intval3/lib/intval/index.js

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'use strict'
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const log = require('../log')('intval')
let Gpio
try {
Gpio = require('onoff').Gpio
} catch (e) {
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log.warn('Failed including Gpio, using sim')
Gpio = require('../../lib/onoffsim').Gpio
}
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const PINS = {
fwd : {
pin : 13,
dir : 'out'
},
bwd : {
pin : 19,
dir : 'out'
},
micro : {
pin : 5,
dir : 'in',
edge : 'both'
},
release : {
pin : 6,
dir : 'in',
edge : 'both'
}
}
/** Object representing the intval3 features */
const intval = {}
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intval.init = function () {
intval._pin = {}
intval._state = {
frame : {
dir : true, //forward
start : 0, //time frame started, timestamp
active : false, //should frame be running
paused : false,
exposure : 0, //length of frame exposure, in ms
delay : 0 //delay before start of frame, in ms
},
release : {
time: 0,
active : false //is pressed
},
micro : {
time : 0,
primed : false //is ready to stop frame
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}
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}
intval._frame = {
open : 250, //delay before pausing frame in open state
openBwd : 400,
closed : 100, //time that frame actually remains closed for
expected : 630 //expected length of frame, in ms
}
intval._release = {
min : 20,
seq : 1000
}
intval._microDelay = 10 // delay after stop signal before stopping motors
intval._declarePins()
process.on('SIGINT', intval._undeclarePins)
process.on('uncaughtException', intval._undeclarePins)
}
/**
* (internal function) Declares all Gpio pins that will be used
*
*/
intval._declarePins = function () {
let pin
for (let p in PINS) {
pin = PINS[p]
if (pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir, pin.edge)
if (!pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir)
log.info('_declarePins', { pin : pin.pin, dir : pin.dir, edge : pin.edge })
}
intval._pin.release.watch(intval._watchRelease)
}
/**
* (internal function) Undeclares all Gpio in event of uncaught error
* that interupts the node process
*
*/
intval._undeclarePins = function (e) {
log.error(e)
if (!intval._pin) {
log.warn('_undeclarePins', { reason : 'No pins'})
return process.exit()
}
log.warn('_undeclarePins', { pin : PINS.fwd.pin, val : 0, reason : 'exiting'})
intval._pin.fwd.writeSync(0)
log.warn('_undeclarePins', { pin : PINS.bwd.pin, val : 0, reason : 'exiting'})
intval._pin.bwd.writeSync(0)
intval._pin.fwd.unexport()
intval._pin.bwd.unexport()
intval._pin.micro.unexport()
intval._pin.release.unexport()
process.exit()
}
/**
* Start motor in forward direction by setting correct pins in h-bridge
*
*/
intval._startFwd = function () {
intval._pin.fwd.writeSync(1)
intval._pin.bwd.writeSync(0)
//start high-cpu watch
}
/**
* Start motor in backward direction by setting correct pins in h-bridge
*
*/
intval._startBwd = function () {
intval._pin.fwd.writeSync(0)
intval._pin.bwd.writeSync(1)
}
intval._pause = function () {
intval._pin.fwd.writeSync(0)
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intval._pin.bwd.writeSync(0)
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//log.info('_pause', 'frame paused')
}
/**
* Stop motor by setting both motor pins to 0 (LOW)
*
*/
intval._stop = function () {
intval._pin.fwd.writeSync(0)
intval._pin.bwd.writeSync(0)
const now = +new Date()
const len = now - intval._state.frame.start
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log.info(`_stop`, { frame : len })
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intval._pin.micro.unwatch()
intval._state.frame.active = false
}
/**
* Callback for watching relese switch state changes.
* Using GPIO 06 on Raspberry Pi Zero W.
*
* 1) If closed AND frame active, start timer, set state primed to `true`.
