286 lines
6.6 KiB
JavaScript
286 lines
6.6 KiB
JavaScript
'use strict'
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const log = require('../log')('intval')
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let Gpio
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try {
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Gpio = require('onoff').Gpio
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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._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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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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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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}
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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 () {
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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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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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}
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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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}
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status () {
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return this._state
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}
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}
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module.exports = new Intval() |