Adding Laura's changes back

devnook · Dec 12, 2014 · 7a07aba · 7a07aba
1 parent c5a00ff
commit 7a07aba
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Showing 3 changed files with 49 additions and 27 deletions.
diff --git a/sphero/sphero_driver.js b/sphero/sphero_driver.js
@@ -15,12 +15,11 @@ Cylon.robot({
   connection: {
       name: 'sphero',
       adaptor: 'sphero',
-//      port: '/dev/cu.Sphero-OYR-AMP-SPP'
+//      port: '/dev/tty.Sphero-RYR-AMP-SPP-6'
       port: '/dev/cu.Sphero-RRP-AMP-SPP'
   },
 //  device: { name: 'Sphero-RYR', driver: 'sphero' },
   device: { name: 'Sphero-RRP', driver: 'sphero' },
-//  device: { name: 'Sphero-OYR', driver: 'sphero' },
 
   name: ROBOT_NAME,
 
@@ -30,16 +29,25 @@ Cylon.robot({
   rolling : false,
 
   work: function(my) {
-    var white = true;
+    console.log('Setting up collision detection.');
+    my.sphero.detectCollisions();
+    my.sphero.on('collision', function() {
+      console.log("Ouch, collision!")
+      my.sphero.setColor('purple');
+      my.sphero.stop();
+      my.markCollision();
+    });
+
+    var black = true;
     every((0.5).second(), function(){
       if (!my.amIRolling()) {
         var color = my.readMyColor();
-        if (white) {
-          my.sphero.setColor('white');
+        if (black) {
+          my.sphero.setColor('black');
         } else {
           my.sphero.setColor(color);
         }
-        white = !white
+        black = !black
       }
     });
   },
@@ -103,18 +111,32 @@ Cylon.robot({
     after((units).seconds(), function() {
       console.log("Sphero stopping after " + units + " seconds");
       this.stop();
-      callback(null, {'message': "Sphero rolled " + units + " units " + direction});
+      var justHitSomething = this.hitSomething;
+      this.clearCollision();
+      message = "Sphero rolled " + units + " units " + direction;
+      if (justHitSomething) message = message + " but hit something on the way";
+      callback(null, {
+        'message': message,
+        'collision': justHitSomething,
+      });
     }.bind(this));
   },
 
   stop: function() {
     this.sphero.roll(0, this.myAngle, 0);
     this.stoppedRolling();
-  }
+  },
+
+  hitSomething: false,
+  markCollision: function() {
+    this.hitSomething = true;
+  },
+  clearCollision: function() {
+    this.hitSomething = false;
+  },
 });
 
 function spheroStart() {
-  console.log('aaa')
   Cylon.robots[ROBOT_NAME].on('ready', function() {
     spheroReady = true;
   });

diff --git a/sphero/sphero_server.js b/sphero/sphero_server.js
@@ -16,9 +16,9 @@ var router = new Director.http.Router({
 
 startSpheroDriver();
 function startSpheroDriver() {
-	var port = Number(process.argv[2]);
+  var port = Number(process.argv[2]);
   var server = Http.createServer(spheroServerDispatch);
-	SpheroDriver.startAndDoWhenReady(function() {
+  SpheroDriver.startAndDoWhenReady(function() {
     console.log("Listening on port " + port)
     server.listen(port);
   });
@@ -51,39 +51,39 @@ function printRouter() {
    this.res.end();
 }
 
-function spheroStop() {
-	SpheroDriver.stop();
-	endOk(this.res);
-}
-
 function spheroRoll() {
   var params = this.req.body;
   var units = params.units;
   var direction = params.direction;
   console.log("Roll " + units + " units in direction " + direction);
   var response = this.res;
-	SpheroDriver.roll(units, direction, function(err) {
-    endOk(response);
+  SpheroDriver.roll(units, direction, function(error, data) {
+    endResponse(response, error, data);
   });
 }
 
 function spheroColor() {
   var color = this.req.body.color;
   console.log("Set color to " + color);
-  SpheroDriver.setColor(color, function(err) {
-    endOk(this.res);
+  SpheroDriver.setColor(color, function(error, data) {
+    endResponse(this.res, error, data);
   }.bind(this));
 }
 
 function spheroTurn() {
   var direction = this.req.body.direction;
   console.log("Turning " + direction);
-  SpheroDriver.turn(direction, function(err) {
-    endOk(this.res);
+  SpheroDriver.turn(direction, function(error, data) {
+    endResponse(this.res, error, data);
   }.bind(this));
 }
 
-function endOk(response, message) {
-  response.writeHead(200);
-  response.end();
+function endResponse(response, error, data) {
+  if (error) {
+    response.writeHead(500);
+    response.end(error);
+  } else {
+    response.writeHead(200);
+    response.end(JSON.stringify(data));
+  }
 }
diff --git a/sphero/sphero_tests.js b/sphero/sphero_tests.js
@@ -1,7 +1,7 @@
 var SpheroDriver = require('./sphero_driver.js');
 
 logResult = function(err, data) {
-	console.log("Test reads: " + data.message);
+	console.log("Test reads: " + JSON.stringify(data));
 }
 
 // Draws a square and turns pink
@@ -27,4 +27,4 @@ workWhenReady = function() {
 		setTimeout(function() {workWhenReady.call()}, 2000);
 	}
 }
-workWhenReady();
+workWhenReady();