* 1) If opened AND frame active, stop frame
*
* Microswitch + 10K ohm resistor
* * 1 === open
* * 0 === closed
*
*
* @param {object} err Error object present if problem reading pin
* @param {integer} val Current value of the pin
*
*/
intval._watchMicro = function (err, val) {
const NOW = +new Date()
if (err) {
log.error('_watchMicro', err)
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}
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//log.info(`Microswitch val: ${val}`)
//determine when to stop
if (val === 0 && intval._state.frame.active) {
if (!intval._state.micro.primed) {
intval._state.micro.primed = true
intval._state.micro.exposure = NOW
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//log.info('Microswitch primed to stop motor')
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}
} else if (val === 1 && intval._state.frame.active) {
if (intval._state.micro.primed && !intval._state.micro.paused) {
intval._state.micro.primed = false
intval._state.micro.exposure = 0
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//setTimeout( () => {
intval._stop()
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//}, intval._microDelay)
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}
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}
}
/**
* Callback for watching relese switch state changes.
* Using GPIO 05 on Raspberry Pi Zero W.
*
* 1) If closed, start timer.
* 2) If opened, check timer AND
* 3) If `press` (`now - intval._state.release.exposure`) greater than minimum and less than `intval._release.seq`, start frame
* 4) If `press` greater than `intval._release.seq`, start sequence
*
* Button + 10K ohm resistor
* * 1 === open
* * 0 === closed
*
* @param {object} err Error object present if problem reading pin
* @param {integer} val Current value of the pin
*
*/
intval._watchRelease = function (err, val) {
const now = +new Date()
let press = 0
if (err) {
return log.error(err)
}
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//log.info(`Release switch val: ${val}`)
if (val === 0) {
//closed
if (intval._releaseClosedState(now)) {
intval._state.release.exposure = now
intval._state.release.active = true //maybe unncecessary
}
} else if (val === 1) {
//opened
if (intval._state.release.active) {
press = now - intval._state.release.exposure
if (press > intval._release.min && press < intval._release.seq) {
intval.frame()
} else if (press >= intval._release.seq) {
intval.sequence()
}
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//log.info(`Release closed for ${press}ms`)
intval._state.release.exposure = 0
intval._state.release.active = false
}
}
}
intval._releaseClosedState = function (now) {
if (!intval._state.release.active && intval._state.release.exposure === 0) {
return true
}
if (intval._state.release.active && (now - intval._state.release.exposure) > (intval._release.seq * 10)) {
return true
}
return false
}
/**
* Set the default direction of the camera.
* * forward = true
* * backward = false
*
* @param {boolean} [dir=true] Direction of the camera
*
*/
intval.setDir = function (val = true) {
if (typeof val !== 'boolean') {
return log.warn('Direction must be represented as either true or false')
}
intval._state.frame.dir = val
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log.info('setDir', { direction : val ? 'forward' : 'backward' })
}
intval.setExposure = function (val = 0) {
intval._state.frame.exposure = val
log.info('setTime', { time : val })
}
intval.setDelay = function (val = 0) {
intval._state.frame.delay = val
log.info('setDelay', { delay : val })
}
/**
* Begin a single frame with set variables or defaults
*
* @param {?boolean} [dir="null"] (optional) Direction of the frame
* @param {?integer} [time="null"] (optional) Exposure time, 0 = minimum
*
*/
intval.frame = function (dir = null, time = null) {
if (dir === true || (dir === null && intval._state.frame.dir === true) ) {
dir = true
} else {
dir = false
}
if (time === null && intval._state.frame.exposure !== 0) {
time = intval._state.frame.exposure
} else if (time === null) {
time = 0 //default speed
}
intval._state.frame.start = +new Date()
intval._state.frame.active = true
intval._pin.micro.watch(intval._watchMicro)
log.info('frame', {dir : dir, time : time})
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if (dir) {
intval._startFwd()
} else {
intval._startBwd()
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}
if (time !== 0) {
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intval._state.frame.paused = true
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if (dir) {
setTimeout(intval._pause, intval._frame.open)
//log.info('frame', { pausing : time + intval._frame.open })
setTimeout( () => {
intval._state.frame.paused = false
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intval._startFwd()
}, time + intval._frame.closed)
} else {
setTimeout(intval._pause, intval._frame.openBwd)
setTimeout( () => {
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//log.info('frame', 'restarting')
intval._state.frame.paused = false
intval._startBwd()
}, time + intval._frame.closed)
}
}
}
/**
* Start a sequence of frames, using defaults or explicit instructions
*
*/
intval.sequence = function () {
log.info('sequence', `Started sequence`)
}
intval.status = function () {
return intval._state
}
module.exports = intval