nbarikipoulos/poppy-robot-cli

'use strict'

const { createScript } = require('poppy-robot-core')

const { createYargsHelper } = require('../cli-helper')
const { createPoppy } = require('../../lib/ext-poppy-factory')

const COMMAND_OPTIONS_LABEL = 'Command Options:'

module.exports = [{
  cmd: 'compliant',
  desc: 'Set state of selected motor(s) to compliant (i.e. handly drivable).',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)

    helper.addOptions(['motor'], COMMAND_OPTIONS_LABEL)
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 compliant',
        'Set state of all motors to compliant.'
      )
      .example(
        '$0 compliant -m m4 m6',
        'Only set state of motors m4 and m6 to compliant.'
      )
  },
  handler: (argv) => exec('compliant', argv.motor)
}, {
  cmd: 'stiff',
  desc: 'Set state of selected motor(s) to stiff (i.e. programmatically drivable).',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)

    helper.addOptions(['motor'], COMMAND_OPTIONS_LABEL)
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 stiff',
        'Set state of all motors to stiff.'
      )
      .example(
        '$0 compliant -m m4 m6',
        'Only set state of motors m4 and m6 to stiff.'
      )
  },
  handler: (argv) => exec('stiff', argv.motor)
}, {
  cmd: 'speed <value>',
  desc: 'Set the rotation speed of the selected motor(s).\n' +
    'Value must be in the [0, 1023] range',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)

    helper.addOptions(['motor'], COMMAND_OPTIONS_LABEL)
      .addPositional('speed_positional')
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 speed 100',
        'Set the rotation speed of all motors to 100 (slower).'
      )
      .example(
        '$0 speed 500 -m m1 m2',
        'Set the rotation speed of the motors m1 and m2 to 500 (quicker).'
      )
  },
  handler: (argv) => exec('speed', argv.motor, { speed: argv.value })
}, {
  cmd: 'rotate <value>',
  desc: 'Rotate the target motor(s) by x degrees',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)
    const flags = ['motor', 'duration', 'wait']

    helper.addOptions(flags, COMMAND_OPTIONS_LABEL)
      .addPositional('rotate')
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 rotate -30 -m m1 m2 -w',
        'Rotate the motors m1 and m2 by -30 degrees and wait until wait until the end of the movement.'
      )
      .example(
        '$0 rotate 30 -m m6 -d 2.5',
        'Rotate the motor m6 by 30 degrees in 2.5s.'
      )
  },
  handler: (argv) => exec('rotate', argv.motor, { angle: argv.value, duration: argv.duration, wait: argv.wait })
}, {
  cmd: 'goto <value>',
  desc: 'Set the target position of the selected motor(s)',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)
    const flags = ['motor', 'duration', 'wait']

    helper.addOptions(flags, COMMAND_OPTIONS_LABEL)
      .addPositional('goto')
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 goto 0 -m m1 m2 -w',
        'Move the motors m1 and m2 to 0 degree and wait until the end of the movement.'
      )
      .example(
        '$0 goto 90 -m m6 -d 2.5',
        'Move the motor m6 to position 90 degrees in 2.5s.'
      )
  },
  handler: (argv) => exec('goto', argv.motor, { position: argv.value, duration: argv.duration, wait: argv.wait })
}, {
  cmd: 'led [value]',
  desc: 'Set the led color of the selected motor(s)',
  builder: (yargs) => {
    const helper = createYargsHelper(yargs)

    helper.addOptions(['motor'], COMMAND_OPTIONS_LABEL)
      .addPositional('led')
      .addConnectionOptionsGroup()
      .yargs
      .strict()
      .example(
        '$0 led',
        'Turn off the led of all motors.'
      )
      .example(
        '$0 led green -m m3',
        'Set the led color of motor \'m3\' to \'green\'.'
      )
  },
  handler: (argv) => exec('led', argv.motor, { led: argv.value })
}]

// ////////////////////////////////
// Execute simple command
// ////////////////////////////////

const exec = async (action, motors, options = {}) => {
  const poppy = await createPoppy()

  //
  // Create a poppy script...
  //

  const script = createScript(motors)

  script[action](...Object.values(options))

  //
  // ... and execute it
  //

  await poppy.exec(script)
}