mcopy/src/arduino/index.ts

375 lines
9.2 KiB
TypeScript

'use strict'
const SerialPort = require('serialport')
const Readline = SerialPort.parsers.Readline
const exec = require('child_process').exec
const parser = new Readline('')
const newlineRe : RegExp = new RegExp('\n', 'g')
const returnRe : RegExp = new RegExp('\r', 'g')
let eventEmitter : any
let cfg : object
/**
* Pause the process for X milliseconds in async/await functions
*
* @param {integer} ms milliseconds
*
* @returns {Promise} Resolves after wait
**/
async function delay (ms : number) {
return new Promise(resolve => {
return setTimeout(resolve, ms)
})
}
/**
* Send a command to an Arduino using async/await
*
* @param {string} device Arduino identifier
* @param {string} cmd Single character command to send
*
* @returns {Promise} Resolves after sending
**/
async function send (device : string, cmd : string) {
return new Promise ((resolve, reject) => {
arduino.queue[cmd] = (ms : number) => {
return resolve(ms)
}
return arduino.serial[device].write(cmd, (err : any, results : any) => {
if (err) {
//console.error(err)
return reject(err)
}
//
})
})
}
/**
* 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 function write (device : string, str : string) {
return new Promise ((resolve, reject) => {
arduino.serial[device].write(str, function (err, results) {
if (err) {
return reject(err)
}
//console.log('sent: ' + str)
return resolve(results)
})
})
}
/**
* Connect to an Arduino using async/await
*
* @param {string} device Arduino identifier
*
* @returns {Promise} Resolves after opening
**/
async function openArduino (device : string) {
return new Promise((resolve, reject) => {
return arduino.serial[device].open(error => {
if (error) {
return reject(error)
}
return resolve(true)
})
})
}
/**
* Close a connection to an Arduino using async/await
*
* @param {string} device Arduino identifier
*
* @returns {Promise} Resolves after closing
**/
async function closeArduino (device : string) {
return new Promise((resolve : any, reject : any) => {
return arduino.serial[device].close((err) => {
if (err) {
return reject(err)
}
return resolve(true)
})
})
}
/******
Arduino handlers
*******/
const arduino = {
path : {},
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'
],
alias : {
},
serial : {
connect : {},
projector : {},
camera : {},
light : {}
},
baud : 57600,
queue : {},
timer : 0,
lock : false,
locks : {
}
}
arduino.enumerate = async function () {
return new Promise( (resolve, reject) => {
return SerialPort.list((err, ports) => {
let matches = []
if (err) {
return reject(err)
}
ports.forEach(port => {
if (arduino.known.indexOf(port.comName) !== -1) {
matches.push(port.comName)
} else if ((port.manufacturer + '').toLowerCase().indexOf('arduino') !== -1) {
matches.push(port.comName)
} else if ((port.comName + '').toLowerCase().indexOf('usbserial') !== -1) {
matches.push(port.comName)
} else if ((port.comName + '').toLowerCase().indexOf('usbmodem') !== -1) {
matches.push(port.comName)
}
})
if (matches.length === 0) {
return reject('No USB devices found');
} else if (matches.length > 0) {
return resolve(matches)
}
})
})
}
//commands which respond to a sent char
arduino.send = async function (serial, cmd, res) {
const device = arduino.alias[serial]
let results
if (arduino.locks[serial]) {
return false
}
arduino.locks[serial] = true
await delay(cfg.arduino.serialDelay)
try {
results = await send(device, cmd)
} catch (e) {
return console.error(e)
}
arduino.locks[serial] = false
arduino.timer = new Date().getTime()
return await eventEmitter.emit('arduino_send', cmd)
}
//send strings, after char triggers firmware to accept
arduino.string = async function (serial, str) {
const device = arduino.alias[serial]
let writeSuccess
await delay(cfg.arduino.serialDelay)
if (typeof arduino.serial[device].fake !== 'undefined'
&& arduino.serial[device].fake) {
return arduino.serial[device].string(str)
} else {
try {
writeSuccess = await write(device, str)
} catch (e) {
return console.error(e)
}
return writeSuccess
}
}
//respond with same char over serial when done
arduino.end = async function (serial, data) {
const end = new Date().getTime()
const ms = end - arduino.timer
let complete
if (arduino.queue[data] !== undefined) {
arduino.locks[serial] = false;
