551 lines
15 KiB
TypeScript
551 lines
15 KiB
TypeScript
'use strict'
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/**
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* 2023-07-16 Clarification
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*
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* Previous versions of this script intermingled and even
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* swapped the usage of the terms 'serial' and 'device'.
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* From here on out, the terms will be used as such:
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*
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* serial - a hardware address of a serial port
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* device - common name of a type of mcopy device (eg. camera,
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* projector, light) that is aliased to a serial port
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*
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**/
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//import Log = require('log');
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import { delay } from 'delay';
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const { SerialPort } = require('serialport')
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const { ReadlineParser } = require('@serialport/parser-readline')
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const exec = require('child_process').exec
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const parser : any = new ReadlineParser({ delimiter: '\r\n' })
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const newlineRe : RegExp = new RegExp('\n', 'g')
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const returnRe : RegExp = new RegExp('\r', 'g')
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let eventEmitter : any
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let cfg : any
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let arduino : any
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const KNOWN : string[] = [
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'/dev/tty.usbmodem1a161',
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'/dev/tty.usbserial-A800f8dk',
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'/dev/tty.usbserial-A900cebm',
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'/dev/tty.usbmodem1a131',
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'/dev/tty.usbserial-a900f6de',
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'/dev/tty.usbmodem1a141',
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'/dev/ttyACM0',
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'COM3'
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]
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/**
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* Class representing the arduino communication features
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**/
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class Arduino {
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private log : any;
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private path : any = {};
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private known : string[] = KNOWN;
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private alias : any = {};
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private serial : any = {};
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private hasState : any = {};
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private baud : number = 57600;
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private queue : any = {};
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private timer : number = 0;
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private locks : any = {};
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private confirmExec : any;
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private errorState : Function;
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public stateStr : any = {};
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constructor (errorState : Function) {
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this.errorState = errorState;
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this.init()
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}
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async init () {
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const Log = require('log');
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this.log = await Log({ label : 'arduino' });
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}
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/**
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* Enumerate all connected devices that might be Arduinos
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*
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* @returns {Promise} Resolves after enumerating
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**/
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public async enumerate () : Promise<string[]>{
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let ports : any[]
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let matches : string[] = []
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try {
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ports = await SerialPort.list()
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} catch (err) {
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throw err
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}
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this.log.info('Available ports:')
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this.log.info(ports.map((port : any) => { return port.path }).join(','))
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ports.forEach((port : any) => {
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if (this.known.indexOf(port.path) !== -1) {
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matches.push(port.path)
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} else if ((port.manufacturer + '').toLowerCase().indexOf('arduino') !== -1) {
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matches.push(port.path)
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} else if ((port.path + '').toLowerCase().indexOf('usbserial') !== -1) {
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matches.push(port.path)
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} else if ((port.path + '').toLowerCase().indexOf('usbmodem') !== -1) {
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matches.push(port.path)
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} else if ((port.path + '').toLowerCase().indexOf('ttyusb') !== -1) {
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matches.push(port.path)
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}
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})
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if (matches.length === 0) {
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throw new Error('No USB devices found')
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} else if (matches.length > 0) {
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return matches
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}
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}
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/**
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* Send a command to an Arduino using async/await
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*
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* @param {string} device Arduino identifier
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* @param {string} cmd Single character command to send
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*
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* @returns {Promise} Resolves after sending
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**/
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private async sendAsync (device : string, cmd : string) : Promise<number> {
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return new Promise ((resolve, reject) => {
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this.log.info(`sendAsync ${cmd} -> ${device}`)
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this.queue[cmd] = (ms : number) => {
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return resolve(ms)
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}
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this.log.info(`Device: ${device}`)
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return this.serial[this.alias[device]].write(cmd, (err : any, results : any) => {
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if (err) {
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//this.log.error(err)
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return reject(err)
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}
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})
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})
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}
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/**
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*
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**/
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public async send (device : string, cmd : string) : Promise<any> {
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const serial : any = this.alias[device]
