roomba-iot – Diff between revs 2 and 3

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 #!/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.        //
 ///////////////////////////////////////////////////////////////////////////
 // Global package definitions.
 const Gpio = require('onoff').Gpio
 const mqtt = require('mqtt')
 const YAML = require('yamljs')
 const winston = require('winston')
 const SerialPort = require('serialport')
 // Local package definitions.
 const decoder = require('./lib/decoder.js')
 // Load configuration file.
 const config = YAML.load('config.yml')
 // Set up logger.
 winston.add(winston.transports.File, {
   filename: config.log
 })
 // Initiate connection to MQTT.
 const mqttClient = mqtt.connect(config.mqtt.url)
 // Set up serial port.
 var port = new SerialPort(config.serial_device, {
   // Roomba 4xx and Dirt Dog: 57600
   // Roomba 5xx and 7xx: 115200
   baudRate: 115200,
   dataBits: 8,
   parity: 'none',
   stopBits: 1,
   flowControl: false
 })
 // Set up sensor packet assembler.
 port.on('data', AssembleSensorPacket);
 // Set up GPIO wake pin.
 const wakeGPIO = new Gpio(config.wake, 'out')
 // Wake up Roomba.
 RoombaWake(wakeGPIO, function () {
   // Switch to safe mode.
   RoombaSafe(function () {
     // Poll sensors periodically.
     setInterval(function () {
       port.write(new Buffer(COMMAND_SEQUENCES['query_all_sensors']))
     }, config.sensor_poll_interval)
   })
 })
 // Subscribe to configured topic when client connects and start polling sensors.
 mqttClient.on('connect', function () {
   winston.info('Connected to MQTT server')
   mqttClient.subscribe(config.mqtt.topic, function (error) {
     if (error) {
       winston.error('Unable to subscribe to MQTT topic')
+    }
     winston.info("Subscribed to MQTT topic " + config.mqtt.topic)
   })
 })
 // Execute command when message is received on configured topic.
 mqttClient.on('message', function (topic, message) {
   if (message.length === 0)
     return
   message = message.toString()
   winston.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)
   // Execute Roomba command in safe mode.
   RoombaSafe(function () {
     port.write(new Buffer(COMMAND_SEQUENCES[message]))
   })
 })
 /*
  * Wake Roomba device.
  * Sequence:
  *  1. Set DD to HIGH
  *  2. Wait 100ms
  *  3. Set DD to LOW
  *  4. Wait 500ms
  *  5. Set DD to HIGH
  */
 function RoombaWake(gpio, callback) {
   gpio.write(1, err => {
     if (err) {
       winston.error('Could not wake Roomba!')
       return
+    }
     setTimeout(function () {
       gpio.write(0, function (err) {
         if (err) {
           winston.error('Could not wake Roomba!')
           return
+        }
         setTimeout(function () {
           gpio.write(1, function (err) {
             if (err) {
               winston.error('Could not wake Roomba!')
               return
+            }
             callback()
           })
         }, 500)
       })
     }, 100)
   })
+}
 /*
  * Put Roomba in safe mode.
  */
 function RoombaSafe(callback) {
   setTimeout(function () {
     port.write(new Buffer(COMMAND_SEQUENCES['start']))
     setTimeout(function () {
       port.write(new Buffer(COMMAND_SEQUENCES['safe']))
       setTimeout(callback, 500)
-    }, 30)
+    }, 100)
-  }, 30)
+  }, 100)
+}
 /*
  * Build the sensor buffer as the data is read from the serial port.
  */
 var packetBuffer = null
 function AssembleSensorPacket(data) {
   if (packetBuffer) {
     data = Buffer.concat(
       [packetBuffer, data], packetBuffer.length + data.length)
+  }
   if (data.length >= decoder.SENSOR_PACKET_SIZE) {
     var packet = data.slice(0, decoder.SENSOR_PACKET_SIZE)
     decoder.decode_all_sensors(packet, function (result, position, error) {
       if (error) {
         winston.error('Packet assembly failed with error:' + error)
         return
+      }
       // Push the packet onto MQTT.
       mqttClient.publish(config.mqtt.topic, JSON.stringify(result))
     })
     data = data.slice(decoder.SENSOR_PACKET_SIZE)
+  }
   if (data.length > 0) {
     packetBuffer = data
     return
+  }
   packetBuffer = null
+}
 const COMMAND_SEQUENCES = {
   safe: [131],
   start: [128],
   spot: [134],
   clean: [135],
   dock: [143],
   query_all_sensors: [142, 100],
   stream_all_sensors: [148, 1, 100],
   stream_sensors_off: [150, 0],
   stream_sensors_on: [150, 1]
+}
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