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node-red-nodes/hardware/BBB/145-BBB-hardware.js
Dave Conway-Jones 9ba84c4908 catch possible non-property in BBB node
2016-01-29 20:07:17 +00:00

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/**
* Copyright 2014 Maxwell R Hadley
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
**/
module.exports = function (RED) {
"use strict";
var bonescript, adjustName, setPinMode;
var analogInputPins = ["P9_39", "P9_40", "P9_37", "P9_38", "P9_33", "P9_36", "P9_35"];
var gpioPins = ["P8_7", "P8_8", "P8_9", "P8_10", "P8_11", "P8_12", "P8_13", "P8_14", "P8_15",
"P8_16", "P8_17", "P8_18", "P8_19", "P8_26", "P9_11", "P9_12", "P9_13", "P9_14",
"P9_15", "P9_16", "P9_17", "P9_18", "P9_21", "P9_22", "P9_23", "P9_24", "P9_26",
"P9_27", "P9_30", "P9_41", "P9_42"];
var usrLEDs = ["USR0", "USR1", "USR2", "USR3"];
// Load the hardware library and set up polymorphic functions to suit it. Prefer
// octalbonescript (faster & less buggy) but drop back to bonescript if not available
bonescript = require("octalbonescript");
adjustName = function (pin) {
if (pin === "P8_7") {
pin = "P8_07";
} else if (pin === "P8_8") {
pin = "P8_08";
} else if (pin === "P8_9") {
pin = "P8_09";
}
return pin;
};
setPinMode = function (pin, direction, callback) {
bonescript.pinMode(pin, direction, callback);
}
// Node constructor for bbb-analogue-in
function AnalogueInputNode(n) {
RED.nodes.createNode(this, n);
var node = this;
// Store local copies of the node configuration (as defined in the .html)
this.topic = n.topic;
this.pin = n.pin; // The Beaglebone Black pin identifying string
this._pin = adjustName(this.pin); // Adjusted for Octal if necessary
this.breakpoints = n.breakpoints;
this.averaging = n.averaging;
if (this.averaging) {
this.averages = 10;
} else {
this.averages = 1;
}
// Variables used for input averaging
var sum; // accumulates the input readings to be averaged
var count; // keep track of the number of measurements made
// The callback function for analogRead. Accumulates the required number of
// measurements, then divides the total number, applies output scaling and
// sends the result
var analogReadCallback = function (err, x) {
sum = sum + Number(x);
count = count - 1;
if (count > 0) {
bonescript.analogRead(node._pin, analogReadCallback);
} else {
var msg = {};
msg.topic = node.topic;
sum = sum/node.averages;
// i is the index of the first breakpoint where the 'input' value is strictly
// greater than the measurement (note: a measurement can never be == 1)
var i = node.breakpoints.map(function (breakpoint) {
return sum >= breakpoint.input;
}).indexOf(false);
msg.payload = node.breakpoints[i - 1].output + (node.breakpoints[i].output - node.breakpoints[i - 1].output)*
(sum - node.breakpoints[i - 1].input)/(node.breakpoints[i].input - node.breakpoints[i - 1].input);
node.send(msg);
}
};
// If we have a valid pin, set the input event handler to Bonescript's analogRead
if (analogInputPins.indexOf(node.pin) >= 0) {
node.on("input", function () {
sum = 0;
count = node.averages;
bonescript.analogRead(node._pin, analogReadCallback);
});
} else {
node.error("Unconfigured input pin");
}
}
// Node constructor for bbb-discrete-in
function DiscreteInputNode(n) {
RED.nodes.createNode(this, n);
var node = this;
// Store local copies of the node configuration (as defined in the .html)
this.topic = n.topic; // the topic is not currently used
this.pin = n.pin; // The Beaglebone Black pin identifying string
this._pin = adjustName(this.pin); // Adjusted for Octal if necessary
if (n.activeLow) { // Set the 'active' state 0 or 1 as appropriate
this.activeState = 0;
} else {
this.activeState = 1;
}
this.updateInterval = n.updateInterval*1000; // How often to send totalActiveTime messages
this.debounce = n.debounce; // Enable switch contact debouncing algorithm
if (n.outputOn === "rising") {
this.activeEdges = [false, true];
} else if (n.outputOn === "falling") {
this.activeEdges = [true, false];
} else if (n.outputOn === "both") {
this.activeEdges = [true, true];
} else {
node.error("Invalid edge type: " + n.outputOn);
}
// Working variables
this.interruptAttached = false; // Flag: should we detach interrupt when we are closed?