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let ms : number
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this.log.info(`send ${cmd} -> ${device}`)
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if (this.isLocked(serial)) {
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this.log.warn(`send Serial ${serial} is locked`)
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return null
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}
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this.timer = new Date().getTime()
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this.lock(serial)
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await delay(cfg.arduino.serialDelay)
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try {
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ms = await this.sendAsync(device, cmd)
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} catch (e) {
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return this.log.error(e)
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}
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this.unlock(serial)
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await eventEmitter.emit('arduino_send', cmd)
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return ms
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}
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/**
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*
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**/
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public async sendString (device : string, str : string) : Promise<any> {
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let writeSuccess : any
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await delay(cfg.arduino.serialDelay)
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if (typeof this.serial[this.alias[device]].fake !== 'undefined'
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&& this.serial[this.alias[device]].fake) {
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return this.serial[this.alias[device]].string(str)
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} else {
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this.log.info(`sendString ${str} -> ${device}`)
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try {
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writeSuccess = await this.writeAsync(device, str)
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} catch (e) {
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return this.log.error(e)
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}
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this.unlock(this.alias[device])
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return writeSuccess
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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 async stateAsync (device : string, confirm : boolean = false) : Promise<string> {
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const cmd : string = cfg.arduino.cmd.state
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const serial : string = confirm ? this.alias['connect'] : this.alias[device]
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return new Promise ((resolve, reject) => {
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this.queue[cmd] = (state : string) => {
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this.stateStr[device] = state
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if (confirm) {
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this.hasState[device] = true
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this.log.info(`Device ${device} supports state [${state}]`)
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}
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return resolve(state)
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}
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if (confirm) {
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setTimeout(function () {
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if (typeof this.queue[cmd] !== 'undefined') {
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delete this.queue[cmd]
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this.hasState[device] = false
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this.log.info(`Device ${device} does not support state`)
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return resolve(null)
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}
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}.bind(this), 1000)
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}
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this.log.info(`stateAsync ${cmd} -> ${device}`)
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return this.serial[serial].write(cmd, (err : any, results : any) => {
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if (err) {
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//this.log.error(err)
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return reject(err)
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}
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})
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})
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}
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/**
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*
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**/
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public async state (device : string, confirm : boolean = false) : Promise<string>{
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const serial : string = confirm ? this.alias['connect'] : this.alias[device]
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let results : string
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if (this.isLocked(serial)) {
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this.log.warn(`state Serial ${serial} is locked`)
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return null
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}
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this.timer = new Date().getTime()
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this.lock(serial)
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await delay(cfg.arduino.serialDelay)
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try {
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results = await this.stateAsync(device, confirm)
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} catch (e) {
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return this.log.error(e)
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}
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this.unlock(serial)
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await eventEmitter.emit('arduino_state', cfg.arduino.cmd.state)
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return results
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}
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/**
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* Send a string to an Arduino using async/await
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*
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* @param {string} device Arduino identifier
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* @param {string} str String to send
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*
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* @returns {Promise} Resolves after sending
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**/
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private async writeAsync (device : string, str : string) : Promise<any> {
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return new Promise ((resolve, reject) => {
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this.serial[this.alias[device]].write(str, function (err : any, results : any) {
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if (err) {
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return reject(err)
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}
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return resolve(results)
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})
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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 end (serial : string, data : string) : any {
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const end : number = new Date().getTime()
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const ms : number = end - this.timer
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let complete : any
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//this.log.info(`end ${serial} -> ${data}`)
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if (this.queue[data] !== undefined) {
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this.unlock(serial)
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complete = this.queue[data](ms) //execute callback
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eventEmitter.emit('arduino_end', data)
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delete this.queue[data]
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} else if (data[0] === cfg.arduino.cmd.state) {
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//this.log.info(`end serial -> ${serial}`)
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this.unlock(serial)
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complete = this.queue[cfg.arduino.cmd.state](data)
