123 lines
3.2 KiB
Plaintext
123 lines
3.2 KiB
Plaintext
import Logger from '../../../utils/Logger'
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import { TaskPool } from '../../../utils/TaskPool'
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import { EventType, WebsocketClient } from '../../../utils/WebsocketUtils'
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import { VehicleBean, VehicleInfo } from './Model'
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import { BusinessError } from '@kit.BasicServicesKit'
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import { promptAction } from '@kit.ArkUI'
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const Tag = "RebootControl"
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interface MessageResult {
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mode: number
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success: number
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}
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export class RebootControl {
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private service: WebsocketClient
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private taskPool: TaskPool<boolean> = new TaskPool()
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private callback: Function[] = []
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constructor(url: string) {
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this.service = new WebsocketClient(url)
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this.service.subscribe(EventType.Message, (message: string) => {
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this.callback.forEach(cb => {
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cb(message)
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})
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})
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}
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private addTask(data: string) {
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this.taskPool.add({
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execute: (): Promise<boolean> => {
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return this.service.send(data)
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},
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repair: (): Promise<void> => {
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return this.service.reconnect()
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},
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retryCount: 5
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})
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}
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init() {
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return this.service.connect()
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}
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getMode() {
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return new Promise<MessageResult>((resolve, reject) => {
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this.service.send(JSON.stringify({
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"cmmand": "getMode"
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})).then(() => {
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let cb = (msg: string) => {
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resolve(JSON.parse(msg))
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this.callback = this.callback.filter(item => item != cb)
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}
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this.callback.push(cb)
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}).catch((err: BusinessError) => {
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reject(err)
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})
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})
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}
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setMode(mode: number) {
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return new Promise<boolean>((resolve, reject) => {
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this.service.send(JSON.stringify({ mode })).then(resolve).catch((err: BusinessError) => {
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promptAction.showToast({
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message: JSON.stringify(err)
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})
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reject(err)
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})
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})
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}
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destroy() {
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return this.service.close()
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}
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forward() {
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let vehicleInfo = new VehicleInfo();
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let angularBean = new VehicleBean();
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let lineBean = new VehicleBean();
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let speed = 0.1
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lineBean.setX(speed);
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vehicleInfo.setAngular(angularBean);
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vehicleInfo.setLinear(lineBean);
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this.addTask(JSON.stringify(vehicleInfo))
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Logger.info(Tag, "添加向前指令")
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}
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backward() {
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let vehicleInfo = new VehicleInfo();
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let angularBean = new VehicleBean();
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let lineBean = new VehicleBean();
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let speed = -0.1
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lineBean.setX(speed);
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vehicleInfo.setAngular(angularBean);
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vehicleInfo.setLinear(lineBean);
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this.addTask(JSON.stringify(vehicleInfo))
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Logger.info(Tag, "添加向后指令")
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}
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left() {
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let vehicleInfo = new VehicleInfo();
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let angularBean = new VehicleBean();
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let lineBean = new VehicleBean();
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let speed = 0.1
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angularBean.setZ(speed);
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vehicleInfo.setAngular(angularBean);
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vehicleInfo.setLinear(lineBean);
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this.addTask(JSON.stringify(vehicleInfo))
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Logger.info(Tag, "添加向左指令")
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}
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right() {
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let vehicleInfo = new VehicleInfo();
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let angularBean = new VehicleBean();
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let lineBean = new VehicleBean();
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let speed = -0.1
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angularBean.setZ(speed);
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vehicleInfo.setAngular(angularBean);
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vehicleInfo.setLinear(lineBean);
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this.addTask(JSON.stringify(vehicleInfo))
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Logger.info(Tag, "添加向右指令")
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}
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} |