intval3/lib/intval/index.js

423 lines
10 KiB
JavaScript

'use strict'
const db = require('../db')
const log = require('../log')('intval')
const storage = require('node-persist')
const fs = require('fs')
let Gpio
try {
Gpio = require('onoff').Gpio
} catch (e) {
log.warn('Failed including Gpio, using sim')
Gpio = require('../../lib/onoffsim').Gpio
}
const PINS = {
fwd : {
pin : 13,
dir : 'out'
},
bwd : {
pin : 19,
dir : 'out'
},
micro : {
pin : 5,
dir : 'in',
edge : 'both'
},
release : {
pin : 6,
dir : 'in',
edge : 'both'
}
}
/** Object representing the intval3 features */
const intval = {}
intval._frame = {
open : 250, //delay before pausing frame in open state
openBwd : 400,
closed : 100, //time that frame actually remains closed for
expected : 630 //expected length of frame, in ms
}
intval._release = {
min : 20,
seq : 1000
}
intval._microDelay = 10 // delay after stop signal before stopping motors
intval._pin = {}
/**
*
*/
intval.init = function () {
if (!fs.existsSync('./state')) fs.mkdirSync('./state')
storage.init({
dir: './state',
stringify: JSON.stringify,
parse: JSON.parse,
encoding: 'utf8',
logging: false, // can also be custom logging function
continuous: true, // continously persist to disk
interval: false, // milliseconds, persist to disk on an interval
ttl: false, // ttl* [NEW], can be true for 24h default or a number in MILLISECONDS
expiredInterval: 2 * 60 * 1000, // [NEW] every 2 minutes the process will clean-up the expired cache
forgiveParseErrors: false // [NEW]
}).then(intval._restoreState).catch((err) => {
log.warn('init', err)
intval.reset()
intval._declarePins()
})
process.on('SIGINT', intval._undeclarePins)
process.on('uncaughtException', intval._undeclarePins)
}
intval._restoreState = function (res) {
storage.getItem('_state', 'test').then(intval._setState).catch((err) => {
intval._setState(undefined)
log.error('_restoreState', err)
})
intval._declarePins()
}
intval._setState = function (data) {
if (typeof data !== 'undefined') {
intval._state = data
intval._state.frame.cb = () => {}
log.info('_setState', 'Restored intval state from disk')
return true
}
log.info('_setState', 'Setting state from defaults')
intval._state = {
frame : {
dir : true, //forward
start : 0, //time frame started, timestamp
active : false, //should frame be running
paused : false,
exposure : 0, //length of frame exposure, in ms
delay : 0, //delay before start of frame, in ms
current : {}, //current settings
cb : () => {}
},
release : {
time: 0,
active : false //is pressed
},
micro : {
time : 0,
primed : false //is ready to stop frame
},
counter : 0,
sequence : false
}
intval._storeState()
}
intval._storeState = function () {
storage.setItem('_state', intval._state)
.then(() => {})
.catch((err) => {
log.error('_storeState', err)
})
}
/**
* (internal function) Declares all Gpio pins that will be used
*
*/
intval._declarePins = function () {
let pin
for (let p in PINS) {
pin = PINS[p]
if (pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir, pin.edge)
if (!pin.edge) intval._pin[p] = Gpio(pin.pin, pin.dir)
log.info('_declarePins', { pin : pin.pin, dir : pin.dir, edge : pin.edge })
}
intval._pin.release.watch(intval._watchRelease)
}
/**
* (internal function) Undeclares all Gpio in event of uncaught error
* that interupts the node process
*
*/
intval._undeclarePins = function (e) {
log.error(e)
if (!intval._pin) {
log.warn('_undeclarePins', { reason : 'No pins'})
return process.exit()
}
log.warn('_undeclarePins', { pin : PINS.fwd.pin, val : 0, reason : 'exiting'})
intval._pin.fwd.writeSync(0)
log.warn('_undeclarePins', { pin : PINS.bwd.pin, val : 0, reason : 'exiting'})
intval._pin.bwd.writeSync(0)
intval._pin.fwd.unexport()
intval._pin.bwd.unexport()
intval._pin.micro.unexport()
intval._pin.release.unexport()
process.exit()
}
/**
* Start motor in forward direction by setting correct pins in h-bridge
*
*/
intval._startFwd = function () {
intval._pin.fwd.writeSync(1)
intval._pin.bwd.writeSync(0)
}
/**
* Start motor in backward direction by setting correct pins in h-bridge
*
*/
intval._startBwd = function () {
intval._pin.fwd.writeSync(0)
intval._pin.bwd.writeSync(1)
}
intval._pause = function () {
intval._pin.fwd.writeSync(0)
intval._pin.bwd.writeSync(0)
//log.info('_pause', 'frame paused')
}
/**
* Stop motor by setting both motor pins to 0 (LOW)
*
*/
intval._stop = function () {
const entry = {}
const now = +new Date()
const len = now - intval._state.frame.start
intval._pin.fwd.writeSync(0)
