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Niklas Kapelle 2024-10-18 16:48:38 +02:00
parent 9d6e8a366b
commit 1d60e13792
Signed by: niklas
GPG Key ID: 4EB651B36D841D16
1 changed files with 36 additions and 48 deletions
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84
src/kernel/gps/INS.hx
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@ -1,7 +1,6 @@
package kernel.gps;
import lib.SinglePromise;
import kernel.log.Log;
import kernel.turtle.Turtle;
import lib.WorldPos;
@ -71,6 +70,9 @@ class INS {
}
private static function move(dir:Null<WorldPos>) {
if (alignPromise.isRunning()) {
return;
}
var pos = GPS.getPosition();
if (pos == null || dir == null)
return;
@ -86,53 +88,45 @@ class INS {
return alignPromise.request();
}
public static function startAlign():Promise<Noise> {
return new Promise<Noise>((resolve, reject) -> {
if (Turtle.getFuelLevel() < 2) {
Log.warn("Not enough fuel to align");
reject(new Error("Not enough fuel to align"));
return null;
}
public static function startAlign():Void {
if (Turtle.getFuelLevel() < 2) {
alignPromise.reject(new Error("Not enough fuel to align"));
return;
}
GPS.locate().handle((result) -> {
switch result {
case Failure(err):
Log.warn("GPS not available for 1st position");
reject(new Error("GPS not available"));
GPS.locate().handle((result) -> {
switch result {
case Failure(err):
alignPromise.reject(new Error("Failed to locate 1st positon: " + err));
return;
case Success(pos1):
var moved = tryMoving();
if (moved == -1) {
alignPromise.reject(new Error("Can't move"));
return;
case Success(pos1):
var moved = tryMoving();
}
if (moved == -1) {
Log.warn("Can't move");
reject(new Error("Can't move"));
return;
}
GPS.locate().handle((result) -> {
switch result {
case Failure(err):
Log.warn("GPS not available for 2nd position");
reject(new Error("GPS not available for 2nd position"));
GPS.locate().handle((result2) -> {
switch result2 {
case Failure(err):
alignPromise.reject(new Error("GPS not available for 2nd position: " + err));
return;
case Success(pos2):
var cHeading = calcHeading(pos1, pos2, moved);
if (cHeading == null) {
alignPromise.reject(new Error("Can't calculate heading"));
return;
case Success(pos2):
var cHeading = calcHeading(pos1, pos2, moved);
if (cHeading == null) {
Log.error("Can't calculate heading");
reject(new Error("Can't calculate heading"));
return;
}
}
heading = cHeading;
moveBack(moved);
GPS.setINSPosition(pos1);
heading = cHeading;
moveBack(moved);
GPS.setINSPosition(pos1);
resolve(Noise);
}
});
}
});
return null;
alignPromise.resolve(Noise);
}
});
}
});
}
@ -172,20 +166,14 @@ class INS {
private static function moveBack(moved:Int) {
if (moved == 0) {
Turtle.forward();
// cc.Turtle.forward();
} else if (moved == 1) {
Turtle.back();
// cc.Turtle.back();
} else if (moved == 2) {
Turtle.back();
// cc.Turtle.back();
Turtle.turnRight();
// cc.Turtle.turnRight();
} else if (moved == 3) {
Turtle.forward();
// cc.Turtle.forward();
Turtle.turnRight();
// cc.Turtle.turnRight();
}
}