this.intervalId = null; // Remember the timer ID so we can delete it when we are closed
this.currentState = 0; // The pin input state "1" or "0"
this.lastActiveTime = NaN; // The date (in ms since epoch) when the pin last went high
// switch to process.hrtime()
this.totalActiveTime = 0; // The total time in ms that the pin has been high (since reset)
this.starting = true;
this.debouncing = false; // True after a change of state while waiting for the 7ms debounce time to elapse
this.debounceTimer = null;
// This function is called by the input pin change-of-state interrupt. If
// debounce is disabled, send the output message. Otherwise, if we are
// currently debouncing, ignore this interrupt. If we are not debouncing,
// schedule a re-read of the input pin in 7ms time, and set the debouncing flag
// Note: if x has an 'attached' field and no 'value' field, the callback is reporting
// the success or failure of attaching the interrupt - we must handle this
var interruptCallback = function (err, x) {
if (x.value === undefined) {
if (x.attached === true) {
node.interruptAttached = true;
node.on("input", inputCallback);
node.intervalId = setInterval(timerCallback, node.updateInterval);
} else {
node.error("Failed to attach interrupt");
}
} else if (node.currentState !== Number(x.value)) {
if (node.debounce) {
if (node.debouncing === false) {
node.debouncing = true;
node.debounceTimer = setTimeout(function () {
bonescript.digitalRead(node._pin, debounceCallback);
}, 7);
}
} else {
sendStateMessage(x);
}
}
};
// This function is called approx 7ms after a potential change-of-state which is
// being debounced. Terminate the debounce, and send a message if the state has
// actually changed
var debounceCallback = function (err, x) {
node.debounceTimer = null;
node.debouncing = false;
if (x.value !== undefined && node.currentState !== Number(x.value)) {
sendStateMessage(x);
}
};
// This function is called when either the interruptCallback or the debounceCallback
// have determined we have a 'genuine' change of state. Update the currentState and
// ActiveTime variables, and send a message on the first output with the new state
var sendStateMessage = function (x) {
node.currentState = Number(x.value);
var now = Date.now();
if (node.currentState === node.activeState) {
node.lastActiveTime = now;
} else if (!isNaN(node.lastActiveTime)) {
node.totalActiveTime += now - node.lastActiveTime;
}
if (node.activeEdges[node.currentState]) {
var msg = {};
msg.topic = node.topic;
msg.payload = node.currentState;
node.send([msg, null]);
}
};
// This function is called by the timer. It updates the ActiveTime variables, and sends a
// message on the second output with the latest value of the total active time, in seconds
var timerCallback = function () {
if (node.currentState === node.activeState) {
var now = Date.now();
node.totalActiveTime += now - node.lastActiveTime;
node.lastActiveTime = now;
}
var msg = {};
msg.topic = node.topic;
msg.payload = node.totalActiveTime/1000;
node.send([null, msg]);
// Re-synchronise the pin state if we have missed a state change interrupt for some
// reason, and we are not in the process of debouncing one
if (node.debouncing === false) {
bonescript.digitalRead(node._pin, interruptCallback);
}
};
// This function is called when we receive an input message. If the topic contains
// 'load' (case insensitive) set the totalActiveTime to the numeric value of the
// payload, if possible. Otherwise clear the totalActiveTime (so we start counting
// from zero again)
var inputCallback = function (ipMsg) {
if (String(ipMsg.topic).search(/load/i) < 0 || isFinite(ipMsg.payload) === false) {
node.totalActiveTime = 0;
} else {
node.totalActiveTime = Number(ipMsg.payload);
}
if (node.currentState === node.activeState) {
node.lastActiveTime = Date.now();
