472 lines
14 KiB
JavaScript
472 lines
14 KiB
JavaScript
'use strict';
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Object.defineProperty(exports, "__esModule", { value: true });
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const db = require('../db');
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const log = require('../log')('intval');
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const storage = require("node-persist");
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const fs_extra_1 = require("fs-extra");
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const delay_1 = require("../delay");
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let Gpio;
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try {
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Gpio = require('onoff').Gpio;
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}
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catch (e) {
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log.warn('Failed including Gpio, using sim');
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Gpio = require('../../lib/onoffsim').Gpio;
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}
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const PINS = {
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fwd: {
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pin: 13,
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dir: 'out'
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},
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bwd: {
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pin: 19,
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dir: 'out'
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},
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micro: {
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pin: 5,
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dir: 'in',
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edge: 'both'
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},
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release: {
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pin: 6,
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dir: 'in',
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edge: 'both'
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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.STATE_DIR = '~/state';
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this._frame = {
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open: 250,
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openBwd: 400,
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closed: 100,
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expected: 530 //expected length of frame, in ms
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};
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this._release = {
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min: 20,
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seq: 1000,
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time: 0,
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active: false
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};
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this._micro = {
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time: 0,
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primed: false,
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delay: 10 // delay after stop signal before stopping motors
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};
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this._pin = {};
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this._state = {};
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this._init();
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}
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/**
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* Initialize the storage object and bind functions to process events.
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*/
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async _init() {
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let dirExists;
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const storateOptions = {
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dir: this.STATE_DIR,
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stringify: JSON.stringify,
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parse: JSON.parse,
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encoding: 'utf8',
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logging: false,
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continuous: true,
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interval: false,
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ttl: false,
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};
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try {
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dirExists = await fs_extra_1.pathExists(this.STATE_DIR);
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}
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catch (err) {
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log.error('_init', `Error locating state directory ${this.STATE_DIR}`);
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}
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if (!dirExists) {
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try {
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await fs_extra_1.mkdir(this.STATE_DIR);
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}
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catch (err) {
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log.error('_init', `Error creating state directory ${this.STATE_DIR}`);
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}
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}
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try {
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await storage.init(storateOptions);
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}
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catch (err) {
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log.error('_init', err);
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}
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try {
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await this._restoreState();
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}
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catch (err) {
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log.warn('_init', err);
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this.reset();
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this._declarePins();
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}
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process.on('SIGINT', this._undeclarePins.bind(this));
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process.on('uncaughtException', this._undeclarePins.bind(this));
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}
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/**
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* Restore the state from the storage object
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*/
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async _restoreState() {
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let data;
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try {
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data = await storage.getItem('_state');
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}
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catch (err) {
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log.error('_restoreState', err);
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}
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try {
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this._setState(data);
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}
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catch (err) {
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log.error('_restoreState', err);
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this._setState();
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}
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this._declarePins();
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}
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/**
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* Creating the state object.
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*/
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_setState(data = undefined) {
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if (typeof data !== 'undefined') {
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this._state = data;
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this._state.frame.cb = () => { };
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log.info('_setState', 'Restored intval state from disk');
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return true;
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}
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log.info('_setState', 'Setting state from defaults');
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this._state = {
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frame: {
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dir: true,
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start: 0,
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active: false,
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paused: false,
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exposure: 0,
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delay: 0,
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current: {},
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cb: () => { }
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},
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counter: 0,
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sequence: false
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};
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this._storeState();
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}
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/**
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* Store the state object.
