mcopy/app/lib/arduino/index.js

604 lines
22 KiB
JavaScript

'use strict';
Object.defineProperty(exports, "__esModule", { value: true });
/**
* 2023-07-16 Clarification
*
* Previous versions of this script intermingled and even
* swapped the usage of the terms 'serial' and 'device'.
* From here on out, the terms will be used as such:
*
* serial - a hardware address of a serial port
* device - common name of a type of mcopy device (eg. camera,
* projector, light) that is aliased to a serial port
*
**/
//import Log = require('log');
const delay_1 = require("delay");
const log_1 = require("log");
const { SerialPort } = require('serialport');
const { ReadlineParser } = require('@serialport/parser-readline');
const exec = require('child_process').exec;
const parser = new ReadlineParser({ delimiter: '\r\n' });
const newlineRe = new RegExp('\n', 'g');
const returnRe = new RegExp('\r', 'g');
let eventEmitter;
let cfg;
let arduino;
const KNOWN = [
'/dev/tty.usbmodem1a161',
'/dev/tty.usbserial-A800f8dk',
'/dev/tty.usbserial-A900cebm',
'/dev/tty.usbmodem1a131',
'/dev/tty.usbserial-a900f6de',
'/dev/tty.usbmodem1a141',
'/dev/ttyACM0',
'COM3'
];
/**
* Class representing the arduino communication features
**/
class Arduino {
constructor(errorState) {
this.path = {};
this.known = KNOWN;
this.alias = {};
this.serial = {};
this.hasState = {};
this.baud = 57600;
this.queue = {};
this.timer = 0;
this.locks = {};
this.stateStr = {};
this.errorState = errorState;
this.init();
}
async init() {
this.log = await (0, log_1.Log)({ label: 'arduino' });
this.keys = Object.keys(cfg.arduino.cmd);
this.values = this.keys.map(key => cfg.arduino.cmd[key]);
}
/**
* Enumerate all connected devices that might be Arduinos
*
* @async
* @returns {Promise} Resolves after enumerating
**/
async enumerate() {
let ports;
let matches = [];
try {
ports = await SerialPort.list();
}
catch (err) {
throw err;
}
this.log.info('Available ports:');
this.log.info(ports.map((port) => { return port.path; }).join(','));
ports.forEach((port) => {
if (this.known.indexOf(port.path) !== -1) {
matches.push(port.path);
}
else if ((port.manufacturer + '').toLowerCase().indexOf('arduino') !== -1) {
matches.push(port.path);
}
else if ((port.path + '').toLowerCase().indexOf('usbserial') !== -1) {
matches.push(port.path);
}
else if ((port.path + '').toLowerCase().indexOf('usbmodem') !== -1) {
matches.push(port.path);
}
else if ((port.path + '').toLowerCase().indexOf('ttyusb') !== -1) {
matches.push(port.path);
}
});
if (matches.length === 0) {
throw new Error('No USB devices found');
}
else if (matches.length > 0) {
return matches;
}
}
/**
* Send a command to an Arduino using async/await
*
* @param {string} device The Arduino device identifier
* @param {string} cmd Single character command to send
*
* @async
* @returns {Promise} Resolves after sending
**/
async sendAsync(device, cmd) {
return new Promise((resolve, reject) => {
//this.log.info(`sendAsync ${cmd} -> ${device}`)
this.queue[cmd] = (ms) => {
return resolve(ms);
};
//this.log.info(`Device: ${device}`)
return this.serial[this.alias[device]].write(cmd, (err, results) => {
if (err) {
//this.log.error(err)
return reject(err);
}
});
});
}
/**
* Sends a command to the specified Arduino and waits for a response.
* Handles the communication lock to prevent sending multiple commands simultaneously.
* Emits an 'arduino_send' event after successfully sending the command.
*
* @async
* @param {string} device - The Arduino device identifier.
* @param {string} cmd - The command to be sent to the Arduino.
* @returns {Promise<boolean|string>} Returns 'false' if the communication is locked, otherwise returns the response from the device.
* @throws {Error} Throws an error if the sendAsync method encounters an error.
**/
async send(device, cmd) {
const serial = this.alias[device];
let ms;
this.log.info(`send ${cmd} -> ${device}`);
if (this.isLocked(serial)) {
this.log.warn(`send Serial ${serial} is locked`);
return null;
}
this.timer = new Date().getTime();
this.lock(serial);
await (0, delay_1.delay)(cfg.arduino.serialDelay);
try {
ms = await this.sendAsync(device, cmd);
}
catch (e) {
this.log.error(`Failed to send to ${device} @ ${serial}`, e);
return null;
}
this.unlock(serial);
await eventEmitter.emit('arduino_send', cmd);
return ms;
}
/**
* Sends a string to the specified Arduino.
