Implement mechanism to validate if driver is implemented correctly

src/drivers/DriverManager.js

@@ -1,4 +1,5 @@
 /** @namespace drivers */
+const DriverChecker = Mep.require('utils/DriverChecker');
 
 const TAG = 'DriverManager';
 
@@ -62,7 +63,7 @@ class DriverManager {
         let load = moduleConfig.load;
         let classPath = moduleConfig.class;
 
-        // Do not initialize if `init field == false`
+        // Do not initialize if `load field == false`
         if (load != false) {
             let ModuleClass = Mep.require(classPath);
 
@@ -72,14 +73,21 @@ class DriverManager {
             }
 
             if (typeof ModuleClass === 'function') {
+                let driverInstance;
+                let loadedWithoutErrors = true;
                 try {
-                    let driverInstance = new ModuleClass(driverIdentifier, moduleConfig);
+                    driverInstance = new ModuleClass(driverIdentifier, moduleConfig);
                     this.drivers[driverIdentifier] = driverInstance;
                     Mep.Log.debug(TAG, 'Driver `' + driverIdentifier + '` loaded');
-
                 } catch (error) {
+                    loadedWithoutErrors = false;
                     this.putDriverOutOfOrder(driverIdentifier, error);
                 }
+
+                // Test if all methods are OK
+                if (loadedWithoutErrors === true) {
+                    DriverChecker.check(driverInstance);
+                }
             }
 
             else {

src/drivers/laser/LaserDriver.js

@@ -1,6 +1,6 @@
 /** @namespace drivers.laser */
 
-const TerrainDriver = Mep.require('types/TerrainDriver');
+const EventEmitter = require('events');
 const Point = Mep.require('types/Point');
 const Polygon = Mep.require('types/Polygon');
 
@@ -13,7 +13,7 @@ const TAG = 'LaserDriver';
  * @author Darko Lukic <lukicdarkoo@gmail.com>
  * @fires LaserDriver#terrain
  */
-class LaserDriver extends TerrainDriver {
+class LaserDriver extends EventEmitter {
     /**
      * Make instance of LaserDriver.
      *
@@ -119,6 +119,10 @@ class LaserDriver extends TerrainDriver {
     static dependencies() {
         return ['ModbusDriver'];
     }
+
+    getGroups() {
+        return ['terrain'];
+    }
 }
 
 module.exports = LaserDriver;

src/drivers/modbus/ModbusDriverSimulator.js

@@ -1,8 +1,8 @@
-const BaseDriver = Mep.require('types/BaseDriver');
+const EventEmitter = require('events');
 
 const TAG = 'ModbusDriverSimulator';
 
-class ModbusDriverSimulator extends BaseDriver {
+class ModbusDriverSimulator extends EventEmitter {
     constructor(name, config) {
         super();
 
@@ -12,6 +12,10 @@ class ModbusDriverSimulator extends BaseDriver {
     registerCoilReading(slaveAddress, functionAddress) {
 
     }
+
+    getGroups() {
+        return [];
+    }
 }
 
 module.exports = ModbusDriverSimulator;

src/drivers/motion/MotionDriver.js

@@ -1,10 +1,8 @@
 const MotionDriverBinder = require('bindings')('motion').MotionDriverBinder;
 const Point = Mep.require('types/Point');
-const PositionDriver = Mep.require('types/PositionDriver');
 const Constants = require('./Constants');
 const Util = require('util');
 const EventEmitter = require('events');
-//const mixin = require('es6-mixin').mixin;
 
 Util.inherits(MotionDriverBinder, EventEmitter);
 

src/drivers/motion/MotionDriverSimulator.js

@@ -1,6 +1,6 @@
 const WebSocketClient = Mep.require('utils/WebSocketClient');
 const Point = Mep.require('types/Point');
-const PositionDriver = Mep.require('types/PositionDriver');
+const EventEmitter = require('events');
 
 const TAG = 'MotionDriverSimulator';
 
@@ -32,7 +32,7 @@ const TAG = 'MotionDriverSimulator';
  * }
  * </pre>
  */
-class MotionDriverSimulator extends PositionDriver {
+class MotionDriverSimulator extends EventEmitter {
     constructor(name, config) {
         super();
 
