DynamixelDriver has 72 functions (exceeds 20 allowed). Consider refactoring.

Open

class DynamixelDriver {
    static get AX_MODEL_NUMBER_L() { return 0; }
    static get AX_MODEL_NUMBER_H() { return 1; }
    static get AX_VERSION() { return 2; }
    static get AX_SERVO_ID() { return 3; }

MotionDriver has 68 functions (exceeds 20 allowed). Consider refactoring.

Open

class MotionDriver extends EventEmitter  {
    static get STATE_IDLE() { return 'I'.charCodeAt(0); }
    static get STATE_STUCK() { return 'S'.charCodeAt(0); }
    static get STATE_MOVING() { return 'M'.charCodeAt(0); }
    static get STATE_ROTATING() { return 'R'.charCodeAt(0); }

File MotionDriver.js has 407 lines of code (exceeds 250 allowed). Consider refactoring.

Open

'use strict';
/** @namespace drivers.motion */

const Point = Mep.require("misc/geometry/Point");
const EventEmitter = require('events');

Function push has a Cognitive Complexity of 27 (exceeds 5 allowed). Consider refactoring.

Open

    push(chunkBuffer) {
        // Append `tempBuffer` to `buffer`
        if (chunkBuffer !== null) {
            if (chunkBuffer.length + this._bufferSize < this._buffer.length) {
                chunkBuffer.copy(this._buffer, this._bufferSize);

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MotionDriverSimulator has 29 functions (exceeds 20 allowed). Consider refactoring.

Open

class MotionDriverSimulator extends EventEmitter {
    static get STATE_IDLE() { return 'I'.charCodeAt(0); }
    static get STATE_STUCK() { return 'S'.charCodeAt(0); }
    static get STATE_MOVING() { return 'M'.charCodeAt(0); }
    static get STATE_ROTATING() { return 'R'.charCodeAt(0); }

File DynamixelDriver.js has 291 lines of code (exceeds 250 allowed). Consider refactoring.

Open

'use strict';

/** @namespace drivers.dynamixel */
const TaskError = Mep.require('strategy/TaskError');

LunarCollectorDriver has 24 functions (exceeds 20 allowed). Consider refactoring.

Open

class LunarCollectorDriver {
    constructor(name, config) {
        this.config = Object.assign({
            ejectorSpeed: 150,
            colorTimeout: 6000

Function push has 56 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    push(chunkBuffer) {
        // Append `tempBuffer` to `buffer`
        if (chunkBuffer !== null) {
            if (chunkBuffer.length + this._bufferSize < this._buffer.length) {
                chunkBuffer.copy(this._buffer, this._bufferSize);

Function _addPointToPolyGenerator has a Cognitive Complexity of 16 (exceeds 5 allowed). Consider refactoring.

Open

    _addPointToPolyGenerator(angle, distance) {
        let point = new Point(0, distance);
        point.rotateAroundZero(angle);

        if (this._poly.polyPointsCount === 0) {

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Function waitStartSignal has 49 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    waitStartSignal() {
        let starterDriver = this;

        Mep.Log.info('Software is initialized');

Function _getOffsetPoints has a Cognitive Complexity of 15 (exceeds 5 allowed). Consider refactoring.

Open

    _getOffsetPoints(points) {
        if (points.length === 4) {
            let minX = points[0].getX();
            let minY = points[0].getY();
            let maxX = points[0].getX();

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Function make has 42 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    static make() {
        global.Scheduler = Mep.require('strategy/Scheduler');
        global.Task = Mep.require('strategy/Task');

        global.delay = Mep.require('misc/Delay');

Function _promiseToStateChanged has 42 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    _promiseToStateChanged() {
        let motionDriver = this;

        let timeout = setTimeout(() => {
            motionDriver.emit('stateChanged', MotionDriver.STATE_STUCK);

Function _addPointToPolyGenerator has 40 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    _addPointToPolyGenerator(angle, distance) {
        let point = new Point(0, distance);
        point.rotateAroundZero(angle);

        if (this._poly.polyPointsCount === 0) {

Function write has a Cognitive Complexity of 13 (exceeds 5 allowed). Consider refactoring.

Open

    write(value) {
        if (this.config.direction === 'output') {
            if (this.config.mode === 'digital') {
                if (value > 1 || value < 0) {
                    value = 1;

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Function _onPReceived has 39 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    _onPReceived(buffer) {
        // Ignore garbage
        let state = buffer.readInt8(0);
        let position = new Point(
            (buffer.readInt8(1) << 8) | (buffer.readInt8(2) & 0xFF),

Function go has 37 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    go(position, config) {
        let c = Object.assign({
            pollingPeriod: 300,
            tolerance: 35,
            timeout: 3000,

Function constructor has 36 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    constructor(name, config) {
        super();

        // Merge configs
        this.config = Object.assign({

Function _initDriver has a Cognitive Complexity of 12 (exceeds 5 allowed). Consider refactoring.

Open

    async _initDriver(driverIdentifier) {
        let moduleConfig = this.config[driverIdentifier];

        if (moduleConfig === undefined) {
            throw Error('Driver ' + driverIdentifier + ' is missing in configuration. ' +

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Function getColor has 34 lines of code (exceeds 25 allowed). Consider refactoring.

Open

    getColor() {
        let bestMatch = {
            difference: Infinity,
            color: null
        };