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clientrobotpi.js
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clientrobotpi.js
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"use strict";
const USER = require("/boot/robot.json");
const SYS = require("./sys.json");
const FRAME = require("./trame.js");
const OS = require("os");
const FS = require("fs");
const IO = require("socket.io-client");
const EXEC = require("child_process").exec;
const RL = require("readline");
const NET = require("net");
const SPLIT = require("stream-split");
const SP = require("serialport");
const GPIO = require("pigpio").Gpio;
const I2C = require("i2c-bus");
const PCA9685 = require("pca9685");
const GPS = require("gps");
const INA219 = require("ina219");
const FRAME0 = "$".charCodeAt();
const FRAME1S = "S".charCodeAt();
const FRAME1T = "T".charCodeAt();
const VERSION = Math.trunc(FS.statSync(__filename).mtimeMs);
const PROCESSTIME = Date.now();
const OSTIME = PROCESSTIME - OS.uptime() * 1000;
let sockets = {};
let currentServer = "";
let up = false;
let engine = false;
let upTimeout;
let initDone = false;
let initVideo = false;
let initUart = false;
let initPca = 0;
let initPcaLock = 0;
let conf = {};
let hard = {};
let tx;
let rx;
let confVideo;
let oldConfVideo;
let cmdDiffusion;
let cmdDiffAudio;
let contrastBoost = false;
let oldContrastBoost = false;
let autopilot;
let lastTimestamp = Date.now();
let lastFrame = Date.now();
let latencyAlarm = false;
let floatTargets16 = [];
let floatTargets8 = [];
let floatTargets1 = [];
let floatCommands16 = [];
let floatCommands8 = [];
let floatCommands1 = [];
let margins16 = [];
let margins8 = [];
let oldOutputs = [];
let backslashs = [];
let serial;
let serialGps;
let gps;
let i2c;
let gaugeType;
let pca9685Driver = [];
let gpioOutputs = [];
let prevCpus = OS.cpus();
let nbCpus = prevCpus.length;
let voltage = 0;
let battery = 0;
let cpuLoad = 0;
let socTemp = 0;
let link = 0;
let rssi = 0;
if(typeof USER.SERVERS === "undefined")
USER.SERVERS = SYS.SERVERS;
if(typeof USER.CMDDIFFUSION === "undefined")
USER.CMDDIFFUSION = SYS.CMDDIFFUSION;
if(typeof USER.CMDDIFFAUDIO === "undefined")
USER.CMDDIFFAUDIO = SYS.CMDDIFFAUDIO;
if(typeof USER.CMDTTS === "undefined")
USER.CMDTTS = SYS.CMDTTS;
USER.SERVERS.forEach(function(server) {
sockets[server] = IO.connect(server, {"connect timeout": 1000, transports: ["websocket"], path: "/" + SYS.SECUREMOTEPORT + "/socket.io"});
});
hard.DEBUG = true;
hard.TELEDEBUG = false;
trace("Client start", true);
i2c = I2C.openSync(1);
try {
const CW2015WAKEUP = new Buffer.from([0x0a, 0x00]);
i2c.i2cWriteSync(SYS.CW2015ADDRESS, 2, CW2015WAKEUP);
gaugeType = "CW2015";
} catch(err) {
try {
i2c.readWordSync(SYS.MAX17043ADDRESS, 0x02);
gaugeType = "MAX17043";
} catch(err) {
try {
i2c.readWordSync(SYS.BQ27441ADDRESS, 0x04);
gaugeType = "BQ27441";
} catch(err) {
i2c.closeSync();
try {
gaugeType = "INA219";
INA219.init(0x45); // Change according with your INA219 address 0x45 = A0 and A1 High
INA219.enableLogging(true);
} catch(err) {
gaugeType = "";
}
}
}
}
setTimeout(function() {
if(gaugeType)
