Pre-test updates

Decided will not fix #65 and #70 as those are actually more difficult to implement than expected.

Will test this branch more to see basic functionality and then will merge to dev-2018 and then to master

src/common/MessageHandler.ts

@@ -113,6 +113,7 @@ class MessageHandler {
     const onDisconnect = (): void => {
       clearInterval(expiry);
       this.sending.delete(jsonMessage.tid);
+      this.outbox.clear(`${jsonMessage.tid}`);
       ipc.postDisconnectFromVehicle(jsonMessage.tid);
     };
 

src/common/Orchestrator.ts

@@ -122,7 +122,10 @@ class Orchestrator {
           status: 'ready',
         });
 
-        this.ping(this.vehicles[jsonMessage.sid]);
+        setTimeout(
+          (): void => this.ping(this.vehicles[jsonMessage.sid]),
+          config.vehicleDisconnectionTime * 1000,
+        );
       } else {
         this.vehicles[jsonMessage.sid].connect();
       }
@@ -142,11 +145,14 @@ class Orchestrator {
    * @param vehicle Vehicle to "ping".
    */
   private ping(vehicle: Vehicle): void {
-    const delta = Date.now() - vehicle.getLastConnectionTime();
+    const delta = Math.abs(Date.now() - vehicle.getLastConnectionTime());
 
     if (delta >= 0 && delta <= config.vehicleDisconnectionTime * 1000) {
       // Handler that expires and creates itself everytime it "pings" the vehicle.
-      setTimeout((): void => { this.ping(vehicle); }, delta);
+      setTimeout(
+        (): void => { this.ping(vehicle); },
+        config.vehicleDisconnectionTime * 1000 - delta,
+      );
     } else {
       this.disconnectFromVehicle(vehicle.getVehicleId());
     }
@@ -358,12 +364,12 @@ class Orchestrator {
       this.stopMissions();
     } else {
       this.missions[this.currentMissionIndex + 1].parameters = completionParameters;
-    }
 
-    if (this.requireConfirmation) {
-      ipc.postConfirmCompleteMission(); // Start next mission on "startNextMission" notification.
-    } else {
-      this.startNextMission();
+      if (this.requireConfirmation) {
+        ipc.postConfirmCompleteMission(); // Start next mission on "startNextMission" notification.
+      } else {
+        this.startNextMission();
+      }
     }
   }
 

src/common/Xbee.ts

@@ -9,7 +9,7 @@ import { JSONMessage } from '../types/message';
 import ipc from '../util/ipc';
 
 // TODO: Add a feature with Vehicle container to change this dynamically and reconnect.
-const port: string | undefined = 'COM5';
+const port: string | undefined = '/dev/tty.SLAB_USBtoUART';
 
 const serialport = new SerialPort(port, { baudRate: 57600 }, (error): void => {
   if (error) {

src/common/missions/PayloadDrop.ts

@@ -1,14 +1,11 @@
 import DictionaryList from '../struct/DictionaryList';
 import Mission from '../struct/Mission';
 
-import { JobType, Location } from '../../static/index';
+import { JobType } from '../../static/index';
 
-import * as Message from '../../types/message';
 import * as MissionInformation from '../../types/missionInformation';
 import { Task, TaskParameters } from '../../types/task';
 
-import ipc from '../../util/ipc';
-
 export const missionName: MissionInformation.MissionName = 'payloadDrop';
 
 export const jobTypes: JobType[] = ['payloadDrop'];
@@ -20,11 +17,6 @@ export class PayloadDrop extends Mission {
 
   protected addTaskCompare = {};
 
-  /**
-   * Point of interest.
-   */
-  private missionData: Location | null = null;
-
   protected generateTasks(): DictionaryList<Task> | undefined {
     const information = this.information as MissionInformation.PayloadDropInformation;
     const missionParameters = information.parameters;
@@ -54,35 +46,9 @@ export class PayloadDrop extends Mission {
     return tasks;
   }
 
