changed the folder and added index.js
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znetsixe
277
src/state/movementManager.js
Normal file
277
src/state/movementManager.js
Normal file
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//const EventEmitter = require('events');
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class movementManager {
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constructor(config, logger, emitter) {
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this.emitter = emitter; //new EventEmitter(); //state class emitter
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const { min, max, initial } = config.position;
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const { speed, maxSpeed, interval } = config.movement;
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this.minPosition = min;
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this.maxPosition = max;
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this.currentPosition = initial;
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this.speed = speed;
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this.maxSpeed = maxSpeed;
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this.interval = interval;
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this.timeleft = 0; // timeleft of current movement
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this.logger = logger;
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this.movementMode = config.movement.mode;
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}
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getCurrentPosition() {
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return this.currentPosition;
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}
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async moveTo(targetPosition, signal) {
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// Constrain target position if necessary
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if (
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targetPosition < this.minPosition ||
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targetPosition > this.maxPosition
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) {
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targetPosition = this.constrain(targetPosition);
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this.logger.warn(
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`New target position=${targetPosition} is constrained to fit between min=${this.minPosition} and max=${this.maxPosition}`
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);
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}
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this.logger.info(
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`Starting movement to position ${targetPosition} in ${this.movementMode} with avg speed=${this.speed}%/s.`
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);
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if (signal && signal.aborted) {
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this.logger.debug("Movement aborted.");
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return;
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}
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try {
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// Execute the movement logic based on the mode
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switch (this.movementMode) {
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case "staticspeed":
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const movelinFeedback = await this.moveLinear(targetPosition,signal);
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this.logger.info(`Linear move: ${movelinFeedback} `);
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break;
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case "dynspeed":
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const moveDynFeedback = await this.moveEaseInOut(targetPosition,signal);
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this.logger.info(`Dynamic move : ${moveDynFeedback}`);
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break;
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default:
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throw new Error(`Unsupported movement mode: ${this.movementMode}`);
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}
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} catch (error) {
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this.logger.error(error);
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}
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}
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moveLinear(targetPosition, signal) {
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return new Promise((resolve, reject) => {
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// Immediate abort if already signalled
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if (signal?.aborted) {
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return reject(new Error("Movement aborted"));
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}
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// Clamp the final target into [minPosition, maxPosition]
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targetPosition = this.constrain(targetPosition);
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// Compute direction and remaining distance
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const direction = targetPosition > this.currentPosition ? 1 : -1;
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const distance = Math.abs(targetPosition - this.currentPosition);
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// Speed is a fraction [0,1] of full-range per second
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this.speed = Math.min(Math.max(this.speed, 0), 1);
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const fullRange = this.maxPosition - this.minPosition;
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const velocity = this.speed * fullRange; // units per second
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if (velocity === 0) {
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return reject(new Error("Movement aborted: zero speed"));
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}
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// Duration and bookkeeping
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const duration = distance / velocity; // seconds to go the remaining distance
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this.timeleft = duration;
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this.logger.debug(
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`Linear move: dir=${direction}, dist=${distance}, vel=${velocity.toFixed(2)} u/s, dur=${duration.toFixed(2)}s`
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);
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// Compute how much to move each tick
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const intervalMs = this.interval;
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const intervalSec = intervalMs / 1000;
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const stepSize = direction * velocity * intervalSec;
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const startTime = Date.now();
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// Kick off the loop
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const intervalId = setInterval(() => {
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// 7a) Abort check
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if (signal?.aborted) {
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clearInterval(intervalId);
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return reject(new Error("Movement aborted"));
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}
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// Advance position and clamp
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this.currentPosition += stepSize;
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this.currentPosition = this.constrain(this.currentPosition);
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this.emitPos(this.currentPosition);
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// Update timeleft
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const elapsed = (Date.now() - startTime) / 1000;
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this.timeleft = Math.max(0, duration - elapsed);
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this.logger.debug(
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`pos=${this.currentPosition.toFixed(2)}, timeleft=${this.timeleft.toFixed(2)}`
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);
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// Completed the move?