trace(gaugeType + " I2C fuel gauge detected", true);
else
trace("No I2C fuel gauge detected", true);
}, 1000);
function setInit() {
initDone = initUart && initVideo && initPca == hard.PCA9685ADDRESSES.length;
}
function map(n, inMin, inMax, outMin, outMax) {
return Math.trunc((n - inMin) * (outMax - outMin) / (inMax - inMin) + outMin);
}
function hmsm(date) {
return ("0" + date.getHours()).slice(-2) + ":" +
("0" + date.getMinutes()).slice(-2) + ":" +
("0" + date.getSeconds()).slice(-2) + ":" +
("00" + date.getMilliseconds()).slice(-3);
}
function trace(message, mandatory) {
if(mandatory || hard.DEBUG) {
let trace = hmsm(new Date()) + " | " + message;
FS.appendFile(SYS.LOGFILE, trace + "\n", function(err) {
});
}
if(mandatory || hard.TELEDEBUG) {
USER.SERVERS.forEach(function(server) {
sockets[server].emit("serveurrobottrace", message);
});
}
}
function traces(id, messages, mandatory) {
if(!hard.DEBUG && !hard.TELEDEBUG)
return;
let array = messages.split("\n");
if(!array[array.length - 1])
array.pop();
for(let i = 0; i < array.length; i++)
trace(id + " | " + array[i], mandatory);
}
function constrain(n, nMin, nMax) {
if(n > nMax)
n = nMax;
else if(n < nMin)
n = nMin;
return n;
}
function sigterm(name, process, callback) {
trace("Sending the SIGTERM signal to the process " + name, false);
let processkill = EXEC("/usr/bin/pkill -15 -f ^" + process);
processkill.on("close", function(code) {
callback(code);
});
}
function exec(name, command, callback) {
trace("Starting the process " + name, false);
trace(command, false);
let proc = EXEC(command);
let stdout = RL.createInterface(proc.stdout);
let stderr = RL.createInterface(proc.stderr);
let pid = proc.pid;
let execTime = Date.now();
//proc.stdout.on("data", function(data) {
stdout.on("line", function(data) {
traces(name + " | " + pid + " | stdout", data);
});
//proc.stderr.on("data", function(data) {
stderr.on("line", function(data) {
traces(name + " | " + pid + " | stderr", data);
});
proc.on("close", function(code) {
let elapsed = Date.now() - execTime;
trace("The " + name + " process is stopped after " + elapsed + " milliseconds with the exit code " + code, false);
callback(code);
});
}
function wake(server) {
if(up)
return;
if(!initDone) {
trace("This robot is not initialized", true);
return;
}
if(currentServer) {
trace("This robot is already in use from the " + currentServer + " server", true);
return;
}
trace("Robot wake", false);
writeOutputs();
if(hard.SNAPSHOTSINTERVAL) {
sigterm("Raspistill", "raspistill", function(code) {
diffusion();
});
} else
diffusion();
diffAudio();
currentServer = server;
up = true;
engine = true;
}
function sigterms(callback) {
let i = 0;
function loop() {
if(i == USER.CMDDIFFUSION.length) {
callback();
return;
}
sigterm("Diffusion" + i, USER.CMDDIFFUSION[i][0], loop);
i++;
}
loop();
}
function sleep() {
if(!up)
return;
trace("Robot sleep", false);
for(let i = 0; i < conf.TX.COMMANDS16.length; i++)
if(hard.COMMANDS16[i].SLEEP)
floatTargets16[i] = conf.TX.COMMANDS16[i].INIT;
for(let i = 0; i < conf.TX.COMMANDS8.length; i++)
if(hard.COMMANDS8[i].SLEEP)
