WIP - working with parallel actions

leka · Dec 20, 2023 · b775d06 · b775d06
1 parent 0dbea06
commit b775d06
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Showing 3 changed files with 13 additions and 8 deletions.
diff --git a/Modules/RobotKit/Examples/RobotKitExample/Sources/Views/RobotKitExperimentView.swift b/Modules/RobotKit/Examples/RobotKitExample/Sources/Views/RobotKitExperimentView.swift
@@ -14,14 +14,10 @@ struct RobotKitExperimentView: View {
             Button("Launch Synchronous Sequence", systemImage: "play.circle") {
                 self.robotkit.append(actions: [
                     .motion(.spin(.clockwise, speed: 1), duration: .seconds(4), parallel: []),
-                    .motion(.stop, duration: .seconds(3), parallel: [
-                        //                        .lights(.full(.belt, in: .red), duration: .seconds(3)),
+                    .motion(.stop, duration: .seconds(3), parallel: []),
+                    .motion(.spin(.counterclockwise, speed: 0.8), duration: .seconds(4), parallel: [
+                        .blink(.seconds(0.2), duration: .seconds(2), parallel: []),
                     ]),
-                    .blink(.seconds(0.2), duration: .seconds(5), parallel: []),
-//                    .motion(.spin(.counterclockwise, speed: 0.8), duration: .seconds(4), parallel: [
-//                        .blink(.seconds(0.2), duration: .seconds(2), parallel: []),
-//                    ]),
-//                    .pause(duration: .infinity),
                 ])
 
                 self.robotkit.executeSync()

diff --git a/Modules/RobotKit/Sources/RobotKit/ActionMotion.swift b/Modules/RobotKit/Sources/RobotKit/ActionMotion.swift
@@ -19,6 +19,14 @@ final class ActionMotion: RobotActionProtocol {
             }
             log.debug("motion - start task - move")
             self.robot.move(self.motion)
+            for action in self.parallelActions {
+                log.debug("motion - start task - parallel action \(action)")
+                Task {
+                    try await action.object.execute()
+                }
+//                /* async let _ = */ try action.object.execute()
+                log.debug("motion - start task - parallel action \(action) ✅")
+            }
             try await Task.sleep(for: self.duration)
             log.debug("motion - end task")
         }

diff --git a/Modules/RobotKit/Sources/RobotKit/RobotAction.swift b/Modules/RobotKit/Sources/RobotKit/RobotAction.swift
@@ -6,8 +6,9 @@ import Foundation
 
 public enum RobotAction {
     case motion(Robot.Motion, duration: Duration, parallel: [RobotAction] = [])
-//    case lights(Robot.Lights, duration: Duration, parallel: [RobotAction] = [])
+
     case blink(Duration, duration: Duration, parallel: [RobotAction] = [])
+    //    case lights(Robot.Lights, duration: Duration, parallel: [RobotAction] = [])
 //    case pause(duration: Duration)
 
     // MARK: Public