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eventEmitter.emit('arduino_end', data)
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delete this.queue[cfg.arduino.cmd.state]
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return data
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} else if (data[0] === cfg.arduino.cmd.error) {
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this.log.error(`Received error from device ${serial}`)
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this.unlock(serial)
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//error state
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//stop sequence
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//throw error in ui
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} else {
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//this.log.info('Received stray "' + data + '"') //silent to user
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}
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return ms
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}
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public aliasSerial (device : string, serial : string) {
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//this.log.info(`Making "${serial}" an alias of ${device}`)
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this.alias[device] = serial;
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}
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public async connect (device : string, serial : string, confirm : any) : Promise<any> {
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//this.log.info(`connect device ${device}`)
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//this.log.info(`connect serial ${serial}`)
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return new Promise(async (resolve, reject) => {
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let connectSuccess : any
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this.path[device] = serial
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this.aliasSerial(device, serial)
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this.serial[serial] = new SerialPort({
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path : serial,
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autoOpen : false,
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baudRate: cfg.arduino.baud,
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parser
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})
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this.unlock(serial)
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try {
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connectSuccess = await this.openArduino(device)
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} catch (e) {
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this.log.error('failed to open: ' + e)
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return reject(e)
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}
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this.log.info(`Opened connection with ${this.path[device]} as ${device}`)
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if (!confirm) {
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this.serial[this.alias[device]].on('data', async (data : Buffer) => {
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let d = data.toString('utf8')
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d = d.replace(newlineRe, '').replace(returnRe, '')
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return this.end(serial, d)
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})
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} else {
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this.serial[this.alias[device]].on('data', async (data : Buffer) => {
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let d = data.toString('utf8')
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d = d.replace(newlineRe, '').replace(returnRe, '')
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return await this.confirmEnd(d)
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})
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}
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return resolve(this.path[serial])
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})
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}
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private confirmEnd (data : string) {
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if ( data === cfg.arduino.cmd.connect
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|| data === cfg.arduino.cmd.projector_identifier
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|| data === cfg.arduino.cmd.camera_identifier
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|| data === cfg.arduino.cmd.light_identifier
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|| data === cfg.arduino.cmd.projector_light_identifier
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|| data === cfg.arduino.cmd.projector_camera_light_identifier
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|| data === cfg.arduino.cmd.projector_camera_identifier
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|| data === cfg.arduino.cmd.projector_second_identifier
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|| data === cfg.arduino.cmd.projectors_identifier
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|| data === cfg.arduino.cmd.projector_second_forward
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|| data === cfg.arduino.cmd.projector_second_backward
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|| data === cfg.arduino.cmd.projector_second
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|| data === cfg.arduino.cmd.projectors
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|| data === cfg.arduino.cmd.camera_second_identifier
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|| data === cfg.arduino.cmd.cameras_identifier
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|| data === cfg.arduino.cmd.camera_second_forward
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|| data === cfg.arduino.cmd.camera_second_backward
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|| data === cfg.arduino.cmd.camera_second
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|| data === cfg.arduino.cmd.cameras
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|| data === cfg.arduino.cmd.capper_identifier
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|| data === cfg.arduino.cmd.camera_capper_identifier
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|| data === cfg.arduino.cmd.camera_capper_projector_identifier
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|| data === cfg.arduino.cmd.camera_capper_projectors_identifier) {
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this.confirmExec(null, data)
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this.confirmExec = {}
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this.unlock(this.alias['connect'])
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} else if (data[0] === cfg.arduino.cmd.state) {
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this.queue[cfg.arduino.cmd.state](data)
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delete this.queue[cfg.arduino.cmd.state]
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this.unlock(this.alias['connect'])
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}
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}
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public async verify () {
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return new Promise(async (resolve, reject) => {
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const device : string = 'connect'
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let writeSuccess : any
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this.confirmExec = function (err : any, data : string) {
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if (data === cfg.arduino.cmd.connect) {
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return resolve(true)
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} else {
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return reject('Wrong data returned')
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}
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}
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await delay(cfg.arduino.serialDelay)
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try {
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writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.connect)
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} catch (e) {
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return reject(e)
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}
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return resolve(writeSuccess)
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})
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}
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public async distinguish () {
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return new Promise(async (resolve, reject) => {
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const device : string = 'connect'
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let writeSuccess : any
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let type : string
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this.confirmExec = function (err : any, data : string) {
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if (data === cfg.arduino.cmd.projector_identifier) {
