Refactor intval library to use object. The nature of the GPIO module in use breaks references to this
This commit is contained in:
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15d9225c04
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6218d8d585
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@ -1,54 +1,54 @@
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<a name="Intval"></a>
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<a name="intval"></a>
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## Intval
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Class representing the intval3 features
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## intval
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Object representing the intval3 features
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**Kind**: global class
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**Kind**: global constant
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* [Intval](#Intval)
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* [._declarePins()](#Intval+_declarePins)
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* [._undeclarePins()](#Intval+_undeclarePins)
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* [._startFwd()](#Intval+_startFwd)
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* [._startBwd()](#Intval+_startBwd)
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* [._stop()](#Intval+_stop)
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* [._watchMicro(err, val)](#Intval+_watchMicro)
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* [._watchRelease(err, val)](#Intval+_watchRelease)
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* [.setDir([dir])](#Intval+setDir)
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* [.frame([dir], [time])](#Intval+frame)
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* [.sequence()](#Intval+sequence)
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* [intval](#intval)
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* [._declarePins()](#intval._declarePins)
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* [._undeclarePins()](#intval._undeclarePins)
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* [._startFwd()](#intval._startFwd)
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* [._startBwd()](#intval._startBwd)
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* [._stop()](#intval._stop)
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* [._watchMicro(err, val)](#intval._watchMicro)
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* [._watchRelease(err, val)](#intval._watchRelease)
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* [.setDir([dir])](#intval.setDir)
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* [.frame([dir], [time])](#intval.frame)
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* [.sequence()](#intval.sequence)
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<a name="Intval+_declarePins"></a>
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<a name="intval._declarePins"></a>
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### intval._declarePins()
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(internal function) Declares all Gpio pins that will be used
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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<a name="Intval+_undeclarePins"></a>
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**Kind**: static method of [<code>intval</code>](#intval)
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<a name="intval._undeclarePins"></a>
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### intval._undeclarePins()
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(internal function) Undeclares all Gpio in event of uncaught error
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that interupts the node process
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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<a name="Intval+_startFwd"></a>
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**Kind**: static method of [<code>intval</code>](#intval)
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<a name="intval._startFwd"></a>
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### intval._startFwd()
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Start motor in forward direction by setting correct pins in h-bridge
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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<a name="Intval+_startBwd"></a>
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**Kind**: static method of [<code>intval</code>](#intval)
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<a name="intval._startBwd"></a>
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### intval._startBwd()
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Start motor in backward direction by setting correct pins in h-bridge
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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<a name="Intval+_stop"></a>
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**Kind**: static method of [<code>intval</code>](#intval)
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<a name="intval._stop"></a>
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### intval._stop()
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Stop motor by setting both motor pins to 0 (LOW)
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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<a name="Intval+_watchMicro"></a>
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**Kind**: static method of [<code>intval</code>](#intval)
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<a name="intval._watchMicro"></a>
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### intval._watchMicro(err, val)
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Callback for watching relese switch state changes.
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@ -61,14 +61,14 @@ Microswitch + 10K ohm resistor
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* 1 === open
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* 0 === closed
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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**Kind**: static method of [<code>intval</code>](#intval)
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| Param | Type | Description |
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| --- | --- | --- |
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| err | <code>object</code> | Error object present if problem reading pin |
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| val | <code>integer</code> | Current value of the pin |
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<a name="Intval+_watchRelease"></a>
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<a name="intval._watchRelease"></a>
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### intval._watchRelease(err, val)
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Callback for watching relese switch state changes.
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@ -76,48 +76,48 @@ Using GPIO 05 on Raspberry Pi Zero W.
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1) If closed, start timer.
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2) If opened, check timer AND
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3) If `press` (`NOW - this._state.release.time`) greater than minimum and less than `this._releaseSequence`, start frame
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4) If `press` greater than `this._releaseSequence`, start sequence
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3) If `press` (`now - intval._state.release.time`) greater than minimum and less than `intval._releaseSequence`, start frame
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4) If `press` greater than `intval._releaseSequence`, start sequence
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Button + 10K ohm resistor
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* 1 === open
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* 0 === closed
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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**Kind**: static method of [<code>intval</code>](#intval)
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| Param | Type | Description |
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| --- | --- | --- |
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| err | <code>object</code> | Error object present if problem reading pin |
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| val | <code>integer</code> | Current value of the pin |
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<a name="Intval+setDir"></a>
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<a name="intval.setDir"></a>
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### intval.setDir([dir])
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Set the default direction of the camera.
