Purge master relay code.

cypress-tests/cypress/e2e/0-2-siteStartupLayout.cy.js

@@ -85,7 +85,6 @@ describe("site initial layout and page function", () => {
     cy.contains("robotName:").should("be.visible");
     cy.contains("idleTimeoutInMinutes:").should("be.visible");
     cy.contains("rosLibDelay:").should("be.visible");
-    cy.contains("useMasterPowerRelay:").should("be.visible");
     cy.contains("masterPowerRelayUniqueString:").should("be.visible");
     cy.contains("masterPowerRelayStringLocation:").should("be.visible");
     cy.contains("useLCD:").should("be.visible");

node/Arduino.js

@@ -10,7 +10,6 @@ const robotModel = require('./robotModel');
 const webModelFunctions = require('./webModelFunctions');
 const UsbDevice = require('./UsbDevice');
 const howManySecondsSince = require('./howManySecondsSince');
-const masterRelay = require('./MasterRelay');
 const personalData = require('./personalData');
 const wait = require('./wait');
 
@@ -92,8 +91,6 @@ class Arduino {
   }
 
   static getPortName() {
-    /** @namespace personalData.masterPowerRelayStringLocation */
-    /** @namespace personalData.masterPowerRelayUniqueString */
     const arduinoDevice = new UsbDevice(
       personalData.arduinoUniqueString,
       personalData.arduinoStringLocation,
@@ -104,10 +101,6 @@ class Arduino {
   turnOnRelays() {
     return new Promise((resolve, reject) => {
       let delay = 0;
-      if (personalData.useMasterPowerRelay && !webModel.masterRelayOn) {
-        masterRelay('on');
-        delay = 3000;
-      }
       setTimeout(() => {
         let delayTwo = 0;
         if (

node/Camera.js

@@ -6,7 +6,6 @@ const ipAddress = require('./ipAddress');
 
 class Camera {
   /** @namespace personalData.relays.has_fiveVolt */
-  /** @namespace personalData.useMasterPowerRelay */
   constructor(cameraName, cameraModel) {
     this.cameraName = cameraName;
     this.cameraModel = cameraModel;

node/LCD.js

@@ -7,8 +7,6 @@ let busy = false; // Prevent multiple instances from running at once in the same
 let port; // Store port so we don't have to look it up every time.
 
 async function getPortName() {
-  /** @namespace personalData.masterPowerRelayStringLocation */
-  /** @namespace personalData.masterPowerRelayUniqueString */
   const relayDevice = new UsbDevice(
     personalData.LCDString,
     personalData.LCDLocation,

node/UsbRelayControl.js

@@ -35,7 +35,6 @@ class UsbRelay {
     if (
       !personalData.demoWebSite &&
       personalData.useUSBrelay &&
-      !robotModel.masterRelayBusy &&
       !robotModel.usbRelayControlBusy
     ) {
       if (webModel.debugging && webModel.logOtherMessages) {
@@ -111,7 +110,7 @@ class UsbRelay {
       const timeout = 20; // loops
       let triedSoFar = 0;
       const checkBusyOrSwitch = () => {
-        if (!robotModel.usbRelayControlBusy && !robotModel.masterRelayBusy) {
+        if (!robotModel.usbRelayControlBusy) {
           robotModel.usbRelayControlBusy = true;
           const state = onOrOff.toLowerCase();
           if (state !== 'on' && state !== 'off') {

node/behaviors/handlePowerWithoutROS.js

@@ -2,7 +2,6 @@ const personalData = require('../personalData');
 const webModel = require('../webModel');
 const webModelFunctions = require('../webModelFunctions');
 const robotModel = require('../robotModel');
-const masterRelay = require('../MasterRelay');
 const wait = require('../wait');
 
 async function handleUsbHubPower() {
@@ -12,7 +11,7 @@ async function handleUsbHubPower() {
     webModelFunctions.scrollingStatusUpdate(message);
   }
 
-  // Power off the Master Relay and all regular Relays after the idle timeout,
+  // Power off all regular Relays after the idle timeout,
   // whether plugged in or not.
   // NOTE: My last try at running this "continuously" it drained the 12v batteries,
   // even when plugged in. Maybe my batteries are old, but it seems best to NOT do that.
@@ -22,8 +21,7 @@ async function handleUsbHubPower() {
   if (
     !webModel.ROSisRunning &&
     webModel.idleTimeout &&
-    personalData.idleTimeoutInMinutes > 0 &&
-    webModel.masterRelayOn
+    personalData.idleTimeoutInMinutes > 0
   ) {
     // NOTE: If you turn on debugging, this will update every behavior loop (1 second)
     const dateNow = new Date();
@@ -38,10 +36,6 @@ async function handleUsbHubPower() {
     if (idleMinutes > personalData.idleTimeoutInMinutes) {
       console.log('Idle power down.');
       webModelFunctions.scrollingStatusUpdate('Idle power down.');
-      if (personalData.useMasterPowerRelay) {
-        await wait(1); // The usbRelay calls just made by polling can clobber this if we don't wait.
-        masterRelay('off');
-      }
       /** @namespace personalData.useUSBrelay */
       if (personalData.useUSBrelay) {
         await wait(1); // The usbRelay calls just made by polling can clobber this if we don't wait.

node/behaviors/polling.js

@@ -10,7 +10,6 @@ const personalData = require('../personalData');
 const robotModel = require('../robotModel');
 const speechEngine = require('../speechEngine');
 const checkBattery = require('../checkBattery');
-const masterRelay = require('../MasterRelay');
 const getQRcodes = require('../getQRcodes');
 const saveScreenShotForWeb = require('../saveScreenShotForWeb');
 const howManySecondsSince = require('../howManySecondsSince');
@@ -54,10 +53,6 @@ async function polling() {
       saveScreenShotForWeb();
     }
   }
-  if (webModel.checkMasterRelay) {
-    webModelFunctions.update('checkMasterRelay', false);
-    masterRelay('read');
-  }
   if (webModel.checkUsbRelayBank) {
     webModelFunctions.update('checkUsbRelayBank', false);
     robotModel.usbRelay.updateAllRelayState();
@@ -81,7 +76,6 @@ async function polling() {
     // It reduces how often zbarcam is run,
     // and prevents it from getting stuck
     robotModel.gettingQrCode = true;
-    // TODO: This doesn't work with the Master & 5volt relays off!
     getQRcodes();
   }