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Fix response formatting
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Fix deltas emitted on provider change
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@panaaj
panaaj committed Nov 5, 2023
1 parent 7d395f7 commit 5e3d7a3
Showing 1 changed file with 43 additions and 81 deletions.
124 changes: 43 additions & 81 deletions src/api/autopilot/index.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -192,9 +192,9 @@ export class AutopilotApi {
this.changeProvider(pluginId)
}
debug(
`AutoPilotProviders =`,
this.autopilotProviders,
'Active Provider:',
`No. of AutoPilotProviders registered =`,
this.autopilotProviders.size,
'primaryProvider =',
this.primaryProviderId
)
}
Expand All @@ -217,7 +217,12 @@ export class AutopilotApi {
this.changeProvider(keys.next().value)
}
}
debug(`primaryProvider = ${this.primaryProviderId}`)
debug(
`No. of AutoPilotProviders registered =`,
this.autopilotProviders.size,
'primaryProvider =',
this.primaryProviderId
)
}

private updateAllowed(request: Request): boolean {
Expand Down Expand Up @@ -310,11 +315,7 @@ export class AutopilotApi {
return
}
this.changeProvider(req.body.value)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -325,11 +326,7 @@ export class AutopilotApi {
await this.primaryProvider?.engage()
// emit delta
this.emitDeltaMsg('engaged', true)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -340,11 +337,7 @@ export class AutopilotApi {
await this.primaryProvider?.disengage()
// emit delta
this.emitDeltaMsg('engaged', false)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -370,15 +363,11 @@ export class AutopilotApi {
})
return
}
// *** TO DO VALIDATE VALUE (in list of valid states)
// *** TO DO VALIDATE - Vaidated by plugin? (included in list of valid states)
await this.primaryProvider?.setState(req.body.value)
// emit delta
this.emitDeltaMsg('state', req.body.value)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -404,15 +393,11 @@ export class AutopilotApi {
})
return
}
// *** TO DO VALIDATE VALUE (in list of valid modes)
// *** TO DO VALIDATE - Vaidated by plugin? (included list of valid modes)
await this.primaryProvider?.setMode(req.body.value)
// emit delta
this.emitDeltaMsg('mode', req.body.value)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -438,15 +423,18 @@ export class AutopilotApi {
})
return
}
// *** TO DO VALIDATE VALUE -180 < value < 360 (in radians)
if (req.body.value < 0 - Math.PI || req.body.value > 2 * Math.PI) {
res.status(400).json({
state: 'FAILED',
statusCode: 400,
message: `Error: Value supplied is outside of the valid range (-PI < value < 2*PI radians).`
})
return
}
await this.primaryProvider?.setTarget(req.body.value)
// emit delta
this.emitDeltaMsg('target', req.body.value)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -462,13 +450,11 @@ export class AutopilotApi {
})
return
}
// *** TO DO VALIDATE VALUE -10 <= value <= 10 (in radians)
/* TO DO VALIDATE - Vaidated by plugin?
* SUPPLIED VALUE -10 <= value <= 10 (in radians)
* RESULTANT VALUE currentTarget + adjustment IS IN RANGE (-PI < value < 2*PI radians) */
await this.primaryProvider?.adjustTarget(req.body.value)
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -477,11 +463,7 @@ export class AutopilotApi {
`${AUTOPILOT_API_PATH}/tack/port`,
async (req: Request, res: Response) => {
await this.primaryProvider?.tack('port')
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -490,11 +472,7 @@ export class AutopilotApi {
`${AUTOPILOT_API_PATH}/tack/starboard`,
async (req: Request, res: Response) => {
await this.primaryProvider?.tack('starboard')
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -503,11 +481,7 @@ export class AutopilotApi {
`${AUTOPILOT_API_PATH}/gybe/port`,
async (req: Request, res: Response) => {
await this.primaryProvider?.gybe('port')
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand All @@ -516,11 +490,7 @@ export class AutopilotApi {
`${AUTOPILOT_API_PATH}/gybe/starboard`,
async (req: Request, res: Response) => {
await this.primaryProvider?.gybe('starboard')
return res.status(200).json({
state: 'COMPLETED',
statusCode: 200,
message: Responses.ok
})
return res.status(200).json(Responses.ok)
}
)

Expand Down Expand Up @@ -552,29 +522,20 @@ export class AutopilotApi {
// action to take when provider changed
private changeProvider(id?: string) {
debug('Changing primaryProvider to:', id)
const msg: Delta = {
updates: [
{
values: [
{
path: `steering.autopilot` as Path,
value: null
}
]
}
]
}
this.primaryProviderId = id
if (!id) {
this.primaryProvider = undefined
debug(msg.updates[0].values[0])
this.server.handleMessage('autopilotApi', msg, SKVersion.v2)
this.emitDeltaMsg('mode', null)
this.emitDeltaMsg('state', null)
this.emitDeltaMsg('target', null)
this.emitDeltaMsg('engaged', null)
} else {
this.primaryProvider = this.autopilotProviders.get(id)
this.primaryProvider?.getData().then((data: AutopilotInfo) => {
msg.updates[0].values[0].value = data
debug(msg.updates[0].values[0])
this.server.handleMessage('autopilotApi', msg, SKVersion.v2)
this.emitDeltaMsg('mode', data.mode)
this.emitDeltaMsg('state', data.state)
this.emitDeltaMsg('target', data.target)
this.emitDeltaMsg('engaged', data.engaged)
})
}
}
Expand All @@ -586,13 +547,14 @@ export class AutopilotApi {
{
values: [
{
path: `steering.autopilot.${path}` as Path,
path: `steering.autopilot${path ? '.' + path : ''}` as Path,
value: value
}
]
}
]
}
debug(`delta:`, msg.updates[0])
this.server.handleMessage('autopilotApi', msg, SKVersion.v2)
this.server.handleMessage('autopilotApi', msg, SKVersion.v1)
}
Expand Down

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