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type = 'projector'
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} else if (data === cfg.arduino.cmd.camera_identifier) {
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type = 'camera'
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} else if (data === cfg.arduino.cmd.light_identifier) {
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type = 'light'
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} else if (data === cfg.arduino.cmd.projector_light_identifier) {
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type = 'projector,light'
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} else if (data === cfg.arduino.cmd.projector_camera_light_identifier) {
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type = 'projector,camera,light'
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} else if (data === cfg.arduino.cmd.projector_camera_identifier) {
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type = 'projector,camera'
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} else if (data === cfg.arduino.cmd.projector_second_identifier) {
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type = 'projector_second'
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} else if (data === cfg.arduino.cmd.projectors_identifier) {
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type = 'projector,projector_second'
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} else if (data === cfg.arduino.cmd.camera_second_identifier) {
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type = 'camera_second'
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} else if (data === cfg.arduino.cmd.cameras_identifier) {
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type = 'camera,camera_second'
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} else if (data === cfg.arduino.cmd.camera_projectors_identifier) {
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type = 'camera,projector,projector_second'
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} else if (data === cfg.arduino.cmd.cameras_projector_identifier) {
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type = 'camera,camera_second,projector'
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} else if (data === cfg.arduino.cmd.cameras_projectors_identifier) {
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type = 'camera,camera_second,projector,projector_second'
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} else if (data === cfg.arduino.cmd.capper_identifier) {
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type = 'capper'
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} else if (data === cfg.arduino.cmd.camera_capper_identifier) {
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type = 'camera,capper'
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} else if (data === cfg.arduino.cmd.camera_capper_projector_identifier) {
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type = 'camera,capper,projector'
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} else if (data === cfg.arduino.cmd.camera_capper_projectors_identifier) {
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type = 'camera,capper,projector,projector_second'
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}
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return resolve(type)
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}
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await delay(cfg.arduino.serialDelay)
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try {
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writeSuccess = await this.sendAsync(device, cfg.arduino.cmd.mcopy_identifier)
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this.log.info(writeSuccess)
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} catch (e) {
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return reject(e)
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}
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})
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}
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public async close () {
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const device : string = 'connect'
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let closeSuccess : boolean
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try {
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closeSuccess = await this.closeArduino(device)
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} catch (e) {
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throw e
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}
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return closeSuccess
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}
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public async fakeConnect (device : string) {
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const serial : string = '/dev/fake'
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this.aliasSerial(device, serial)
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this.serial[serial] = {
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write : async function (cmd : string, cb : any) {
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const t : any = {
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c : cfg.arduino.cam.time + cfg.arduino.cam.delay,
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p : cfg.arduino.proj.time + cfg.arduino.proj.delay,
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A : 180,
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B : 180
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}
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let timeout : number = t[cmd]
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if (typeof timeout === 'undefined') timeout = 10
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arduino.timer = +new Date()
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await delay(timeout)
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arduino.end(serial, cmd)
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return cb()
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},
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string : async function (str : string) {
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//do nothing
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return true
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},
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fake : true
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}
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//this.log.info('Connected to fake arduino! Not real! Does not exist!')
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return true
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}
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/**
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* Connect to an Arduino using async/await
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*
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* @param {string} device Arduino identifier
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*
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* @returns {Promise} Resolves after opening
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**/
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private async openArduino (device : string) : Promise<boolean> {
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return new Promise((resolve, reject) => {
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return this.serial[this.alias[device]].open((err : any) => {
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if (err) {
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return reject(err)
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}
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return resolve(true)
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})
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})
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}
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/**
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* Close a connection to an Arduino using async/await
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*
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* @param {string} device Arduino identifier
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*
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* @returns {Promise} Resolves after closing
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**/
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private async closeArduino (device : string) : Promise<boolean> {
|
|
return new Promise((resolve : any, reject : any) => {
|
|
return this.serial[this.alias[device]].close((err : any) => {
|
|
if (err) {
|
|
return reject(err)
|
|
}
|
|
return resolve(true)
|
|
})
|
|
})
|
|
}
|
|
|
|
private lock (serial : string) {
|
|
//this.log.info(`Locked serial ${serial}`)
|
|
this.locks[serial] = true
|
|
}
|
|
|
|
private unlock (serial : string) {
|
|
//this.log.info(`Unlocked serial ${serial}`)
|
|
this.locks[serial] = false
|
|
}
|
|
|
|
private isLocked (serial : string) {
|
|
return typeof this.locks[serial] !== 'undefined' && this.locks[serial] === true
|
|
}
|
|
}
|
|
|
|
if (typeof module !== 'undefined' && module.parent) {
|
|
module.exports = function (c : any, ee : any, errorState : Function) {
|
|
eventEmitter = ee
|
|
cfg = c
|
|
arduino = new Arduino(errorState)
|
|
return arduino
|
|
}
|
|
} |