roomba-iot – Diff between revs 3 and 4

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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.        //
 ///////////////////////////////////////////////////////////////////////////
 // Load configuration file.
 const config = YAML.load('config.yml')
+// Set up logger.
+const logger = winston.createLogger({
-// Set up logger.
+  transports: [
+    new winston.transports.Console(),
-winston.add(winston.transports.File, {
+    new winston.transports.File({ filename: config.log })
   filename: config.log
-})
+});
   stopBits: 1,
   flowControl: false
 })
 // 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')
 // 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']))
+      port.write(new Buffer.from(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')
+  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)
   })
 })
 // 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)
+  logger.debug('Received message: ' + message)
   // Skip commands that do not figure in the command sequence table.
   if (!(message in COMMAND_SEQUENCES))
+    return
+  logger.info('Executing Roomba command: ' + message)
-    return
+  // Execute Roomba command in safe mode.
   RoombaSafe(function () {
-  winston.info('Executing Roomba command: ' + message)
+    port.write(new Buffer.from(COMMAND_SEQUENCES[message]))
   })
-  // Execute Roomba command in safe mode.
+})
  *  5. Set DD to HIGH
  */
 function RoombaWake(gpio, callback) {
   gpio.write(1, err => {
     if (err) {
-      winston.error('Could not wake Roomba!')
+      logger.error('Could not wake Roomba!')
       return
+    }
     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()
           })
 /*
  * Put Roomba in safe mode.
  */
 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)
+}
 /*
  * Build the sensor buffer as the data is read from the serial port.
  */
 var packetBuffer = null
-function AssembleSensorPacket(data) {
+function PublishSensorPacket(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)
+        logger.error('Packet assembly failed with error:' + error)