* Handles different types of devices, including fake devices for testing purposes.
* Waits for a specified delay before sending the string.
*
* @async
* @param {string} device - The Arduino device identifier.
* @param {string} str - The string to be sent to the Arduino.
* @returns {Promise<boolean|string>} Returns 'true' if the string is sent successfully, otherwise returns an error message.
* @throws {Error} Throws an error if the writeAsync method encounters an error.
**/
async sendString(device, str) {
let writeSuccess;
await (0, delay_1.delay)(cfg.arduino.serialDelay);
if (typeof this.serial[this.alias[device]].fake !== 'undefined'
&& this.serial[this.alias[device]].fake) {
return this.serial[this.alias[device]].string(str);
}
else {
this.log.info(`sendString ${str} -> ${device}`);
try {
writeSuccess = await this.writeAsync(device, str);
}
catch (e) {
this.log.error(`Error sending string to ${device}`, e);
return null;
}
this.unlock(this.alias[device]);
return writeSuccess;
}
}
/**
*
**/
async stateAsync(device, confirm = false) {
const cmd = cfg.arduino.cmd.state;
const serial = confirm ? this.alias['connect'] : this.alias[device];
return new Promise((resolve, reject) => {
this.queue[cmd] = (state) => {
this.stateStr[device] = state;
if (confirm) {
this.hasState[device] = true;
this.log.info(`Device ${device} supports state [${state}]`);
}
return resolve(state);
};
if (confirm) {
setTimeout(function () {
if (typeof this.queue[cmd] !== 'undefined') {
delete this.queue[cmd];
this.hasState[device] = false;
this.log.info(`Device ${device} does not support state`);
return resolve(null);
}
}.bind(this), 1000);
}
this.log.info(`stateAsync ${cmd} -> ${device}`);
return this.serial[serial].write(cmd, (err, results) => {
if (err) {
//this.log.error(err)
return reject(err);
}
});
});
}
/**
*
**/
async state(device, confirm = false) {
const serial = confirm ? this.alias['connect'] : this.alias[device];
let results;
if (this.isLocked(serial)) {
this.log.warn(`state Serial ${serial} is locked`);
return null;
}
this.timer = new Date().getTime();
this.lock(serial);
await (0, delay_1.delay)(cfg.arduino.serialDelay);
try {
results = await this.stateAsync(device, confirm);
}
catch (e) {
this.log.error(`Error getting state from ${device}`, e);
return null;
}
this.unlock(serial);
await eventEmitter.emit('arduino_state', cfg.arduino.cmd.state);
return results;
}
/**
* Send a string to an Arduino using async/await
*
* @param {string} device Arduino identifier
* @param {string} str String to send
*
* @returns {Promise} Resolves after sending
**/
async writeAsync(device, str) {
return new Promise((resolve, reject) => {
this.serial[this.alias[device]].write(str, function (err, results) {
if (err) {
return reject(err);
}
return resolve(results);
});
});
}
/**
* Handles the end of communication with the Arduino.
* Calculates the time taken for the communication, executes the callback,
* and emits an 'arduino_end' event. Handles errors and stray data received.
*
* @param {string} serial - The serial address of the Arduino device.
* @param {string} data - The data received from the Arduino.
* @returns {any} The time taken for the communication in milliseconds.
**/
end(serial, data) {
const end = new Date().getTime();
const ms = end - this.timer;
let complete;
//this.log.info(`end ${serial} -> ${data}`)
if (this.queue[data] !== undefined) {
this.unlock(serial);
complete = this.queue[data](ms); //execute callback
eventEmitter.emit('arduino_end', data);
delete this.queue[data];
}
else if (data[0] === cfg.arduino.cmd.state) {
//this.log.info(`end serial -> ${serial}`)
this.unlock(serial);
complete = this.queue[cfg.arduino.cmd.state](data);
eventEmitter.emit('arduino_end', data);
delete this.queue[cfg.arduino.cmd.state];
return data;
}
else if (data[0] === cfg.arduino.cmd.error) {
this.log.error(`Received error from device ${serial}`);
this.unlock(serial);
this.error(serial, data);
//error state
//stop sequence
//throw error in ui
}
else {
this.log.info('Received stray "' + data + '"'); //silent to user
}
return ms;
}
error(serial, data) {
this.log.error("ERROR", data);
}
/**
* Associates an alias with an Arduinos serial address.
