lib/intval/index.js

@@ -6,7 +6,7 @@ let Gpio
 try {
 	Gpio = require('onoff').Gpio
 } catch (e) {
-	console.warn('Failed including Gpio, using sim')
+	log.warn('Failed including Gpio, using sim')
 	Gpio = require('../../lib/onoffsim').Gpio
 }
 
@@ -55,11 +55,14 @@ class Intval {
 				primed : false //is ready to stop frame
 			}
 		}
+		
 		this._releaseMin = 50
 		this._releaseSequence = 1000
 		this._microDelay = 10 // delay after stop signal before stopping motors
+
 		this._declarePins()
 		process.on('SIGINT', this._undeclarePins)
+		process.on('uncaughtException', this._undeclarePins)
 	}
 	/**
 	* (internal function) Declares all Gpio pins that will be used
@@ -71,8 +74,8 @@ class Intval {
 			pin = PINS[p]
 			if (pin.edge) this._pin[p] = Gpio(pin.pin, pin.dir, pin.edge)
 			if (!pin.edge) this._pin[p] = Gpio(pin.pin, pin.dir)
+			log.info('_declarePins', { pin : pin.pin, dir : pin.dir, edge : pin.edge })
 		}
-		console.dir(this._pin)
 		this._pin.release.watch(this._watchRelease)
 	}
 	/** 
@@ -81,10 +84,16 @@ class Intval {
 	*
 	*/
 	_undeclarePins () {
+		if (!this._pin) return process.exit()
+		log.warn('_undeclarePins', { pin : PINS.fwd.pin, val : 0, reason : 'exiting'})
+		this._pin.fwd.writeSync(0)
+		log.warn('_undeclarePins', { pin : PINS.bwd.pin, val : 0, reason : 'exiting'})
+		this._pin.bwd.writeSync(0)
 		this._pin.fwd.unexport()
 		this._pin.bwd.unexport()
 		this._pin.micro.unexport()
 		this._pin.release.unexport()
+		process.exit()
 	}
 	/**
 	* Start motor in forward direction by setting correct pins in h-bridge
@@ -113,7 +122,7 @@ class Intval {
 
 		let len = (+new Date()) - this._state.frame.start
 
-		console.log(`Frame stopped ${len}ms`)
+		log.info(`Frame stopped ${len}ms`)
 
 		this._pin.micro.unwatch()
 		this._state.frame.active = false
@@ -138,21 +147,21 @@ class Intval {
 	_watchMicro (err, val) {
 		const NOW = +new Date()
 		if (err) {
-			console.error(err)
+			log.error('_watchMicro', err)
 		}
 		//determine when to stop
 		if (val === 0 && this._state.frame.active) {
 			if (!this._state.micro.primed) {
 				this._state.micro.primed = true
 				this._state.micro.time = NOW
-				console.log('Mircoswitch primed to stop motor')
+				log.info('Mircoswitch primed to stop motor')
 			}
 		} else if (val === 1 && this._state.frame.active) {
 			if (this._state.micro.primed) {
 				this._state.micro.primed = false
 				this._state.micro.time = 0
 				setTimeout( () => {
-					console.log(`Stopped frame after ${NOW - this._state.micro.time}ms`)
+					log.info(`Stopped frame after ${NOW - this._state.micro.time}ms`)
 				}, this._microDelay)
 			}
 		}
@@ -178,9 +187,9 @@ class Intval {
 		const NOW = +new Date()
 		let press = 0
 		if (err) {
-			return console.error(err)
+			return log.error(err)
 		}
-		console.log(`Release switch val: ${val}`)
+		log.info(`Release switch val: ${val}`)
 		if (val === 0) {
 			//closed
 			if ((!this._state.release.active && this._state.release.time === 0) || (this._state.release.active && (NOW - this._state.release.time) > (this._releaseSequence * 10))
@@ -197,7 +206,7 @@ class Intval {
 				} else if (press >= this._releaseSequence) {
 					this.sequence()
 				}
-				console.log(`Release closed for ${press}ms`)
+				log.info(`Release closed for ${press}ms`)
 				this._state.release.time = 0
 				this._state.release.active = false
 			}
@@ -213,7 +222,7 @@ class Intval {
 	*/
 	setDir (val = true) {
 		if (typeof val !== 'boolean') {
-			return console.warn('Direction must be represented as either true or false')
+			return log.warn('Direction must be represented as either true or false')
 		}
 		this._state.dir = val
 	} 
@@ -222,10 +231,9 @@ class Intval {
 	*
 	* @param {?boolean} 	[dir="null"] 		(optional) Direction of the frame
 	* @param {?integer} 	[time="null"] 		(optional) Exposure time, 0 = minimum
-	* @param {?integer} 	[delay="null"] 		(optional) Delay after frame before another can be started
 	*
 	*/
-	frame (dir = null, time = null, delay = null) { //may be overloaded, delay is suspect
+	frame (dir = null, time = null) {
 		if (dir === true || (dir === null && this._state.dir === true) ) {
 			dir =  true
 		} else {
@@ -238,31 +246,16 @@ class Intval {
 			time = 0
 		}
 
-		if (delay === null && this._state.delay !== 0) {
-			delay = this._state.delay
-		} else {
-			delay = 0
-		}
-
 		this._state.frame.start = +new Date()
 		this._state.frame.active = true
 		this._pin.micro.watch(this._watchMicro)
 
-		if (delay !== 0) {
+		log.info('frame', {dir : dir, time : time})
-			setTimeout(function () {
+
-				if (dir) {
+		if (dir) {
-					this._startFwd()
+			this._startFwd()
-				} else {
-					this._startBwd()
-				}
-				
-			}, delay)
 		} else {
-			if (dir) {
+			this._startBwd()
-				this._startFwd()
-			} else {
-				this._startBwd()
-			}
 		}
 	}
 	/**
@@ -270,7 +263,7 @@ class Intval {
 	*
 	*/
 	sequence () {
-		console.log(`Started sequence`)
+		log.info('sequence', `Started sequence`)
 	}
 	status () {
 		return this._state