@@ -117,6 +117,10 @@ class MotionDriverSimulator extends PositionDriver {
             params: params
         }));
     }
+
+    getGroups() {
+        return ['position'];
+    }
 }
 
 module.exports = MotionDriverSimulator;

src/types/TunedAngle.js

@@ -0,0 +1,59 @@
+/** @namespace types */
+
+const TAG = 'TunedAngle';
+
+/**
+ * Tunable angle. Angle is chosen depends on table name in configuration.
+ *
+ * @author Darko Lukic <lukicdarkoo@gmail.com>
+ * @memberof types
+ * @example
+ * new TunePoint(
+ *      150, 129,
+ *      [151, 129, 'table_1'],
+ *      [148, 128, 'table_2']
+ * );
+ */
+class TunedAngle {
+    /**
+     * Add multiple Points, add Points for each table. It must has
+     * at least one Point which will be used as default. Other Points
+     * must have tag!
+     *
+     * @param defaultX {integer} - Default point X coordinate
+     */
+    constructor(defaultAngle) {
+        // If there are table dependent points
+        for (let i = 1; i < arguments.length; i++) {
+
+            // Check if the argument is valid
+            if (typeof arguments[i][0] === 'undefined' ||
+                typeof arguments[i][1] === 'undefined') {
+
+                Mep.Log.warn(TAG, 'Invalid arguments');
+                continue;
+            }
+
+            // Check if table name matches
+            if (Mep.Config.get('table') == arguments[i][1]) {
+                this.point = arguments[i][0];
+            }
+        }
+
+        // Otherwise use default point
+        if (typeof this.point === 'undefined') {
+            this.angle = defaultAngle;
+        }
+    }
+
+    /**
+     * Get angle depending on the chosen table in configuration.
+     *
+     * @returns {number} - Point
+     */
+    getAngle() {
+        return this.angle;
+    }
+}
+
+module.exports = TunedAngle;

src/utils/DriverChecker.js

@@ -0,0 +1,47 @@
+/**
+ * A goal of the class is to check if drivers are correctly implemented.
+ *
+ * @author Darko Lukic <lukicdarkoo@gmail.com>
+ * @memberOf utils
+ */
+
+class DriverChecker {
+    static check(driver) {
+        let groups;
+        if (typeof driver.getGroups === 'function') {
+            groups = driver.getGroups();
+        } else {
+            throw TypeError(driver.constructor.name + ' doesn\'t have member getGroups()');
+        }
+
+        for (let group of groups) {
+            switch (group) {
+                case 'position':
+                    DriverChecker._checkPosition(driver);
+                    break;
+
+                case 'terrain':
+                    DriverChecker._checkTerrain(driver);
+                    break;
+            }
+        }
+    }
+
+    static _checkPosition(driver) {
+        let driverClassName = driver.constructor.name;
+
+        // Check getPosition()
+        if (typeof driver.getPosition !== 'function') {
+            throw TypeError(driverClassName + ' requires method getPosition()');
+        }
+        if (driver.getPosition().constructor.name !== 'Point') {
+            throw TypeError('Method '+ driverClassName +'.getPosition() must return Point');
+        }
+    }
+
+    static _checkTerrain(driver) {
+
+    }
+}
+
+module.exports = DriverChecker;

strategies/default/InitTask.js

@@ -9,30 +9,9 @@ class InitTask extends Task {
         // Wait WebSocketClient to connect to WebSocketServer
         await Delay(200);
 
-	await position.set(new TunedPoint(1100, 0), { speed: 130 });
-        await position.set(new TunedPoint(-1300, 0));
-
-
-	if (false) {
-		await position.set(new TunedPoint(-1100, 0), { speed: 40 });
-		await position.arc(new Point(-1300, 100), 30, 1);
-		await position.arc(new Point(-1300, 100), 60, 1);
-	}
-
-	if (false) {
-		await position.set(new TunedPoint(-1200, 0), { speed: 40 });
-		await position.set(new TunedPoint(-735, -850), { pathfinding: true });
-		await position.set(new TunedPoint(765, -850), { pathfinding: true });
-		await position.set(new TunedPoint(-1200, 0), { pathfinding: true });
-	}
-
-	//await position.set(new TunedPoint(-1300, 0));
-
         // Let's move around
-        //await position.set(new TunedPoint(-735, -850), { pathfinding: true });
-        //await position.set(new TunedPoint(765, -850), { pathfinding: true });
-        //await position.set(new TunedPoint(-1200, 400), { pathfinding: true });
-        //await position.set(new TunedPoint(-170, 820), { pathfinding: true });
+        await position.set(new TunedPoint(1100, 0), {speed: 130});
+        await position.set(new TunedPoint(-1300, 0));
     }
 
 }