From 6572fcc7ab83d3aba0d0f9615e11fd929d4bfe3c Mon Sep 17 00:00:00 2001
From: joshuashoemaker <joshuashoemaker@outlook.com>
Date: Fri, 22 Jan 2021 20:33:45 -0600
Subject: [PATCH] feat: tracked movement on x axis

---
 src/Server/Entities/Motor.ts               | 17 ++++++
 src/Server/Interfaces/IMotor.ts            |  8 +++
 src/Server/MotorMover.ts                   | 62 ++++++++++++++++++++++
 src/Server/UseCases/Factories/makeMotor.ts |  8 +++
 src/Server/main.ts                         | 15 +++++-
 5 files changed, 108 insertions(+), 2 deletions(-)
 create mode 100644 src/Server/Entities/Motor.ts
 create mode 100644 src/Server/Interfaces/IMotor.ts
 create mode 100644 src/Server/MotorMover.ts
 create mode 100644 src/Server/UseCases/Factories/makeMotor.ts

diff --git a/src/Server/Entities/Motor.ts b/src/Server/Entities/Motor.ts
new file mode 100644
index 0000000..d308f78
--- /dev/null
+++ b/src/Server/Entities/Motor.ts
@@ -0,0 +1,17 @@
+import IMotor from "../Interfaces/IMotor"
+
+class Motor implements IMotor {
+  public pinOne: number
+  public pinTwo: number
+  public pinThree: number
+  public pinFour: number
+
+  constructor (props: IMotor) {
+    this.pinOne = props.pinOne
+    this.pinTwo = props.pinTwo
+    this.pinThree = props.pinThree
+    this.pinFour = props.pinFour
+  }
+}
+
+export default Motor
diff --git a/src/Server/Interfaces/IMotor.ts b/src/Server/Interfaces/IMotor.ts
new file mode 100644
index 0000000..4b93896
--- /dev/null
+++ b/src/Server/Interfaces/IMotor.ts
@@ -0,0 +1,8 @@
+interface IMotor {
+  pinOne: number,
+  pinTwo: number,
+  pinThree: number,
+  pinFour: number
+}
+
+export default IMotor
diff --git a/src/Server/MotorMover.ts b/src/Server/MotorMover.ts
new file mode 100644
index 0000000..ecdcd7b
--- /dev/null
+++ b/src/Server/MotorMover.ts
@@ -0,0 +1,62 @@
+import IMotor from "./Interfaces/IMotor"
+import makeMotor from "./UseCases/Factories/makeMotor"
+import * as childProcesses from 'child_process'
+
+class MotorMover {
+  motor: IMotor
+  moveProcess: childProcesses.ChildProcessWithoutNullStreams | null = null
+  pauseIntervalTime: number = 0.05
+  movementState: 'CLOCKWISE' | 'COUNTERCLOCKWISE' | "IDLE" = 'IDLE'
+
+  constructor (motor: IMotor) {
+    this.motor = makeMotor(motor)
+  }
+
+  public moveClockwise = () => {
+    if (this.movementState === 'CLOCKWISE') return
+
+    this.moveProcess?.kill()
+    this.moveProcess = null
+
+    const motorProcessArguments = [
+      'src/Server/moveStepper.py',
+      this.motor.pinOne.toString(),
+      this.motor.pinTwo.toString(),
+      this.motor.pinThree.toString(),
+      this.motor.pinFour.toString(),
+      'clockwise',
+      this.pauseIntervalTime.toString()
+    ]
+
+    console.log('start clockwise')
+    this.moveProcess = childProcesses.spawn('python', motorProcessArguments)
+    this.movementState = 'CLOCKWISE'
+  }
+
+  public moveCounterClockwise = () => {
+    if (this.movementState === 'COUNTERCLOCKWISE') return
+
+    this.moveProcess?.kill()
+    this.moveProcess = null
+
+    const motorProcessArguments = [
+      'src/Server/moveStepper.py',
+      this.motor.pinOne.toString(),
+      this.motor.pinTwo.toString(),
+      this.motor.pinThree.toString(),
+      this.motor.pinFour.toString(),
+      'counterClockwise',
+      this.pauseIntervalTime.toString()
+    ]
+
+    this.moveProcess = childProcesses.spawn('python', motorProcessArguments)
+    this.movementState = 'COUNTERCLOCKWISE'
+  }
+
+  public stopMovement = () => {
+    this.moveProcess?.kill()
+    this.movementState = 'IDLE'
+  }
+}
+
+export default MotorMover
\ No newline at end of file
diff --git a/src/Server/UseCases/Factories/makeMotor.ts b/src/Server/UseCases/Factories/makeMotor.ts
new file mode 100644
index 0000000..66ab4fc
--- /dev/null
+++ b/src/Server/UseCases/Factories/makeMotor.ts
@@ -0,0 +1,8 @@
+import Motor from "../../Entities/Motor"
+import IMotor from "../../Interfaces/IMotor"
+
+function makeMotor (props: IMotor) {
+  return new Motor(props)
+}
+
+export default makeMotor
diff --git a/src/Server/main.ts b/src/Server/main.ts
index 557ca05..d33ce74 100644
--- a/src/Server/main.ts
+++ b/src/Server/main.ts
@@ -2,6 +2,7 @@ import Server from './Server'
 
 import EventManager from './EventManager'
 import IEventManager from './Interfaces/IEventManager';
+import MotorMover from './MotorMover';
 
 
 function sleep (ms: number) {
@@ -14,8 +15,18 @@ const main = () => {
   const server = new Server(port)
   const eventManager: IEventManager = new EventManager()
 
-  eventManager.listen('onReceiveOffsets', (offsets: unknown[]) => {
-    console.log(offsets)
+  const motorMover = new MotorMover({ pinOne: 3, pinTwo: 5, pinThree: 7, pinFour: 11 })
+  // motorMover.moveClockwise()
+
+  eventManager.listen('onReceiveOffsets', (offsets: any[]) => {
+    if (offsets[0]?.x > 50) {
+      motorMover.moveCounterClockwise()
+    } else if (offsets[0]?.x < - 50) {
+      motorMover.moveClockwise()
+    } else {
+      motorMover.stopMovement()
+    }
+    console.log(`moving ${motorMover.movementState}`)
   })
 }