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if (
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(direction > 0 && this.currentPosition >= targetPosition) ||
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(direction < 0 && this.currentPosition <= targetPosition)
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) {
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clearInterval(intervalId);
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this.currentPosition = targetPosition;
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this.emitPos(this.currentPosition);
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return resolve("Reached target move.");
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}
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}, intervalMs);
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// 8) Also catch aborts that happen before the first tick
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signal?.addEventListener("abort", () => {
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clearInterval(intervalId);
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reject(new Error("Movement aborted"));
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});
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});
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}
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moveLinearinTime(targetPosition,signal) {
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return new Promise((resolve, reject) => {
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// Abort immediately if already signalled
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if (signal?.aborted) {
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return reject(new Error("Movement aborted"));
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}
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const direction = targetPosition > this.currentPosition ? 1 : -1;
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const distance = Math.abs(targetPosition - this.currentPosition);
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// Ensure speed is a percentage [0, 1]
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this.speed = Math.min(Math.max(this.speed, 0), 1);
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// Calculate duration based on percentage of distance per second
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const duration = 1 / this.speed; // 1 second for 100% of the distance
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this.timeleft = duration; //set this so other classes can use it
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this.logger.debug(
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`Linear movement: Direction=${direction}, Distance=${distance}, Duration=${duration}s`
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);
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let elapsedTime = 0;
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const interval = this.interval; // Update every x ms
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const totalSteps = Math.ceil((duration * 1000) / interval);
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const stepSize = direction * (distance / totalSteps);
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// 2) Set up the abort listener once
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const intervalId = setInterval(() => {
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// 3) Check for abort on each tick
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if (signal?.aborted) {
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clearInterval(intervalId);
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return reject(new Error("Movement aborted"));
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}
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// Update elapsed time
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elapsedTime += interval / 1000;
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this.timeleft = duration - elapsedTime; //set this so other classes can use it
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// Update the position incrementally
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this.currentPosition += stepSize;
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this.emitPos(this.currentPosition);
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this.logger.debug(
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`Using ${this.movementMode} => Current position ${this.currentPosition}`
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);
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// Check if the target position has been reached
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if (
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(direction > 0 && this.currentPosition >= targetPosition) ||
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(direction < 0 && this.currentPosition <= targetPosition)
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) {
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clearInterval(intervalId);
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this.currentPosition = targetPosition;
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resolve(`Reached target move.`);
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}
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}, interval);
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// Also attach abort outside the interval in case it fires before the first tick:
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signal?.addEventListener("abort", () => {
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clearInterval(intervalId);
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reject(new Error("Movement aborted"));
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});
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});
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}
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moveEaseInOut(targetPosition, signal) {
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return new Promise((resolve, reject) => {
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// 1) Bail immediately if already aborted
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if (signal?.aborted) {
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return reject(new Error("Movement aborted"));
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}
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const direction = targetPosition > this.currentPosition ? 1 : -1;
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const totalDistance = Math.abs(targetPosition - this.currentPosition);
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const startPosition = this.currentPosition;
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this.speed = Math.min(Math.max(this.speed, 0), 1);
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const easeFunction = (t) =>
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t < 0.5 ? 4 * t * t * t : 1 - Math.pow(-2 * t + 2, 3) / 2;
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let elapsedTime = 0;
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const duration = totalDistance / this.speed;
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this.timeleft = duration;
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const interval = this.interval;
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// 2) Start the moving loop
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const intervalId = setInterval(() => {
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// 3) Check for abort on each tick
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if (signal?.aborted) {
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clearInterval(intervalId);
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return reject(new Error("Movement aborted"));
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}
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elapsedTime += interval / 1000;
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const progress = Math.min(elapsedTime / duration, 1);
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this.timeleft = duration - elapsedTime;
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const easedProgress = easeFunction(progress);
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const newPosition =
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startPosition + (targetPosition - startPosition) * easedProgress;
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this.emitPos(newPosition);
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this.logger.debug(
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`Using ${this.movementMode} => Progress=${progress.toFixed(
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2
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)}, Eased=${easedProgress.toFixed(2)}`
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);
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if (progress >= 1) {
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clearInterval(intervalId);
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this.currentPosition = targetPosition;
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resolve(`Reached target move.`);
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} else {
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this.currentPosition = newPosition;
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}
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}, interval);
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// 4) Also listen once for abort before first tick
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signal?.addEventListener("abort", () => {
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clearInterval(intervalId);
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reject(new Error("Movement aborted"));
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});
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});
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}
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emitPos(newPosition) {
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this.emitter.emit("positionChange", newPosition);
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}
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constrain(value) {
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return Math.min(Math.max(value, this.minPosition), this.maxPosition);
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}
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}
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module.exports = movementManager;
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