}
// On startup, send an initial activeTime message, but only send an
// initial currentState message if we are in both edges active mode
if (node.starting) {
node.starting = false;
var msg;
if (node.activeEdges[0] && node.activeEdges[1]) {
msg = [{topic: node.topic}, {topic: node.topic}];
msg[0].payload = node.currentState;
} else {
msg = [null, {topic: node.topic}];
}
msg[1].payload = node.totalActiveTime;
node.send(msg);
}
};
// If we have a valid pin, set it as an input and read the (digital) state
if (gpioPins.indexOf(node.pin) >= 0) {
// Don't set up interrupts & intervals until after the close event handler has been installed
bonescript.detachInterrupt(node._pin);
process.nextTick(function () {
setPinMode(node._pin, bonescript.INPUT, function (response, pin) {
if (response.hasOwnProperty("value") && response.value === true) {
bonescript.digitalRead(node._pin, function (err, x) {
// Initialise the currentState and lastActiveTime variables based on the value read
node.currentState = Number(x.value);
if (node.currentState === node.activeState) {
node.lastActiveTime = Date.now();
}
// Attempt to attach a change-of-state interrupt handler to the pin. If we succeed,
// the input event and interval handlers will be installed by interruptCallback
bonescript.attachInterrupt(node._pin, true, bonescript.CHANGE, interruptCallback);
// Send an initial message with the pin state on the first output
setTimeout(function () {
node.emit("input", {});
}, 50);
});
} else {
node.error("Unable to set " + pin + " as input: " + response.err);
}
});
});
} else {
node.error("Unconfigured input pin");
}
}
// Node constructor for bbb-pulse-in
function PulseInputNode(n) {
RED.nodes.createNode(this, n);
var node = this;
// Store local copies of the node configuration (as defined in the .html)
this.topic = n.topic; // the topic is not currently used
this.pin = n.pin; // The Beaglebone Black pin identifying string
this._pin = adjustName(this.pin); // Adjusted for Octal if necessary
this.updateInterval = n.updateInterval*1000; // How often to send output messages
this.countType = n.countType; // Sets either 'edge' or 'pulse' counting
this.countUnit = n.countUnit; // Scaling applied to count output
this.countRate = n.countRate; // Scaling applied to rate output
// Working variables
this.interruptAttached = false; // Flag: should we detach interrupt when we are closed?
this.intervalId = null; // Remember the timer ID so we can delete it when we are closed
this.pulseCount = 0; // (Unscaled) total pulse count
// Hold the hrtime of the last two pulses (with ns resolution)
this.pulseTime = [[NaN, NaN], [NaN, NaN]];
// Called by the edge or pulse interrupt. Record the pulse time and count the pulse
// Note: if x has an 'attached' field and no 'value' field, the callback is reporting
// the success or failure of attaching the interrupt - we must handle this
var interruptCallback = function (x) {
if (x.value === undefined) {
if (x.attached === true) {
node.interruptAttached = true;
node.on("input", inputCallback);
node.intervalId = setInterval(timerCallback, node.updateInterval);
} else {
node.error("Failed to attach interrupt");
}
} else {
node.pulseTime = [node.pulseTime[1], process.hrtime()];
node.pulseCount = node.pulseCount + 1;
}
};
// Called when an input message arrives. If the topic contains 'load' (case
// insensitive) and the payload is a valid number, set the count to that
// number, otherwise set it to zero
var inputCallback = function (msg) {
if (String(msg.topic).search(/load/i) < 0 || isFinite(msg.payload) === false) {
node.pulseCount = 0;
} else {
node.pulseCount = Number(msg.payload);
}
};
// Called by the message timer. Send two messages: the scaled pulse count on
// the first output and the scaled instantaneous pulse rate on the second.
