bundles/examples/org.eclipse.apogy.examples.rover.apogy/scripts/RoverExampleScenario.js

/*******************************************************************************
 * Copyright (c) 2018 Agence spatiale canadienne / Canadian Space Agency 
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:  
 *     Pierre Allard,
 *     Regent L'Archeveque  - initial API and implementation
 *
 * SPDX-License-Identifier: EPL-1.0
 *******************************************************************************/
/*
 * Apogy Rover Example Program
 *
 * This JavaScript program shows how
 *   - to get attributes and execute operations on a rover and its subsystems
 *   - to add JSDoc for type inference
 *    
 * JSDoc: JSDT supports a subset of JSDoc ( http://usejsdoc.org )
 */

function degreeToRadian(degree) {
	return degree * (Math.PI / 180);
};

/**
 * @param {org.eclipse.apogy.examples.rover.Rover}
 *            rover
 * @return {org.eclipse.apogy.examples.robotic_arm.RoboticArm}
 */
function getRoboticArm(rover) {
	return rover.roboticArm;
}

/**
 * 
 * This is the entry point of the program. The arguments are passed in the same
 * order as they are in the Apogy Session.
 * 
 * @param {org.eclipse.apogy.examples.rover.Rover}
 *            rover
 * The variable tag maps the Apogy variable with the argument. Syntax: variable <apogy variable> <argument>
 * @variable rover r
 */
function main(r) {
	// Invoke "init" on rover. All operations are invoked through the facade
	r.init();

	// Invoke "cmdLinearVelocity"
	r.cmdLinearVelocity(0.1);

	// Get the subsystem roboticArm and set it to the "roboticArm" variable
	var roboticArm = getRoboticArm(r);

	// Invoke "moveTo" on the "roboticArm".
	// Get the turretAngle, shoulderAngle, elbowAngle and wristAngle attributes
	roboticArm.moveTo(degreeToRadian(roboticArm.turretAngle + 1),
			degreeToRadian(roboticArm.shoulderAngle),
			degreeToRadian(roboticArm.elbowAngle),
			degreeToRadian(roboticArm.wristAngle));

	roboticArm.moveTo(degreeToRadian(roboticArm.turretAngle - 1),
			degreeToRadian(roboticArm.shoulderAngle),
			degreeToRadian(roboticArm.elbowAngle),
			degreeToRadian(roboticArm.wristAngle));

	// Get the position of the mobilePlatform and print it
	var position = r.mobilePlatform.position;
	java.lang.System.out.println("x = " + position.x + ", y = " + position.y);

	// Take a snapshot with the centerCamera and get the image
	var image = r.centerCamera.takeSnapshot().image;
	java.lang.System.out.println("width = " + image.width + "; height = "
			+ image.height);
}