sphero', adaptor: 'sphero', port: '/dev/cu.Sphero-RRP-AMP-SPP' },
+  //device: { name: 'Sphero-RRP', driver: 'sphero' },
+  connection: {
+      name: 'sphero',
+      adaptor: 'sphero',
+      port: '/dev/tty.Sphero-RYR-AMP-SPP-6'
+  },
+  device: { name: 'Sphero-RYR', driver: 'sphero' },
 
   name: ROBOT_NAME,
 
@@ -23,14 +29,16 @@ Cylon.robot({
 
   work: function(my) {
   	var white = true;
+    console.log('start working')
+    console.log(white)
   	every((1).second(), function(){
       var color = my.readMyColor();
       if (white) {
         my.sphero.setColor('white');
       } else {
         my.sphero.setColor(color);
       }
-      white = !white
+      white = !white;
  	  });
   },
 
@@ -41,6 +49,7 @@ Cylon.robot({
   setColor: function(color) {
   	console.log("Sphero changing to color " + color);
     this.myColor = color;
+    this.stop();
   },
 
   turn: function(direction) {
@@ -55,7 +64,9 @@ Cylon.robot({
     }
 
     if (this.myAngle >= 360) this.myAngle -= 360;
-  	console.log("Sphero turning " + direction + ", will roll at " + this.myAngle + " degrees");
+  	console.log("Sphero turning " + direction + ", will roll at " +
+        this.myAngle + " degrees");
+    this.stop();
   },
 
   roll: function(units, direction) {
@@ -71,16 +82,24 @@ Cylon.robot({
   	this.sphero.roll(this.mySpeed, rollAngle, 1);
   	after((units).seconds(), function() {
       console.log("Sphero stopping after " + units + " seconds");
-//	    this.stop();
-	  });
+	    this.stop();
+	  }.bind(this));
   },
 
   stop: function() {
   	console.log("Sphero stopping");
   	this.sphero.stop();
+    queue.shift();
+
+    if (queue.length) {
+      queue[0].handler.apply(Cylon.robots[ROBOT_NAME], queue[0].params);
+    }
+
   }
 });
 
+var queue = [];
+
 
 function spheroStart() {
   Cylon.robots[ROBOT_NAME].on('ready', function() {
@@ -94,15 +113,46 @@ function spheroStop() {
 }
 
 function spheroRoll(units, direction) {
-	Cylon.robots[ROBOT_NAME].roll(units, direction);
+	//Cylon.robots[ROBOT_NAME].roll(units, direction);
+  console.log(JSON.stringify(queue))
+
+  queue.push({
+    'handler': Cylon.robots[ROBOT_NAME].roll,
+    'params': [units, direction]
+  });
+  console.log('spheroRoll', queue);
+  if (queue.length == 1) {
+    queue[0].handler.apply(Cylon.robots[ROBOT_NAME], queue[0].params);
+  }
+
 }
 
 function spheroSetColor(color) {
-	Cylon.robots[ROBOT_NAME].setColor(color);
+	//Cylon.robots[ROBOT_NAME].setColor(color);
+
+  queue.push({
+    'handler': Cylon.robots[ROBOT_NAME].setColor,
+    'params': [color]
+  });
+  console.log('spheroSetColor queue', queue);
+  if (queue.length == 1) {
+    queue[0].handler.apply(Cylon.robots[ROBOT_NAME], queue[0].params);
+  }
+
 }
 
 function spheroTurn(direction) {
-	Cylon.robots[ROBOT_NAME].turn(direction)
+	//Cylon.robots[ROBOT_NAME].turn(direction)
+
+  queue.push({
+    'handler': Cylon.robots[ROBOT_NAME].turn,
+    'params': [direction]
+  });
+  console.log('spheroturn queue', queue);
+  if (queue.length == 1) {
+    queue[0].handler.apply(Cylon.robots[ROBOT_NAME], queue[0].params);
+  }
+
 }
 
 function restart() {
@@ -113,4 +163,4 @@ function restart() {
 
 function isReady() {
   return spheroReady;
-}
+}
diff --git a/sphero/sphero_server.js b/sphero/sphero_server.js
@@ -19,7 +19,7 @@ var router = new Director.http.Router({
 startSpheroDriver();
 function startSpheroDriver() {
 	var port = Number(process.argv[2]);
-//	SpheroDriver.start();
+	SpheroDriver.start();
 	var server = Http.createServer(spheroServerDispatch);
 	console.log("Listening on port " + port)
 	server.listen(port);
@@ -62,21 +62,21 @@ function spheroRoll() {
   var units = params.units;
   var direction = params.direction;
   console.log("Roll " + units + " units in direction " + direction);
-//	SpheroDriver.roll(units, direction);
+	SpheroDriver.roll(units, direction);
   endOk(this.res);
 }
 
 function spheroColor() {
   var color = this.req.body.color;
   console.log("Set color to " + color);
-//  SpheroDriver.setColor(color);
+  SpheroDriver.setColor(color);
   endOk(this.res);
 }
 
 function spheroTurn() {
   var direction = this.req.body.direction;
   console.log("Turning to the " + direction);
-// SpheroDriver.turn(direction)
+ SpheroDriver.turn(direction)
   endOk(this.res);
 }