// The instantaneous pulse rate is the reciprocal of the larger of either the
// time interval between the last two pulses, or the time interval since the last pulse.
var timerCallback = function () {
var now = process.hrtime();
var lastTime = node.pulseTime[1][0] - node.pulseTime[0][0] + (node.pulseTime[1][1] - node.pulseTime[0][1])/1e9;
var thisTime = now[0] - node.pulseTime[1][0] + (now[1] - node.pulseTime[1][1])/1e9;
var msg = [{topic: node.topic}, {topic: node.topic}];
msg[0].payload = node.countUnit*node.pulseCount;
// At startup, pulseTime contains NaN's: force the rate output to 0
msg[1].payload = node.countRate/Math.max(thisTime, lastTime) || 0;
node.send(msg);
};
// If we have a valid pin, set it as an input and read the (digital) state
if (gpioPins.indexOf(node.pin) >= 0) {
// Don't set up interrupts & intervals until after the close event handler has been installed
bonescript.detachInterrupt(node._pin);
process.nextTick(function () {
setPinMode(node._pin, bonescript.INPUT, function (response, pin) {
if (response.value === true) {
bonescript.digitalRead(node._pin, function (err, x) {
// Initialise the currentState based on the value read
node.currentState = Number(x.value);
// Attempt to attach an interrupt handler to the pin. If we succeed,
// set the input event and interval handlers
var interruptType;
if (node.countType === "pulse") {
// interruptType = bonescript.FALLING; <- doesn't work in v0.2.4
interruptType = bonescript.RISING;
} else {
interruptType = bonescript.CHANGE;
}
// Attempt to attach the required interrupt handler to the pin. If we succeed,
// the input event and interval handlers will be installed by interruptCallback
bonescript.attachInterrupt(node._pin, true, interruptType, interruptCallback)
});
} else {
node.error("Unable to set " + pin + " as input: " + response.err);
}
});
});
} else {
node.error("Unconfigured input pin");
}
}
// Node constructor for bbb-discrete-out
function DiscreteOutputNode(n) {
RED.nodes.createNode(this, n);
var node = this;
// Store local copies of the node configuration (as defined in the .html)
this.topic = n.topic; // the topic is not currently used
this.pin = n.pin; // The Beaglebone Black pin identifying string
this._pin = adjustName(this.pin); // Adjusted for Octal if necessary
this.defaultState = Number(n.defaultState); // What state to set up as
this.inverting = n.inverting;
this.toggle = n.toggle;
// Working variables
this.currentState = this.defaultState;
// If the input message payload is numeric, values > 0.5 are 'true', otherwise use
// the truthiness of the payload. Apply the inversion flag before setting the output
var inputCallback = function (msg) {
var newState;
if (node.toggle) {
newState = node.currentState === 0 ? 1 : 0;
} else {
if (isFinite(Number(msg.payload))) {
newState = Number(msg.payload) > 0.5;
} else if (msg.payload) {
newState = true;
} else {
newState = false;
}
if (node.inverting) {
newState = !newState;
}
}
bonescript.digitalWrite(node._pin, newState ? 1 : 0, function() {
node.send({topic: node.topic, payload: newState});
node.currentState = newState;
});
};
// If we have a valid pin, set it as an output and set the default state
if (gpioPins.concat(usrLEDs).indexOf(node.pin) >= 0) {
// Don't set up interrupts & intervals until after the close event handler has been installed
if (node._pin) { bonescript.detachInterrupt(node._pin); }
process.nextTick(function () {
setPinMode(node._pin, bonescript.OUTPUT, function (response, pin) {
if (response) {
node.error("Unable to set " + pin + " as output: " + response.err);
} else {
node.on("input", inputCallback);
setTimeout(function () {
bonescript.digitalWrite(node._pin, node.defaultState, function() {});
}, 50);
}
});
});
} else {
node.error("Unconfigured output pin");
}
}
// Node constructor for bbb-pulse-out
function PulseOutputNode(n) {
RED.nodes.createNode(this, n);
var node = this;
// Store local copies of the node configuration (as defined in the .html)
this.topic = n.topic; // the topic is not currently used
this.pin = n.pin; // The Beaglebone Black pin identifying string
this._pin = adjustName(this.pin); // Adjusted for Octal if necessary
this.pulseState = Number(n.pulseState); // What state the pulse will be..
