373 lines
14 KiB
JavaScript
373 lines
14 KiB
JavaScript
|
|
module.exports = function(RED) {
|
|
"use strict";
|
|
var fs = require('fs');
|
|
var spawn = require('child_process').spawn;
|
|
var colours = require('./colours');
|
|
|
|
var hatCommand = __dirname+'/sensehat';
|
|
|
|
if (!fs.existsSync('/usr/lib/python2.7/dist-packages/sense_hat')) {
|
|
throw "Error: Can't find Sense HAT python libraries. Run sudo apt-get install sense-hat";
|
|
}
|
|
|
|
if ( !(1 & parseInt((fs.statSync(hatCommand).mode & parseInt ("777", 8)).toString(8)[0]) )) {
|
|
throw "Error: "+RED._("node-red:rpi-gpio.errors.mustbeexecutable");
|
|
}
|
|
|
|
// the magic to make python print stuff immediately
|
|
process.env.PYTHONUNBUFFERED = 1;
|
|
|
|
// Xaccel.x,y,z,gyro.x,y,z,orientation.roll,pitch,yaw,compass
|
|
var HF_RE = /^X(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+),(.+)$/;
|
|
// Ytemperature,humidity,pressure
|
|
var LF_RE = /^Y(.+),(.+),(.+)$/;
|
|
// K[U|L|R|D|E][0|1|2] - joystick event: direction,state
|
|
var KEY_RE = /^K(.)(.)$/;
|
|
var KEY_MAP = {
|
|
"U":"UP",
|
|
"D":"DOWN",
|
|
"L":"LEFT",
|
|
"R":"RIGHT",
|
|
"E":"ENTER"
|
|
};
|
|
|
|
var HAT = (function() {
|
|
var hat = null;
|
|
var onclose = null;
|
|
var users = [];
|
|
var motionUsers = 0;
|
|
var envUsers = 0;
|
|
var reconnectTimer = null;
|
|
|
|
var connect = function() {
|
|
reconnectTimer = null;
|
|
var buffer = "";
|
|
hat = spawn(hatCommand);
|
|
hat.stdout.on('data', function (data) {
|
|
buffer += data.toString();
|
|
var lines = buffer.split("\n");
|
|
if (lines.length == 1) {
|
|
return;
|
|
}
|
|
buffer = lines.pop();
|
|
var m,msg;
|
|
for (var i=0; i<lines.length; i++) {
|
|
var line = lines[i];
|
|
msg = null;
|
|
if ((m = KEY_RE.exec(line)) !== null) {
|
|
msg = {
|
|
topic: "joystick",
|
|
payload: {key: KEY_MAP[m[1]], state: Number(m[2])}
|
|
}
|
|
} else if ((m = LF_RE.exec(line)) !== null) {
|
|
msg = {
|
|
topic: "environment",
|
|
payload: {temperature: Number(m[1]), humidity: Number(m[2]), pressure: Number(m[3])}
|
|
}
|
|
} else if ((m = HF_RE.exec(line)) !== null) {
|
|
// Xaccel.x,y,z,gyro.x,y,z,orientation.roll,pitch,yaw,compass
|
|
msg = {
|
|
topic: "motion",
|
|
payload: {
|
|
acceleration: {
|
|
x: Number(m[1]),
|
|
y: Number(m[2]),
|
|
z: Number(m[3])
|
|
},
|
|
gyroscope: {
|
|
x: Number(m[4]),
|
|
y: Number(m[5]),
|
|
z: Number(m[6])
|
|
},
|
|
orientation: {
|
|
roll: Number(m[7]),
|
|
pitch: Number(m[8]),
|
|
yaw: Number(m[9])
|
|
},
|
|
compass: Number(m[10])
|
|
}
|
|
}
|
|
}
|
|
if (msg && !onclose) {
|
|
for (var j=0; j<users.length; j++) {
|
|
var node = users[j];
|
|
if (node.motion && msg.topic === "motion") {
|
|
node.send(RED.util.cloneMessage(msg));
|
|
} else if (node.env && msg.topic === 'environment') {
|
|
node.send(RED.util.cloneMessage(msg));
|
|
} else if (node.stick && msg.topic === 'joystick') {
|
|
node.send(RED.util.cloneMessage(msg));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
});
|
|
hat.stderr.on('data', function (data) {
|
|
// Any data on stderr means a bad thing has happened.
|
|
// Best to kill it and let it reconnect.