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* forward = true
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* backward = false
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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**Kind**: static method of [<code>intval</code>](#intval)
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| Param | Type | Default | Description |
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| --- | --- | --- | --- |
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| [dir] | <code>boolean</code> | <code>true</code> | Direction of the camera |
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<a name="Intval+frame"></a>
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<a name="intval.frame"></a>
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### intval.frame([dir], [time])
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Begin a single frame with set variables or defaults
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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**Kind**: static method of [<code>intval</code>](#intval)
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| Param | Type | Default | Description |
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| --- | --- | --- | --- |
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| [dir] | <code>boolean</code> | <code>"null"</code> | (optional) Direction of the frame |
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| [time] | <code>integer</code> | <code>"null"</code> | (optional) Exposure time, 0 = minimum |
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<a name="Intval+sequence"></a>
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<a name="intval.sequence"></a>
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### intval.sequence()
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Start a sequence of frames, using defaults or explicit instructions
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**Kind**: instance method of [<code>Intval</code>](#Intval)
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**Kind**: static method of [<code>intval</code>](#intval)
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@ -32,256 +32,256 @@ const PINS = {
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}
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}
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/** Class representing the intval3 features */
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class Intval {
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constructor () {
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this._pin = {}
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this._state = {
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dir : true, //forward
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frame : {
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start : 0, //time frame started, timestamp
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active : false, //should frame be running
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time : 0, //length of frame, in ms
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delay : 0, //delay before start of frame, in ms
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/** Object representing the intval3 features */
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const intval = {}
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expected : 1000 //expected length of frame, in ms
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},
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release : {
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time: 0,
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active : false //is pressed
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},
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micro : {
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time : 0,
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primed : false //is ready to stop frame
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}
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}
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intval.init = function () {
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intval._pin = {}
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intval._state = {
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dir : true, //forward
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frame : {
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start : 0, //time frame started, timestamp
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active : false, //should frame be running
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time : 0, //length of frame, in ms
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delay : 0, //delay before start of frame, in ms
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this._releaseMin = 50
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this._releaseSequence = 1000
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this._microDelay = 10 // delay after stop signal before stopping motors
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this._declarePins()
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process.on('SIGINT', this._undeclarePins)
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process.on('uncaughtException', this._undeclarePins)
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}
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/**
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* (internal function) Declares all Gpio pins that will be used
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*
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*/
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_declarePins () {
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let pin
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for (let p in PINS) {
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pin = PINS[p]
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if (pin.edge) this._pin[p] = Gpio(pin.pin, pin.dir, pin.edge)
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if (!pin.edge) this._pin[p] = Gpio(pin.pin, pin.dir)
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log.info('_declarePins', { pin : pin.pin, dir : pin.dir, edge : pin.edge })
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expected : 1000 //expected length of frame, in ms
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},
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release : {
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time: 0,
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active : false //is pressed
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},
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micro : {
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time : 0,
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primed : false //is ready to stop frame
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}
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this._pin.release.watch(this._watchRelease)
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}
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/**
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* (internal function) Undeclares all Gpio in event of uncaught error
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* that interupts the node process
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*
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*/
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_undeclarePins (e) {
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log.error(e)
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if (!this._pin) {
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log.warn('_undeclarePins', { reason : 'No pins'})
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return process.exit()
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}
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log.warn('_undeclarePins', { pin : PINS.fwd.pin, val : 0, reason : 'exiting'})
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this._pin.fwd.writeSync(0)
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log.warn('_undeclarePins', { pin : PINS.bwd.pin, val : 0, reason : 'exiting'})
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this._pin.bwd.writeSync(0)
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this._pin.fwd.unexport()
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this._pin.bwd.unexport()
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this._pin.micro.unexport()
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this._pin.release.unexport()
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process.exit()
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}
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/**
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* Start motor in forward direction by setting correct pins in h-bridge
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*
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*/
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_startFwd () {
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this._pin.fwd.writeSync(1)
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this._pin.bwd.writeSync(0)
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//start high-cpu watch
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}
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/**
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* Start motor in backward direction by setting correct pins in h-bridge
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*
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*/
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_startBwd () {
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this._pin.fwd.writeSync(0)
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this._pin.bwd.writeSync(1)
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}
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/**
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* Stop motor by setting both motor pins to 0 (LOW)
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*
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*/
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_stop () {
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this._pin.fwd.writeSync(0)
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this._pin.bwd.writeSync(0)
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let len = (+new Date()) - this._state.frame.start
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log.info(`Frame stopped ${len}ms`)
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this._pin.micro.unwatch()
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this._state.frame.active = false
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this._state.frame.start = 0
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}
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/**
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* Callback for watching relese switch state changes.
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* Using GPIO 06 on Raspberry Pi Zero W.
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*
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* 1) If closed AND frame active, start timer, set state primed to `true`.
