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/**
* Direct teleoperator for Node.js platform
* Provides programmatic control without user interface
*/
import {
BaseNodeTeleoperator,
type TeleoperatorSpecificState,
} from "./base-teleoperator.js";
import type {
DirectTeleoperatorConfig,
MotorConfig,
} from "../types/teleoperation.js";
import type { MotorCommunicationPort } from "../utils/motor-communication.js";
import {
readMotorPosition,
writeMotorPosition,
} from "../utils/motor-communication.js";
/**
* Direct teleoperator provides programmatic motor control
* Use this when you want to control motors directly from code
*/
export class DirectTeleoperator extends BaseNodeTeleoperator {
constructor(
config: DirectTeleoperatorConfig,
port: MotorCommunicationPort,
motorConfigs: MotorConfig[]
) {
super(port, motorConfigs);
}
async initialize(): Promise<void> {
// Read current motor positions
for (const config of this.motorConfigs) {
const position = await readMotorPosition(this.port, config.id);
if (position !== null) {
config.currentPosition = position;
}
}
}
start(): void {
this.isActive = true;
}
stop(): void {
this.isActive = false;
}
getState(): TeleoperatorSpecificState {
return {};
}
/**
* Move motor to exact position (programmatic control)
*/
async moveMotor(motorName: string, targetPosition: number): Promise<boolean> {
if (!this.isActive) return false;
const motorConfig = this.motorConfigs.find((m) => m.name === motorName);
if (!motorConfig) return false;
const clampedPosition = Math.max(
motorConfig.minPosition,
Math.min(motorConfig.maxPosition, targetPosition)
);
try {
await writeMotorPosition(
this.port,
motorConfig.id,
Math.round(clampedPosition)
);
motorConfig.currentPosition = clampedPosition;
return true;
} catch (error) {
console.warn(`Failed to move motor ${motorName}:`, error);
return false;
}
}
/**
* Move multiple motors simultaneously
*/
async moveMotors(
positions: { [motorName: string]: number }
): Promise<{ [motorName: string]: boolean }> {
const results: { [motorName: string]: boolean } = {};
const promises = Object.entries(positions).map(
async ([motorName, position]) => {
const success = await this.moveMotor(motorName, position);
results[motorName] = success;
}
);
await Promise.all(promises);
return results;
}
/**
* Get current motor positions
*/
getCurrentPositions(): { [motorName: string]: number } {
const positions: { [motorName: string]: number } = {};
for (const config of this.motorConfigs) {
positions[config.name] = config.currentPosition;
}
return positions;
}
} |