|
|
if (RED.settings.verbose) { RED.log.error("err: "+data+" :"); }
|
|
hat.kill('SIGKILL');
|
|
});
|
|
hat.stderr.on('error', function(err) { });
|
|
hat.stdin.on('error', function(err) { });
|
|
|
|
hat.on('close', function (code) {
|
|
hat = null;
|
|
users.forEach(function(node) {
|
|
node.status({fill:"red",shape:"ring",text:"node-red:common.status.disconnected"});
|
|
});
|
|
if (RED.settings.verbose) { RED.log.info(RED._("node-red:rpi-gpio.status.closed")); }
|
|
if (onclose) {
|
|
onclose();
|
|
onclose = null;
|
|
} else if (!reconnectTimer) {
|
|
reconnectTimer = setTimeout(function() {
|
|
connect();
|
|
},5000);
|
|
}
|
|
});
|
|
|
|
hat.on('error', function (err) {
|
|
if (err.errno === "ENOENT") { RED.log.error(RED._("node-red:rpi-gpio.errors.commandnotfound")); }
|
|
else if (err.errno === "EACCES") { RED.log.error(RED._("node-red:rpi-gpio.errors.commandnotexecutable")); }
|
|
else {
|
|
RED.log.error(RED._("node-red:rpi-gpio.errors.error")+': ' + err.errno);
|
|
}
|
|
});
|
|
|
|
if (motionUsers > 0) {
|
|
hat.stdin.write('X1\n');
|
|
}
|
|
if (envUsers > 0) {
|
|
hat.stdin.write('Y1\n');
|
|
}
|
|
|
|
}
|
|
|
|
var disconnect = function(done) {
|
|
if (hat !== null) {
|
|
onclose = done;
|
|
hat.kill('SIGKILL');
|
|
hat = null;
|
|
}
|
|
if (reconnectTimer) {
|
|
clearTimeout(reconnectTimer);
|
|
}
|
|
|
|
}
|
|
|
|
|
|
return {
|
|
open: function(node) {
|
|
if (!hat) {
|
|
connect();
|
|
}
|
|
if (!reconnectTimer) {
|
|
node.status({fill:"green",shape:"dot",text:"node-red:common.status.connected"});
|
|
}
|
|
|
|
if (node.motion) {
|
|
if (motionUsers === 0) {
|
|
hat.stdin.write('X1\n');
|
|
}
|
|
motionUsers++;
|
|
}
|
|
if (node.env) {
|
|
if (envUsers === 0) {
|
|
hat.stdin.write('Y1\n');
|
|
}
|
|
envUsers++;
|
|
}
|
|
users.push(node);
|
|
},
|
|
close: function(node,done) {
|
|
if (node.motion) {
|
|
motionUsers--;
|
|
if (motionUsers === 0) {
|
|
hat.stdin.write('X0\n');
|
|
}
|
|
}
|
|
if (node.env) {
|
|
envUsers--;
|
|
if (envUsers === 0) {
|
|
hat.stdin.write('Y0\n');
|
|
}
|
|
}
|
|
users.splice(users.indexOf(node),1);
|
|
if (users.length === 0) {
|
|
disconnect(done);
|
|
} else {
|
|
done();
|
|
}
|
|
},
|
|
send: function(msg) {
|
|
if (hat) {
|
|
hat.stdin.write(msg+'\n');
|
|
}
|
|
}
|
|
}
|
|
})();
|
|
|
|
|
|
function SenseHatInNode(n) {
|
|
RED.nodes.createNode(this,n);
|
|
this.motion = n.motion;
|
|
this.env = n.env;
|
|
this.stick = n.stick;
|
|
var node = this;
|
|
node.status({fill:"red",shape:"ring",text:"node-red:common.status.disconnected"});
|
|
HAT.open(this);
|
|
|
|
node.on("close", function(done) {
|
|
HAT.close(this,done);
|
|
});
|
|
}
|
|
RED.nodes.registerType("rpi-sensehat in",SenseHatInNode);
|
|
|
|
function SenseHatOutNode(n) {
|
|
RED.nodes.createNode(this,n);
|
|
var node = this;
|
|
node.status({fill:"red",shape:"ring",text:"node-red:common.status.disconnected"});
|
|
|
|
HAT.open(this);
|
|
|
|
node.on("close", function(done) {
|
|
HAT.close(this,done);
|
|
});
|
|
var handleTextMessage = function(line,msg) {
|
|
