simulatenous-control.ts

import {Servient} from '@node-wot/core';
import {HttpClientFactory, HttpsClientFactory} from '@node-wot/binding-http'

import { readFileSync } from 'fs';

function delay(ms: number) {
    return new Promise( resolve => setTimeout(resolve, ms) );
}

const P1 = {
    "x":192,
    "y":192,
    "z":70
};

const P2 = {
    "x":192,
    "y":-192,
    "z":70
};

const startPosition = {
  x: 150,
  y: 0,
  z: 70,
};

const uarmTD_V = JSON.parse(readFileSync("../TDs/Virtual/virtual_uarm.td.json","utf-8"))
const conveyor1TD_V = JSON.parse(readFileSync("../TDs/Virtual/virtual_conveyor_right.td.json","utf-8"))
const uarmTD_R = JSON.parse(readFileSync("../TDs/Real/Uarm.json","utf-8"))
const conveyor1TD_R = JSON.parse(readFileSync("../TDs/Real/ConveyorBelt2.json","utf-8"))

main()

async function main() {
    let Consumer = new Servient();
    // in the next line, we are expecting a JSON file that has {"username":"myUsername", "password":"myPassword"} structure}
    const credentials = JSON.parse(readFileSync("credential.json", "utf-8"));
    Consumer.addCredentials({
        "urn:dev:ops:32473-ConveyorBelt-002": credentials,
        "urn:dev:ops:32473-UArm-001": credentials
    })
    Consumer.addClientFactory(new HttpClientFactory());
    Consumer.addClientFactory(new HttpsClientFactory({allowSelfSigned:true}));

    const WoT = await Consumer.start();
    let uarm_V = await WoT.consume(uarmTD_V)
    let uarm_R = await WoT.consume(uarmTD_R)
    let conveyor1_V = await WoT.consume(conveyor1TD_V)
    let conveyor1_R = await WoT.consume(conveyor1TD_R)

    while(true){
        await delay(3000)
        console.log("New loop is starting")
        uarm_V.invokeAction("gripOpen");
        uarm_R.invokeAction("gripOpen");
        await delay(3000)

        uarm_R.invokeAction("gripClose");
        uarm_V.invokeAction("gripClose");
        await delay(3000)
        
        uarm_V.invokeAction("goTo",P1);
        uarm_R.invokeAction("goTo",P1);
        await delay(10000)

        uarm_V.invokeAction("goTo", startPosition);
        uarm_R.invokeAction("goTo", startPosition);
        await delay(10000);

        conveyor1_V.invokeAction("startBeltBackward");
        conveyor1_R.invokeAction("startBeltBackward");
        await delay(3000)

        conveyor1_V.invokeAction("stopBelt");
        conveyor1_R.invokeAction("stopBelt");
        await delay(3000)

        uarm_V.invokeAction("goTo",P2);
        uarm_R.invokeAction("goTo",P2);
        await delay(10000)

        uarm_V.invokeAction("goTo", startPosition);
        uarm_R.invokeAction("goTo", startPosition);
        await delay(10000);
    }


}