| /main.js |
|---|
| @@ -1,5 +1,5 @@ |
|---|
| #!/usr/bin/env nodejs |
| /////////////////////////////////////////////////////////////////////////// |
| /////////////////////////////////////////////////////////////////////////// |
| // Copyright (C) Wizardry and Steamworks 2018 - License: GNU GPLv3 // |
| // Please see: http://www.gnu.org/licenses/gpl.html for legal details, // |
| // rights of fair usage, the disclaimer and warranty conditions. // |
| @@ -19,9 +19,12 @@ |
|---|
| const config = YAML.load('config.yml') |
| |
| // Set up logger. |
| winston.add(winston.transports.File, { |
| filename: config.log |
| }) |
| const logger = winston.createLogger({ |
| transports: [ |
| new winston.transports.Console(), |
| new winston.transports.File({ filename: config.log }) |
| ] |
| }); |
| |
| // Initiate connection to MQTT. |
| const mqttClient = mqtt.connect(config.mqtt.url) |
| @@ -38,7 +41,7 @@ |
|---|
| }) |
| |
| // Set up sensor packet assembler. |
| port.on('data', AssembleSensorPacket); |
| port.on('data', PublishSensorPacket); |
| |
| // Set up GPIO wake pin. |
| const wakeGPIO = new Gpio(config.wake, 'out') |
| @@ -48,7 +51,7 @@ |
|---|
| RoombaSafe(function () { |
| // Poll sensors periodically. |
| setInterval(function () { |
| port.write(new Buffer(COMMAND_SEQUENCES['query_all_sensors'])) |
| port.write(new Buffer.from(COMMAND_SEQUENCES['query_all_sensors'])) |
| }, config.sensor_poll_interval) |
| }) |
| }) |
| @@ -55,12 +58,12 @@ |
|---|
| |
| // Subscribe to configured topic when client connects and start polling sensors. |
| mqttClient.on('connect', function () { |
| winston.info('Connected to MQTT server') |
| logger.info('Connected to MQTT server') |
| mqttClient.subscribe(config.mqtt.topic, function (error) { |
| if (error) { |
| winston.error('Unable to subscribe to MQTT topic') |
| logger.error('Unable to subscribe to MQTT topic') |
| } |
| winston.info("Subscribed to MQTT topic " + config.mqtt.topic) |
| logger.info("Subscribed to MQTT topic " + config.mqtt.topic) |
| }) |
| }) |
| |
| @@ -71,20 +74,24 @@ |
|---|
| |
| message = message.toString() |
| |
| winston.debug('Received message: ' + message) |
| logger.debug('Received message: ' + message) |
| |
| // Skip commands that do not figure in the command sequence table. |
| if (!(message in COMMAND_SEQUENCES)) |
| return |
| |
| winston.info('Executing Roomba command: ' + message) |
| logger.info('Executing Roomba command: ' + message) |
| |
| // Execute Roomba command in safe mode. |
| RoombaSafe(function () { |
| port.write(new Buffer(COMMAND_SEQUENCES[message])) |
| port.write(new Buffer.from(COMMAND_SEQUENCES[message])) |
| }) |
| }) |
| |
| mqttClient.on('reconnect', () => { |
| logger.info('Reconnecting to MQTT server...') |
| }) |
| |
| /* |
| * Wake Roomba device. |
| * Sequence: |
| @@ -97,7 +104,7 @@ |
|---|
| function RoombaWake(gpio, callback) { |
| gpio.write(1, err => { |
| if (err) { |
| winston.error('Could not wake Roomba!') |
| logger.error('Could not wake Roomba!') |
| return |
| } |
| |
| @@ -104,13 +111,13 @@ |
|---|
| setTimeout(function () { |
| gpio.write(0, function (err) { |
| if (err) { |
| winston.error('Could not wake Roomba!') |
| logger.error('Could not wake Roomba!') |
| return |
| } |
| setTimeout(function () { |
| gpio.write(1, function (err) { |
| if (err) { |
| winston.error('Could not wake Roomba!') |
| logger.error('Could not wake Roomba!') |
| return |
| } |
| callback() |
| @@ -126,9 +133,9 @@ |
|---|
| */ |
| function RoombaSafe(callback) { |
| setTimeout(function () { |
| port.write(new Buffer(COMMAND_SEQUENCES['start'])) |
| port.write(new Buffer.from(COMMAND_SEQUENCES['start'])) |
| setTimeout(function () { |
| port.write(new Buffer(COMMAND_SEQUENCES['safe'])) |
| port.write(new Buffer.from(COMMAND_SEQUENCES['safe'])) |
| setTimeout(callback, 500) |
| }, 100) |
| }, 100) |
| @@ -139,7 +146,7 @@ |
|---|
| */ |
| var packetBuffer = null |
| |
| function AssembleSensorPacket(data) { |
| function PublishSensorPacket(data) { |
| if (packetBuffer) { |
| data = Buffer.concat( |
| [packetBuffer, data], packetBuffer.length + data.length) |
| @@ -150,7 +157,7 @@ |
|---|
| |
| decoder.decode_all_sensors(packet, function (result, position, error) { |
| if (error) { |
| winston.error('Packet assembly failed with error:' + error) |
| logger.error('Packet assembly failed with error:' + error) |
| return |
| } |
| |