var textCol = colours.getRGB(msg.color||msg.colour)||"255,255,255";
|
|
var backCol = colours.getRGB(msg.background)||"0,0,0";
|
|
var speed = null;
|
|
if (!isNaN(msg.speed)) {
|
|
speed = msg.speed;
|
|
}
|
|
var command = "T";
|
|
if (textCol) {
|
|
command += textCol;
|
|
if (backCol) {
|
|
command += ","+backCol;
|
|
}
|
|
}
|
|
|
|
if (speed) {
|
|
var s = parseInt(speed);
|
|
if (s >= 1 && s <= 5) {
|
|
s = 0.1 + (3-s)*0.03;
|
|
}
|
|
command = command + ((command.length === 1)?"":",") + s;
|
|
}
|
|
command += ":" + line;
|
|
return command;
|
|
}
|
|
|
|
node.on("input",function(msg) {
|
|
var command;
|
|
var parts;
|
|
var col;
|
|
if (typeof msg.payload === 'number') {
|
|
HAT.send(handleTextMessage(""+msg.payload,msg));
|
|
} else if (typeof msg.payload === 'string') {
|
|
var lines = msg.payload.split("\n");
|
|
lines.forEach(function(line) {
|
|
command = null;
|
|
if ( /^(([0-7]|\*|[0-7]-[0-7]),([0-7]|\*|[0-7]-[0-7]),(\d{1,3},\d{1,3},\d{1,3}|#[a-f0-9]{3,6}|[a-z]+))(,([0-7]|\*|[0-7]-[0-7]),([0-7]|\*|[0-7]-[0-7]),(\d{1,3},\d{1,3},\d{1,3}|#[a-f0-9]{3,6}|[a-z]+))*$/i.test(line)) {
|
|
parts = line.split(",");
|
|
var expanded = [];
|
|
var i=0;
|
|
var j=0;
|
|
while (i<parts.length) {
|
|
var x = parts[i++];
|
|
var y = parts[i++];
|
|
col = parts[i++];
|
|
if (/#[a-f0-9]{3,6}|[a-z]/i.test(col)) {
|
|
col = colours.getRGB(col);
|
|
if (col === null) {
|
|
// invalid colour, go no further
|
|
return;
|
|
}
|
|
} else {
|
|
col += ","+parts[i++]+","+parts[i++];
|
|
}
|
|
if (x === '*') {
|
|
x = "0-7";
|
|
}
|
|
if (y === '*') {
|
|
y = "0-7";
|
|
}
|
|
var x0,x1;
|
|
var y0,y1;
|
|
if (x.indexOf("-") === -1) {
|
|
x0 = x1 = parseInt(x);
|
|
} else {
|
|
var px = x.split("-");
|
|
x0 = parseInt(px[0]);
|
|
x1 = parseInt(px[1]);
|
|
if (x1<x0) {
|
|
j = x1;
|
|
x1 = x0;
|
|
x0 = j;
|
|
}
|
|
}
|
|
if (y.indexOf("-") === -1) {
|
|
y0 = y1 = parseInt(y);
|
|
} else {
|
|
var py = y.split("-");
|
|
y0 = parseInt(py[0]);
|
|
y1 = parseInt(py[1]);
|
|
if (y1<y0) {
|
|
j = y1;
|
|
y1 = y0;
|
|
y0 = j;
|
|
}
|
|
}
|
|
x = x0;
|
|
while (x<=x1) {
|
|
y = y0;
|
|
while (y<=y1) {
|
|
expanded.push([x,y,col]);
|
|
y++;
|
|
}
|
|
x++;
|
|
}
|
|
}
|
|
if (expanded.length > 0) {
|
|
var pixels = {};
|
|
var rules = [];
|
|
for (i=expanded.length-1; i>=0; i--) {
|
|
var rule = expanded[i];
|
|
if (!pixels[rule[0]+","+rule[1]]) {
|
|
rules.unshift(rule.join(","));
|
|
pixels[rule[0]+","+rule[1]] = true;
|
|
}
|
|
}
|
|
if (rules.length > 0) {
|
|
command = "P"+rules.join(",");
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
if (!command) {
|
|
if (/^R(0|90|180|270)$/i.test(line)) {
|
|
command = line.toUpperCase();
|
|
} else if (/^F(H|V)$/i.test(line)) {
|
|
command = line.toUpperCase();
|
|
} else if (/^D(0|1)$/i.test(line)) {
|
|
command = line.toUpperCase();
|
|
} else {
|
|
command = handleTextMessage(line,msg);
|
|
}
|
|
}
|
|
if (command) {
|
|
//console.log(command);
|
|
HAT.send(command);
|
|
}
|
|
});
|
|
}
|
|
});
|
|
}
|
|
RED.nodes.registerType("rpi-sensehat out",SenseHatOutNode);
|
|
|
|
}
|