intval._pin.bwd.writeSync(0)
log.info(`_stop`, { frame : len })
intval._pin.micro.unwatch()
intval._state.frame.active = false
if (intval._state.frame.cb) intval._state.frame.cb(len)
entry.start = intval._state.frame.start
entry.stop = now
entry.len = len
entry.dir = intval._state.frame.current.dir ? 1 : 0
entry.exposure = intval._state.frame.current.exposure
entry.counter = intval._state.counter
entry.sequence = intval._state.sequence ? 1 : 0
db.insert(entry)
intval._state.frame.current = {}
}
/**
* 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)
}
//log.info(`Microswitch val: ${val}`)
//determine when to stop
if (val === 0 && intval._state.frame.active) {
if (!intval._state.micro.primed) {
intval._state.micro.primed = true
intval._state.micro.time = now
//log.info('Microswitch primed to stop motor')
}
} else if (val === 1 && intval._state.frame.active) {
if (intval._state.micro.primed && !intval._state.micro.paused && (now - intval._state.frame.start) > intval._frame.open) {
intval._state.micro.primed = false
intval._state.micro.time = 0
setTimeout( () => {
intval._stop()
}, 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._release.seq`, start frame
* 4) If `press` greater than `intval._release.seq`, start sequence
*
* Button + 10K ohm resistor
* * 1 === open
* * 0 === closed
*
* @param {object} err Error object present if problem reading pin
* @param {integer} val Current value of the pin
*
*/
intval._watchRelease = function (err, val) {
const now = +new Date()
let press = 0
if (err) {
return log.error(err)
}
//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._release.min && press < intval._release.seq) {
intval.frame()
} else if (press >= intval._release.seq) {
intval.sequence()
}
//log.info(`Release closed for ${press}ms`)
intval._state.release.time = 0
intval._state.release.active = false
}
}
}
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._release.seq * 10)) {
return true
}
return false
}
intval.reset = function () {
intval._setState()
intval._storeState()
}
/**
* Set the default direction of the camera.
* * forward = true
* * backward = false
*
* @param {boolean} [dir=true] Direction of the camera
*
*/
intval.setDir = function (val = true) {
if (typeof val !== 'boolean') {
return log.warn('Direction must be represented as either true or false')
}
intval._state.frame.dir = val
intval._storeState()
log.info('setDir', { direction : val ? 'forward' : 'backward' })
}
intval.setExposure = function (val = 0) {
intval._state.frame.exposure = val
intval._storeState()
log.info('setExposure', { exposure : val })
}
intval.setDelay = function (val = 0) {
intval._state.frame.delay = val
intval._storeState()
log.info('setDelay', { delay : val })
}
intval.setCounter = function (val = 0) {
intval._state.counter = val
intval._storeState()
log.info('setCounter', { counter : val })
}
/**
* Begin a single frame with set variables or defaults
*
* @param {?boolean} [dir="null"] (optional) Direction of the frame
* @param {?integer} [exposure="null"] (optional) Exposure time, 0 = minimum
*
*/
intval.frame = function (dir = null, exposure = null, cb = () => {}) {
if (dir === true || (dir === null && intval._state.frame.dir === true) ) {
dir = true
} else {
dir = false
}
if (exposure === null && intval._state.frame.exposure !== 0) {
exposure = intval._state.frame.exposure
} else if (exposure === null) {
exposure = 0 //default speed
}
intval._state.frame.start = +new Date()
intval._state.frame.active = true
intval._pin.micro.watch(intval._watchMicro)
log.info('frame', {dir : dir ? 'forward' : 'backward', exposure : exposure})
if (dir) {
intval._startFwd()
} else {
intval._startBwd()
}
if (exposure !== 0) {
intval._state.frame.paused = true
if (dir) {
setTimeout(intval._pause, intval._frame.open)
//log.info('frame', { pausing : time + intval._frame.open })
setTimeout( () => {
intval._state.frame.paused = false
intval._startFwd()
}, exposure + intval._frame.closed)
} else {
setTimeout(intval._pause, intval._frame.openBwd)
setTimeout( () => {
//log.info('frame', 'restarting')
intval._state.frame.paused = false
intval._startBwd()
}, exposure + intval._frame.closed)
}
}
if (dir) {
intval._state.frame.cb = (len) => {
intval._state.counter++
intval._storeState()
cb(len)
}
} else {
intval._state.frame.cb = (len) => {
intval._state.counter--
intval._storeState()
cb(len)
}
}
intval._state.frame.current = {
dir: dir,
exposure: exposure
}
}
intval.status = function () {
return intval._state
}
module.exports = intval