-  public update(jsonMessage: Message.JSONMessage): void {
-    super.update(jsonMessage);
-
-    if (Message.TypeGuard.isPOIMessage(jsonMessage)
-      && this.activeVehicleMapping[this.missionName][jsonMessage.sid] === 'payloadDrop') {
-      const poiMessage = jsonMessage as Message.POIMessage;
-      this.missionData = {
-        lat: poiMessage.lat,
-        lng: poiMessage.lng,
-      };
-    }
-  }
-
+  // eslint-disable-next-line class-methods-use-this
   protected generateCompletionParameters(): { [key: string]: TaskParameters } | undefined {
-    if (!this.missionData) {
-      ipc.postLogMessages({
-        type: 'failure',
-        message: 'No target location was provided in payload drop',
-      });
-      return undefined; // Mission will stop from this, not complete.
-    }
-
-    return {
-      retrieveTarget: {
-        lat: this.missionData.lat,
-        lng: this.missionData.lng,
-      },
-      // TODO: generate data for deliverTarget
-    };
+    return {};
   }
 }
 

src/common/struct/Mission.ts

@@ -289,8 +289,8 @@ export default abstract class Mission {
       this.waitingVehicles.push(jobType, vehicle);
     });
 
-    const allVehiclesWaiting = pendingAssignVehicleIds.some(
-      (vehicleId): boolean => this.vehicles[vehicleId].getStatus() !== 'waiting',
+    const allVehiclesWaiting = pendingAssignVehicleIds.every(
+      (vehicleId): boolean => this.vehicles[vehicleId].getStatus() === 'waiting',
     );
 
     if (!allVehiclesWaiting) {
@@ -333,6 +333,8 @@ export default abstract class Mission {
     if (Message.TypeGuard.isCompleteMessage(jsonMessage)) {
       const jobType = this.activeVehicleMapping[this.missionName][jsonMessage.sid];
 
+      ipc.postLogMessages({ message: `Finished a task for ${this.missionName}` });
+
       /*
        * Mission is not yet finished, continue to assign tasks. One of the following will happen:
        * 1. Assigns next task to vehicle.

src/renderer/missionWindow/parameter/PayloadDrop.tsx

@@ -308,12 +308,12 @@ export class PayloadDrop extends Component<PayloadDropProps, State> {
         <p>Payload Drop Coordinates</p>
         <input className="inputFields" type="number" name="payloadDropLat1" value={checklist.payloadDropLat1 || ''} disabled={locked.payloadDrop1} onChange={this.onChange} placeholder="Latitude" />
         <input className="inputFields" type="number" name="payloadDropLng1" value={checklist.payloadDropLng1 || ''} disabled={locked.payloadDrop1} onChange={this.onChange} placeholder="Longitude" />
-        <input className="inputFields" type="number" name="payloadDropAlt" value={checklist.payloadDropAlt1 || ''} disabled={locked.payloadDrop1} onChange={this.onChange} placeholder="Altitude" />
+        <input className="inputFields" type="number" name="payloadDropAlt1" value={checklist.payloadDropAlt1 || ''} disabled={locked.payloadDrop1} onChange={this.onChange} placeholder="Altitude" />
         <CreateWaypointButton theme={theme} name="payloadDrop1" value="Payload Drop 1" />
         <br />
         <input className="inputFields" type="number" name="payloadDropLat2" value={checklist.payloadDropLat2 || ''} disabled={locked.payloadDrop2} onChange={this.onChange} placeholder="Latitude" />
         <input className="inputFields" type="number" name="payloadDropLng2" value={checklist.payloadDropLng2 || ''} disabled={locked.payloadDrop2} onChange={this.onChange} placeholder="Longitude" />
-        <input className="inputFields" type="number" name="payloadDropAlt" value={checklist.payloadDropAlt2 || ''} disabled={locked.payloadDrop2} onChange={this.onChange} placeholder="Altitude" />
+        <input className="inputFields" type="number" name="payloadDropAlt2" value={checklist.payloadDropAlt2 || ''} disabled={locked.payloadDrop2} onChange={this.onChange} placeholder="Altitude" />
         <CreateWaypointButton theme={theme} name="payloadDrop2" value="Payload Drop 2" />
 
         <p>Land Waypoints</p>

src/static/location.json

@@ -1,5 +1,5 @@
 {
-  "startLocation": "Cal Poly SLO",
+  "startLocation": "Prado Airpark",
   "locations": {
     "Cal Poly SLO": {
       "lat": 35.306205,
@@ -10,6 +10,11 @@
       "lat": 34.055869,
       "lng": -117.819964,
       "zoom": 18
+    },
+    "Prado Airpark": {
+      "lat": 33.9325635,
+      "lng": -117.6288792,
+      "zoom": 18
     }
   }
 }

src/static/vehicle.json

@@ -15,13 +15,13 @@
       "type": "station"
     },
     "100": {
-      "macAddress": "",
+      "macAddress": "0013A200419477B6",
       "name": "Skywalker",
       "type": "plane"
     },
     "101": {
       "macAddress": "",
-      "name": "Piper Club",
+      "name": "Piper Cub",
       "type": "plane"
     },
     "200": {