* Used to map multi-purpose devices onto the same serial connection.
*
* @param {string} device - The serial number of the target Arduino.
* @param {string} serial - The alias to be associated with the target device.
**/
aliasSerial(device, serial) {
//this.log.info(`Making "${serial}" an alias of ${device}`)
this.alias[device] = serial;
}
/**
* Connects to an Arduino using its serial number.
* Sets up the SerialPort instance and path for the device, and handles data communication.
* Handles opening the connection and emitting 'arduino_end' or 'confirmEnd' events upon receiving data.
*
* @async
* @param {string} device - The device identifier (common name).
* @param {string} serial - The serial address of the target Arduino (e.g., COM port on Windows).
* @param {function} confirm - A callback function to be executed upon receiving confirmation data.
* @returns {Promise<string>} Resolves with the device path if the connection is successful.
* @throws {Error} Rejects with an error message if the connection fails.
**/
async connect(device, serial, confirm) {
//this.log.info(`connect device ${device}`)
//this.log.info(`connect serial ${serial}`)
return new Promise(async (resolve, reject) => {
let connectSuccess;
this.path[device] = serial;
this.aliasSerial(device, serial);
this.serial[serial] = new SerialPort({
path: serial,
autoOpen: false,
baudRate: cfg.arduino.baud,
parser
});
this.unlock(serial);
try {
connectSuccess = await this.openArduino(device);
}
catch (e) {
this.log.error(`Failed to open ${device} @ ${serial}: ` + e);
return reject(e);
}
this.log.info(`Opened connection with ${this.path[device]} as ${device}`);
if (!confirm) {
this.serial[this.alias[device]].on('data', async (data) => {
let d = data.toString('utf8');
d = d.replace(newlineRe, '').replace(returnRe, '');
return this.end(serial, d);
});
}
else {
this.serial[this.alias[device]].on('data', async (data) => {
let d = data.toString('utf8');
d = d.replace(newlineRe, '').replace(returnRe, '');
return await this.confirmEnd(d);
});
}
return resolve(this.path[serial]);
});
}
/**
* Handles the confirmation data received from an Arduino.
* Executes the confirmation callback function if the received data is present in the list of expected values.
*
* @param {string} data - The data received from the Arduino.
**/
confirmEnd(data) {
if (this.values.indexOf(data) !== -1 && typeof this.confirmExec === 'function') {
this.confirmExec(null, data);
this.confirmExec = {};
this.unlock(this.alias['connect']);
}
else if (data[0] === cfg.arduino.cmd.state) {
this.queue[cfg.arduino.cmd.state](data);
delete this.queue[cfg.arduino.cmd.state];
this.unlock(this.alias['connect']);
}
}
/**
* Verifies the connection to an Arduino by sending a connect command.
* The confirmation callback checks if the received data matches the expected connect command.
*
* @async
* @returns {Promise<boolean>} Resolves with 'true' if the connection is verified successfully.
* @throws {Error} Rejects with an error message if the connection verification fails.
**/
async verify() {
return new Promise(async (resolve, reject) => {
const device = 'connect';
let writeSuccess;
this.confirmExec = function (err, data) {
if (data === cfg.arduino.cmd.connect) {
return resolve(true);
}
else {
return reject('Wrong data returned');
}
};
await (0, delay_1.delay)(cfg.arduino.serialDelay);
try {
writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.connect);
}
catch (e) {
return reject(e);
}
return resolve(writeSuccess);
});
}
/**
* Distinguishes the type of Arduino connected.
* Sends a command to the device to identify its type and resolves the promise with the received type.
*
* @async
* @returns {Promise<string>} Resolves with the type of the connected Arduino-based device.
* @throws {Error} Rejects with an error message if the distinguish operation fails.