//console.log('Command ' + data + ' took ' + ms + 'ms');
complete = arduino.queue[data](ms) //execute callback
eventEmitter.emit('arduino_end', data)
delete arduino.queue[data]
} else {
//console.log('Received stray "' + data + '"'); //silent to user
}
return complete
};
arduino.alias = function (serial, device) {
console.log(`Making "${serial}" an alias of ${device}`)
arduino.alias[serial] = device
}
arduino.connect = async function (serial, device, confirm) {
return new Promise(async (resolve, reject) => {
let connectSuccess
arduino.path[serial] = device;
arduino.alias[serial] = device;
arduino.serial[device] = new SerialPort(arduino.path[serial], {
autoOpen : false,
baudRate: cfg.arduino.baud,
parser: parser
})
arduino.locks[device] = false
try {
connectSuccess = await openArduino(device)
} catch (e) {
console.error('failed to open: ' + e)
return reject(e)
}
console.log(`Opened connection with ${arduino.path[serial]} as ${serial}`);
if (!confirm) {
arduino.serial[device].on('data', async (data) => {
let d = data.toString('utf8')
d = d.replace(newlineRe, '').replace(returnRe, '')
return await arduino.end(serial, d)
})
} else {
arduino.serial[device].on('data', async (data) => {
let d = data.toString('utf8')
d = d.replace(newlineRe, '').replace(returnRe, '')
return await arduino.confirmEnd(d)
})
}
return resolve(arduino.path[serial])
})
}
arduino.confirmExec = {};
arduino.confirmEnd = function (data) {
//console.dir(data)
if (data === cfg.arduino.cmd.connect
|| data === cfg.arduino.cmd.proj_identifier
|| data === cfg.arduino.cmd.cam_identifier
|| data === cfg.arduino.cmd.light_identifier
|| data === cfg.arduino.cmd.proj_light_identifier
|| data === cfg.arduino.cmd.proj_cam_light_identifier
|| data === cfg.arduino.cmd.proj_cam_identifier ) {
arduino.confirmExec(null, data);
arduino.confirmExec = {};
}
}
arduino.verify = async function () {
return new Promise(async (resolve, reject) => {
const device = arduino.alias['connect']
let writeSuccess
arduino.confirmExec = function (err, data) {
if (data === cfg.arduino.cmd.connect) {
return resolve(true)
} else {
return reject('Wrong data returned')
}
}
await delay(cfg.arduino.serialDelay)
try {
writeSuccess = await send(device, cfg.arduino.cmd.connect)
} catch (e) {
return reject(e)
}
return resolve(writeSuccess)
})
}
arduino.distinguish = async function () {
return new Promise(async (resolve, reject) => {
const device = arduino.alias['connect']
let writeSuccess
let type
arduino.confirmExec = function (err, data) {
if (data === cfg.arduino.cmd.proj_identifier) {
type = 'projector'
} else if (data === cfg.arduino.cmd.cam_identifier) {
type = 'camera'
} else if (data === cfg.arduino.cmd.light_identifier) {
type = 'light'
} else if (data === cfg.arduino.cmd.proj_light_identifier) {
type = 'projector,light'
} else if (data === cfg.arduino.cmd.proj_cam_light_identifier) {
type = 'projector,camera,light'
} else if (data === cfg.arduino.cmd.proj_cam_identifier) {
type = 'projector,camera'
} else if (data === cfg.ardino.cmd.proj_second_identifier) {
type = 'projector_second'
}
return resolve(type)
}
await delay(cfg.arduino.serialDelay)
try {
writeSuccess = await send(device, cfg.arduino.cmd.mcopy_identifier)
} catch (e) {
console.error(e)
return reject(e)
}
})
}
arduino.close = async function (callback) {
const device = arduino.alias['connect']
let closeSuccess
try {
closeSuccess = await closeArduino(device)
} catch (e) {
return console.error(e)
}
return closeSuccess
};
arduino.fakeConnect = async function (serial) {
//console.log('Connecting to fake arduino...');
const device = '/dev/fake'
arduino.alias[serial] = device
arduino.serial[device] = {
write : function (cmd, cb) {
const t = {
c : cfg.arduino.cam.time + cfg.arduino.cam.delay,
p : cfg.arduino.proj.time + cfg.arduino.proj.delay
}
let timeout = t[cmd]
let end
if (typeof timeout === 'undefined') timeout = 10
arduino.timer = +new Date()
setTimeout(() => {
arduino.end(serial, cmd)
return cb()
}, timeout)
},
string : async function (str) {
//do nothing
return true
},
fake : true
};
//console.log('Connected to fake arduino! Not real! Doesn\'t exist!');
return true
}
if (typeof module !== 'undefined' && module.parent) {
module.exports = function (c, ee) {
eventEmitter = ee
cfg = c
return arduino
}
}