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node-red-nodes/hardware/sensehat/sensehat.js
2022-11-28 11:50:08 +00:00

379 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') && !fs.existsSync('/usr/lib/python3/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+" :"); }
if (data.indexOf("WARNING") === 0) {
if (data.indexOf("sensor not present") !== -1) { return; }
else { RED.log.warn(data); }
}
else {
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);
}