553 lines
12 KiB
TypeScript
553 lines
12 KiB
TypeScript
'use strict'
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const db = require('../db')
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const log = require('../log')('intval')
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import storage = require('node-persist')
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import { pathExists, mkdir } from 'fs-extra'
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import { delay } from '../delay'
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let Gpio : any
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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 : any = {
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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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interface State {
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}
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interface Entry {
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start : number
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stop : number
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len : number
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dir : number
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exposure : number
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counter : number
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sequence : number
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}
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/** class representing the intval3 features */
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export default class Intval {
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private STATE_DIR : string = '~/state'
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private _frame : any = {
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open : 250, //delay before pausing frame in open state
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openBwd : 400,
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closed : 100, //time that frame actually remains closed for
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expected : 530 //expected length of frame, in ms
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}
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private _release : any = {
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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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private _micro : any = {
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time : 0,
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primed : false, //is ready to stop frame
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delay : 10// delay after stop signal before stopping motors
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}
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private _pin : any = {};
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private _state : any = {};
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private storage : any;
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public sequence : any;
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constructor() {
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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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private async _init () {
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let dirExists : boolean;
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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, // can also be custom logging function
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continuous: true, // continously persist to disk
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interval: false, // milliseconds, persist to disk on an interval
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ttl: false, // ttl* [NEW], can be true for 24h default or a number in MILLISECONDS
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//expiredInterval: 2 * 60 * 1000, // [NEW] every 2 minutes the process will clean-up the expired cache
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//forgiveParseErrors: false // [NEW]
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}
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try {
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dirExists = await pathExists(this.STATE_DIR);
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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 mkdir(this.STATE_DIR);
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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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} 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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} 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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private async _restoreState () {
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let data : any;
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try {
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data = await storage.getItem('_state');
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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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} 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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private _setState (data : any = 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, //forward
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start : 0, //time frame started, timestamp
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active : false, //should frame be running
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paused : false,
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exposure : 0, //length of frame exposure, in ms
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delay : 0, //delay before start of frame, in ms
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current : {}, //current settings
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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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private _storeState () {
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try {
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storage.setItem('_state', this._state);
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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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private _declarePins () {
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let pin : any;
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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] = new Gpio(pin.pin, pin.dir, pin.edge);
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if (!pin.edge) 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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private _undeclarePins (e : Error) {
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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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private _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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private _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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private _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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private _stop () {
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const entry : any = {};
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const now : number = +new Date();
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const len : number = 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) 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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private async _watchMicro (err : Error, val : number) {
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const now : number = +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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} 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(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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private _watchRelease (err : Error, val : number) {
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const now : number = +new Date();
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let press : number = 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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} 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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} 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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private _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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private _releaseClosedState (now : number) {
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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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public 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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public setDir (val : boolean = 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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public setExposure (val : number = 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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public setDelay (val : number = 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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public setCounter (val : number = 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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public async frame (dir : boolean = null, exposure : number = null) {
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if (this._state.frame.active) {
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return false
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}
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if (dir === true || (dir === null && this._state.frame.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 (exposure === null && this._state.frame.exposure !== 0) {
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exposure = this._state.frame.exposure;
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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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} 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(this._frame.open)
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this._pause()
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await delay(exposure + this._frame.closed)
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this._state.frame.paused = false
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this._startFwd()
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} else {
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await delay(this._frame.openBwd)
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this._pause()
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await 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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return new Promise (function (resolve : Function, reject : Function) {
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this._state.frame.cb = (len : number) => {
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this._state.counter++
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this._storeState()
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return resolve(true)
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}
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}.bind(this))
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} else {
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return new Promise (function (resolve : Function, reject : Function) {
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this._state.frame.cb = (len : number) => {
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this._state.counter--
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this._storeState()
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return resolve(true)
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}
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}.bind(this))
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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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public status () {
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return this._state;
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}
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}
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module.exports = Intval |