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* 1) If opened AND frame active, stop frame
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*
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* Microswitch + 10K ohm resistor
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* * 1 === open
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* * 0 === closed
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*
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*
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* @param {object} err Error object present if problem reading pin
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* @param {integer} val Current value of the pin
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*
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*/
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_watchMicro (err, val) {
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const NOW = +new Date()
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if (err) {
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log.error('_watchMicro', err)
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}
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//determine when to stop
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if (val === 0 && this._state.frame.active) {
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if (!this._state.micro.primed) {
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this._state.micro.primed = true
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this._state.micro.time = NOW
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log.info('Mircoswitch primed to stop motor')
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}
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} else if (val === 1 && this._state.frame.active) {
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if (this._state.micro.primed) {
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this._state.micro.primed = false
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this._state.micro.time = 0
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setTimeout( () => {
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log.info(`Stopped frame after ${NOW - this._state.micro.time}ms`)
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}, this._microDelay)
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}
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}
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}
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/**
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* Callback for watching relese switch state changes.
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* Using GPIO 05 on Raspberry Pi Zero W.
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*
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* 1) If closed, start timer.
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* 2) If opened, check timer AND
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* 3) If `press` (`now - this._state.release.time`) greater than minimum and less than `this._releaseSequence`, start frame
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* 4) If `press` greater than `this._releaseSequence`, start sequence
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*
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* Button + 10K ohm resistor
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* * 1 === open
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* * 0 === closed
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*
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* @param {object} err Error object present if problem reading pin
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* @param {integer} val Current value of the pin
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*
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*/
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_watchRelease (err, val) {
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const now = +new Date()
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let press = 0
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if (err) {
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return log.error(err)
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}
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log.info(`Release switch val: ${val}`)
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if (val === 0) {
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//closed
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if (this._releaseClosedState(now)) {
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this._state.release.time = now
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this._state.release.active = true //maybe unncecessary
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}
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} else if (val === 1) {
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//opened
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if (this._state.release.active) {
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press = now - this._state.release.time
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if (press > this._releaseMin && press < this._releaseSequence) {
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this.frame()
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} else if (press >= this._releaseSequence) {
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this.sequence()
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}
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log.info(`Release closed for ${press}ms`)
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this._state.release.time = 0
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this._state.release.active = false
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}
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}
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log.info('completed if statement')
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}
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_releaseClosedState (now) {
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if (!this._state.release.active && this._state.release.time === 0) {
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return true
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}
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if (this._state.release.active && (now - this._state.release.time) > (this._releaseSequence * 10)) {
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return true
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}
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return false
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}
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/**
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* Set the default direction of the camera.
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* * forward = true
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* * backward = false
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*
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* @param {boolean} [dir=true] Direction of the camera
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*
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*/
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setDir (val = true) {
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if (typeof val !== 'boolean') {
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return log.warn('Direction must be represented as either true or false')
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}
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this._state.dir = val
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}
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/**
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* Begin a single frame with set variables or defaults
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*
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* @param {?boolean} [dir="null"] (optional) Direction of the frame
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* @param {?integer} [time="null"] (optional) Exposure time, 0 = minimum
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*
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*/
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frame (dir = null, time = null) {
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if (dir === true || (dir === null && this._state.dir === true) ) {
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dir = true
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} else {
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dir = false