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*/
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_storeState() {
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try {
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storage.setItem('_state', this._state);
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}
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catch (err) {
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log.error('_storeState', err);
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}
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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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_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)
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this._pin[p] = new Gpio(pin.pin, pin.dir, pin.edge);
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if (!pin.edge)
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this._pin[p] = new 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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this._pin.release.watch(this._watchRelease.bind(this));
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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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_undeclarePins(e) {
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log.error('_undeclarePins', 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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_startFwd() {
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this._pin.fwd.writeSync(1);
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this._pin.bwd.writeSync(0);
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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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_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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* Turn off all directions
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*/
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_pause() {
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this._pin.fwd.writeSync(0);
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this._pin.bwd.writeSync(0);
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//log.info('_pause', 'frame paused')
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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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_stop() {
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const entry = {};
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const now = +new Date();
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const len = now - this._state.frame.start;
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this._pin.fwd.writeSync(0);
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this._pin.bwd.writeSync(0);
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log.info(`_stop`, { frame: len });
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this._pin.micro.unwatch();
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this._state.frame.active = false;
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if (this._state.frame.cb)
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this._state.frame.cb(len);
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entry.start = this._state.frame.start;
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entry.stop = now;
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entry.len = len;
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entry.dir = this._state.frame.current.dir ? 1 : 0;
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entry.exposure = this._state.frame.current.exposure;
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entry.counter = this._state.counter;
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entry.sequence = this._state.sequence ? 1 : 0;
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db.insert(entry);
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this._state.frame.current = {};
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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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async _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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//log.info(`Microswitch val: ${val}`)
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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._micro.primed) {
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this._micro.primed = true;
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this._micro.time = now;
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log.info('Microswitch primed to stop motor');
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}
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}
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else if (val === 1 && this._state.frame.active) {
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if (this._micro.primed && !this._micro.paused && (now - this._state.frame.start) > this._frame.open) {
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this._micro.primed = false;
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this._micro.time = 0;
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await delay_1.delay(this._micro.delay);
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this._stop();
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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._release.time`) greater than minimum and less than `this._release.seq`, start frame
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* 4) If `press` greater than `this._release.seq`, 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._release.time = now;
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this._release.active = true; //maybe unncecessary
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}
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}
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else if (val === 1) {
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//opened
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if (this._release.active) {
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press = now - this._release.time;
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if (press > this._release.min && press < this._release.seq) {
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this.frame();
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}
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else if (press >= this._release.seq) {
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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._release.time = 0;
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this._release.active = false;
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}
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}
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}
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_sequence() {
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if (this.sequence) {
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this._state.sequence = this.sequence();
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}
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}
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/**
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*
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*/
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_releaseClosedState(now) {
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if (!this._release.active && this._release.time === 0) {
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return true;
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}
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if (this._release.active && (now - this._release.time) > (this._release.seq * 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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* Reset the state and store it.
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*/
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reset() {
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this._setState();
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this._storeState();
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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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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.frame.dir = val;
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this._storeState();
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log.info('setDir', { direction: val ? 'forward' : 'backward' });
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}
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/**
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* Set the exposure value for a single frame.
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*
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* @param {integer} val Length in milliseconds
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*/
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setExposure(val = 0) {
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this._state.frame.exposure = val;
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this._storeState();
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log.info('setExposure', { exposure: val });
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}
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/**
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* Set the delay time between each frame.
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*
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* @param {integer} val Length in milliseconds
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*/
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setDelay(val = 0) {
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this._state.frame.delay = val;
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this._storeState();
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log.info('setDelay', { delay: val });
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}
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/**
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* Set the counter to the value.
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*
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* @param {integer} val Frame number
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*/
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setCounter(val = 0) {
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this._state.counter = val;
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this._storeState();
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log.info('setCounter', { counter: 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} [exposure="null"] (optional) Exposure time, 0 = minimum
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*
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*/
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async frame(dir = null, exposure = null) {
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if (dir === true || (dir === null && this._state.frame.dir === true)) {
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dir = true;
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}
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else {
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dir = false;
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}
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if (exposure === null && this._state.frame.exposure !== 0) {
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exposure = this._state.frame.exposure;
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}
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else if (exposure === null) {
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exposure = 0; //default speed
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}
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this._state.frame.current.exposure = exposure;
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this._state.frame.current.dir = dir;
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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.bind(this));
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log.info('frame', { dir: dir ? 'forward' : 'backward', exposure });
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if (dir) {
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this._startFwd();
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}
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else {
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this._startBwd();
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}
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if (exposure !== 0) {
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this._state.frame.paused = true;
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if (dir) {
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await delay_1.delay(this._frame.open);
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this._pause();
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await delay_1.delay(exposure + this._frame.closed);
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this._state.frame.paused = false;
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this._startFwd();
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}
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else {
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await delay_1.delay(this._frame.openBwd);
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this._pause();
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await delay_1.delay(exposure + this._frame.closed);
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this._state.frame.paused = false;
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this._startBwd();
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}
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}
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if (dir) {
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this._state.frame.cb = (len) => {
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this._state.counter++;
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this._storeState();
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};
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}
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else {
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this._state.frame.cb = (len) => {
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this._state.counter--;
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this._storeState();
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};
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}
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}
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/**
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* Returns the state of the
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*/
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status() {
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return this._state;
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}
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}
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exports.default = Intval;
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module.exports = Intval;
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//# sourceMappingURL=index.js.map
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