this.defaultState = this.pulseState === 1 ? 0 : 1;
this.retriggerable = n.retriggerable;
this.pulseTime = n.pulseTime*1000; // Pulse width in milliseconds
// Working variables
this.pulseTimer = null; // Non-null while a pulse is being generated
// Generate a pulse in response to an input message. If the topic includes the text
// 'time' (case insensitive) and the payload is numeric, use this value as the
// pulse time. Otherwise use the value from the properties dialog.
// If the resulting pulse time is < 1ms, do nothing.
// If the pulse mode is not retriggerable, then if no pulseTimer is active, generate
// a pulse. If the pulse mode is retriggerable, and a pulseTimer is active, cancel it.
// If no timer is active, set the pulse output. In both cases schedule a new pulse
// timer.
var inputCallback = function (msg) {
var time = node.pulseTime;
if (String(msg.topic).search(/time/i) >= 0 && isFinite(msg.payload)) {
time = msg.payload*1000;
}
if (time >= 1) {
if (node.retriggerable === false) {
if (node.pulseTimer === null) {
node.pulseTimer = setTimeout(endPulseCallback, time);
bonescript.digitalWrite(node._pin, node.pulseState, function() {
node.send({topic: node.topic, payload: node.pulseState});
});
}
} else {
if (node.pulseTimer !== null) {
clearTimeout(node.pulseTimer);
} else {
bonescript.digitalWrite(node._pin, node.pulseState, function() {
node.send({topic: node.topic, payload: node.pulseState});
});
}
node.pulseTimer = setTimeout(endPulseCallback, time);
}
}
};
// At the end of the pulse, restore the default state and set the timer to null
var endPulseCallback = function () {
node.pulseTimer = null;
bonescript.digitalWrite(node._pin, node.defaultState, function() {
node.send({topic: node.topic, payload: node.defaultState});
});
};
// If we have a valid pin, set it as an output and set the default state
if (gpioPins.concat(usrLEDs).indexOf(node.pin) >= 0) {
// Don't set up interrupts & intervals until after the close event handler has been installed
bonescript.detachInterrupt(node._pin);
process.nextTick(function () {
setPinMode(node._pin, bonescript.OUTPUT, function (response, pin) {
if (response.value === true) {
node.on("input", inputCallback);
// Set the pin to the default state once the dust settles
setTimeout(endPulseCallback, 50);
} else {
node.error("Unable to set " + pin + " as output: " + response.err);
}
});
});
} else {
node.error("Unconfigured output pin");
}
}
// Register the nodes by name. This must be called before overriding any of the Node functions.
RED.nodes.registerType("bbb-analogue-in", AnalogueInputNode);
RED.nodes.registerType("bbb-discrete-in", DiscreteInputNode);
RED.nodes.registerType("bbb-pulse-in", PulseInputNode);
RED.nodes.registerType("bbb-discrete-out", DiscreteOutputNode);
RED.nodes.registerType("bbb-pulse-out", PulseOutputNode);
// On close, detach the interrupt (if we attached one) and clear any active timers
DiscreteInputNode.prototype.close = function () {
if (this.interruptAttached) {
bonescript.detachInterrupt(this._pin);
}
if (this.intervalId !== null) {
clearInterval(this.intervalId);
}
if (this.debounceTimer !== null) {
clearTimeout(this.debounceTimer);
}
};
// On close, detach the interrupt (if we attached one) and clear the interval (if we set one)
PulseInputNode.prototype.close = function () {
if (this.interruptAttached) {
bonescript.detachInterrupt(this._pin);
}
if (this.intervalId !== null) {
clearInterval(this.intervalId);
}
};
// On close, clear an active pulse timer
PulseOutputNode.prototype.close = function () {
if (this.pulseTimer !== null) {
clearTimeout(this.pulseTimer);
}
};
};
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