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}
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intval._releaseMin = 50
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intval._releaseSequence = 1000
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intval._microDelay = 10 // delay after stop signal before stopping motors
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if (time === null && this._state.time !== 0) {
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time = this._state.time
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} else {
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time = 0
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}
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this._state.frame.start = +new Date()
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this._state.frame.active = true
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this._pin.micro.watch(this._watchMicro)
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log.info('frame', {dir : dir, time : time})
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if (dir) {
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this._startFwd()
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} else {
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this._startBwd()
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}
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intval._declarePins()
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process.on('SIGINT', intval._undeclarePins)
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process.on('uncaughtException', intval._undeclarePins)
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}
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/**
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* (internal function) Declares all Gpio pins that will be used
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*
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*/
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intval._declarePins = function () {
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let pin
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for (let p in PINS) {
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pin = PINS[p]
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if (pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir, pin.edge)
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if (!pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir)
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log.info('_declarePins', { pin : pin.pin, dir : pin.dir, edge : pin.edge })
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}
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/**
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* Start a sequence of frames, using defaults or explicit instructions
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*
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*/
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sequence () {
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log.info('sequence', `Started sequence`)
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intval._pin.release.watch(intval._watchRelease)
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}
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/**
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* (internal function) Undeclares all Gpio in event of uncaught error
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* that interupts the node process
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*
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*/
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intval._undeclarePins = function (e) {
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log.error(e)
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if (!intval._pin) {
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log.warn('_undeclarePins', { reason : 'No pins'})
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return process.exit()
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}
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status () {
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return this._state
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log.warn('_undeclarePins', { pin : PINS.fwd.pin, val : 0, reason : 'exiting'})
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intval._pin.fwd.writeSync(0)
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log.warn('_undeclarePins', { pin : PINS.bwd.pin, val : 0, reason : 'exiting'})
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intval._pin.bwd.writeSync(0)
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intval._pin.fwd.unexport()
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intval._pin.bwd.unexport()
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intval._pin.micro.unexport()
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intval._pin.release.unexport()
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process.exit()
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}
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/**
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* Start motor in forward direction by setting correct pins in h-bridge
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*
|
||||
*/
|
||||
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)
|
||||
}
|
||||
/**
|
||||
* Stop motor by setting both motor pins to 0 (LOW)
|
||||
*
|
||||
*/
|
||||
intval._stop = function () {
|
||||
intval._pin.fwd.writeSync(0)
|
||||
intval._pin.bwd.writeSync(0)
|
||||
|
||||
let len = (+new Date()) - intval._state.frame.start
|
||||
|
||||
log.info(`Frame stopped ${len}ms`)
|
||||
|
||||
intval._pin.micro.unwatch()
|
||||
intval._state.frame.active = false
|
||||
intval._state.frame.start = 0
|
||||
}
|
||||
/**
|
||||
* 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)
|
||||
}
|
||||
//determine when to stop
|
||||
if (val === 0 && intval._state.frame.active) {
|
||||
if (!intval._state.micro.primed) {
|
||||
intval._state.micro.primed = true
|
||||
intval._state.micro.time = NOW
|
||||
log.info('Mircoswitch primed to stop motor')
|
||||
}
|
||||
} else if (val === 1 && intval._state.frame.active) {
|
||||
if (intval._state.micro.primed) {
|
||||
intval._state.micro.primed = false
|
||||
intval._state.micro.time = 0
|
||||
setTimeout( () => {
|
||||
log.info(`Stopped frame after ${NOW - intval._state.micro.time}ms`)
|
||||
}, intval._microDelay)
|
||||
}
|
||||
}
|
||||
}
|
||||
/**
|
||||
* 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.time`) greater than minimum and less than `intval._releaseSequence`, start frame
|
||||
* 4) If `press` greater than `intval._releaseSequence`, 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)
|
||||
}
|
||||
log.info(`Release switch val: ${val}`)
|
||||
if (val === 0) {
|
||||
//closed
|
||||
if (intval._releaseClosedState(now)) {
|
||||
intval._state.release.time = now
|
||||
intval._state.release.active = true //maybe unncecessary
|
||||
}
|
||||
} else if (val === 1) {
|
||||
//opened
|
||||
if (intval._state.release.active) {
|
||||
press = now - intval._state.release.time
|
||||
if (press > intval._releaseMin && press < intval._releaseSequence) {
|
||||
intval.frame()
|
||||
} else if (press >= intval._releaseSequence) {
|
||||
intval.sequence()
|
||||
}
|
||||
log.info(`Release closed for ${press}ms`)
|
||||
intval._state.release.time = 0
|
||||
intval._state.release.active = false
|
||||
}
|
||||
}
|
||||
log.info('completed if statement')
|
||||
}
|
||||
|
||||
module.exports = new Intval()
|
||||
intval._releaseClosedState = function (now) {
|
||||
if (!intval._state.release.active && intval._state.release.time === 0) {
|
||||
return true
|
||||
}
|
||||
if (intval._state.release.active && (now - intval._state.release.time) > (intval._releaseSequence * 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.dir = 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.dir === true) ) {
|
||||
dir = true
|
||||
} else {
|
||||
dir = false
|
||||
}
|
||||
|
||||
if (time === null && intval._state.time !== 0) {
|
||||
time = intval._state.time
|
||||
} else {
|
||||
time = 0
|
||||
}
|
||||
|
||||
intval._state.frame.start = +new Date()
|
||||
intval._state.frame.active = true
|
||||
intval._pin.micro.watch(intval._watchMicro)
|
||||
|
||||
log.info('frame', {dir : dir, time : time})
|
||||
|
||||
if (dir) {
|
||||
intval._startFwd()
|
||||
} else {
|
||||
intval._startBwd()
|
||||
}
|
||||
}
|
||||
/**
|
||||
* 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
|
||||
File diff suppressed because it is too large
Load Diff
|
|
@ -1,3 +1,5 @@
|
|||
'use strict'
|
||||
|
||||
const intval = require('../lib/intval')
|
||||
|
||||
intval.init()
|
||||
Loading…
Reference in New Issue