**/
async distinguish() {
return new Promise(async (resolve, reject) => {
const device = 'connect';
let writeSuccess;
let type;
this.confirmExec = function (err, data) {
if (data === cfg.arduino.cmd.projector_identifier) {
type = 'projector';
}
else if (data === cfg.arduino.cmd.camera_identifier) {
type = 'camera';
}
else if (data === cfg.arduino.cmd.light_identifier) {
type = 'light';
}
else if (data === cfg.arduino.cmd.projector_light_identifier) {
type = 'projector,light';
}
else if (data === cfg.arduino.cmd.projector_camera_light_identifier) {
type = 'projector,camera,light';
}
else if (data === cfg.arduino.cmd.projector_camera_identifier) {
type = 'projector,camera';
}
else if (data === cfg.arduino.cmd.projector_second_identifier) {
type = 'projector_second';
}
else if (data === cfg.arduino.cmd.projectors_identifier) {
type = 'projector,projector_second';
}
else if (data === cfg.arduino.cmd.camera_second_identifier) {
type = 'camera_second';
}
else if (data === cfg.arduino.cmd.cameras_identifier) {
type = 'camera,camera_second';
}
else if (data === cfg.arduino.cmd.camera_projectors_identifier) {
type = 'camera,projector,projector_second';
}
else if (data === cfg.arduino.cmd.cameras_projector_identifier) {
type = 'camera,camera_second,projector';
}
else if (data === cfg.arduino.cmd.cameras_projectors_identifier) {
type = 'camera,camera_second,projector,projector_second';
}
else if (data === cfg.arduino.cmd.capper_identifier) {
type = 'capper';
}
else if (data === cfg.arduino.cmd.camera_capper_identifier) {
type = 'camera,capper';
}
else if (data === cfg.arduino.cmd.camera_capper_projector_identifier) {
type = 'camera,capper,projector';
}
else if (data === cfg.arduino.cmd.camera_capper_projectors_identifier) {
type = 'camera,capper,projector,projector_second';
}
return resolve(type);
};
await (0, delay_1.delay)(cfg.arduino.serialDelay);
try {
writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.mcopy_identifier);
this.log.info(writeSuccess);
}
catch (e) {
return reject(e);
}
});
}
/**
* Closes the connection to an Arduino.
*
* @async
* @returns {Promise<boolean>} Resolves with 'true' if the connection is closed successfully.
* @throws {Error} Throws an error if the closeArduino method encounters an error.
**/
async close() {
const device = 'connect';
let closeSuccess;
try {
closeSuccess = await this.closeArduino(device);
}
catch (e) {
throw e;
}
return closeSuccess;
}
/**
* Establishes a fake connection to an Arduino for testing purposes.
* Creates a fake SerialPort instance with custom write and string methods.
*
* @async
* @param {string} serial - The device identifier of the fake Arduino.
* @returns {Promise<boolean>} Resolves with 'true' if the fake connection is established successfully.
**/
async fakeConnect(device) {
const serial = '/dev/fake';
this.aliasSerial(device, serial);
this.serial[serial] = {
write: async function (cmd, cb) {
const t = {
c: cfg.arduino.cam.time + cfg.arduino.cam.delay,
p: cfg.arduino.proj.time + cfg.arduino.proj.delay,
A: 180,
B: 180
};
let timeout = t[cmd];
if (typeof timeout === 'undefined')
timeout = 10;
arduino.timer = +new Date();
await (0, delay_1.delay)(timeout);
arduino.end(serial, cmd);
return cb();
},
string: async function (str) {
//do nothing
return true;
},
fake: true
};
//this.log.info('Connected to fake arduino! Not real! Does not exist!')
return true;
}
/**
* Connect to an Arduino using async/await
*
* @param {string} device Arduino identifier
*
* @returns {Promise} Resolves after opening
**/
async openArduino(device) {
return new Promise((resolve, reject) => {
return this.serial[this.alias[device]].open((err) => {
if (err) {
return reject(err);
}
return resolve(true);
});
});
}
/**
* Close a connection to an Arduino using async/await
*
* @param {string} device Arduino identifier
*
* @returns {Promise} Resolves after closing
**/
async closeArduino(device) {
return new Promise((resolve, reject) => {
return this.serial[this.alias[device]].close((err) => {
if (err) {
return reject(err);
}
return resolve(true);
});
});
}
lock(serial) {
//this.log.info(`Locked serial ${serial}`)
this.locks[serial] = true;
}
unlock(serial) {
//this.log.info(`Unlocked serial ${serial}`)
this.locks[serial] = false;
}
isLocked(serial) {
return typeof this.locks[serial] !== 'undefined' && this.locks[serial] === true;
}
}
if (typeof module !== 'undefined' && module.parent) {
module.exports = function (c, ee, errorState) {
eventEmitter = ee;
cfg = c;
arduino = new Arduino(errorState);
return arduino;
};
}
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