floatTargets8[i] = conf.TX.COMMANDS8[i].INIT;
for(let i = 0; i < conf.TX.COMMANDS1.length; i++)
if(hard.COMMANDS1[i].SLEEP)
floatTargets1[i] = conf.TX.COMMANDS1[i].INIT;
sigterms(function() {
});
sigterm("DiffAudio", USER.CMDDIFFAUDIO[0], function() {
});
currentServer = "";
up = false;
}
function configurationVideo(callback) {
cmdDiffusion = USER.CMDDIFFUSION[confVideo.SOURCE].join("").replace(new RegExp("WIDTH", "g"), confVideo.WIDTH
).replace(new RegExp("HEIGHT", "g"), confVideo.HEIGHT
).replace(new RegExp("FPS", "g"), confVideo.FPS
).replace(new RegExp("BITRATE", "g"), confVideo.BITRATE
).replace(new RegExp("ROTATE", "g"), confVideo.ROTATE
).replace(new RegExp("VIDEOLOCALPORT", "g"), SYS.VIDEOLOCALPORT);
cmdDiffAudio = USER.CMDDIFFAUDIO.join("").replace(new RegExp("RECORDINGDEVICE", "g"), hard.RECORDINGDEVICE
).replace(new RegExp("AUDIOLOCALPORT", "g"), SYS.AUDIOLOCALPORT);
trace("Initializing the Video4Linux configuration", false);
let brightness;
let contrast;
if(contrastBoost) {
brightness = confVideo.BRIGHTNESSBOOST;
contrast = confVideo.CONTRASTBOOST;
} else {
brightness = confVideo.BRIGHTNESS;
contrast = confVideo.CONTRAST;
}
exec("v4l2-ctl", SYS.V4L2 + " -v width=" + confVideo.WIDTH +
",height=" + confVideo.HEIGHT +
",pixelformat=4" +
" -p " + confVideo.FPS +
" -c h264_profile=0" +
",repeat_sequence_header=1" +
",rotate=" + confVideo.ROTATE +
",video_bitrate=" + confVideo.BITRATE +
",brightness=" + brightness +
",contrast=" + contrast, function() {
callback();
});
}
function diffusion() {
trace("Starting the H.264 video broadcast stream", false);
exec("Diffusion", cmdDiffusion, function() {
trace("Stopping the H.264 video broadcast stream", false);
});
}
function diffAudio() {
trace("Starting the audio broadcast stream", false);
exec("DiffAudio", cmdDiffAudio, function() {
trace("Stopping the audio broadcast stream", false);
});
}
function actions(trx) {
for(let i = 0; i < conf.TX.COMMANDS16.length; i++)
floatTargets16[i] = trx.getFloatCommand16(i);
for(let i = 0; i < conf.TX.COMMANDS8.length; i++)
floatTargets8[i] = trx.getFloatCommand8(i);
for(let i = 0; i < conf.TX.COMMANDS1.length; i++)
floatTargets1[i] = trx.getCommand1(i);
contrastBoost = trx.getCommand1(hard.CONTRASTBOOSTSWITCH);
if(contrastBoost != oldContrastBoost) {
if(contrastBoost) {
exec("v4l2-ctl", SYS.V4L2 + " -c brightness=" + confVideo.BRIGHTNESSBOOST +
",contrast=" + confVideo.CONTRASTBOOST, function() {
});
} else {
exec("v4l2-ctl", SYS.V4L2 + " -c brightness=" + confVideo.BRIGHTNESS +
",contrast=" + confVideo.CONTRAST, function() {
});
}
oldContrastBoost = contrastBoost;
}
}
function initOutputs() {
gpioOutputs.forEach(function(gpios) {
gpios.forEach(function(gpio) {
gpio.mode(GPIO.INPUT);
});
});
pca9685Driver = [];
gpioOutputs = [];
initPca = 0;
setInit();
if(initPcaLock == 0) {
initPcaLock = hard.PCA9685ADDRESSES.length;
for(let i = 0; i < hard.PCA9685ADDRESSES.length; i++) {
pca9685Driver[i] = new PCA9685.Pca9685Driver({
i2c: i2c,
address: hard.PCA9685ADDRESSES[i],
frequency: SYS.PCA9685FREQUENCY
}, function(err) {
if(err)
trace("Error initializing PCA9685 at address " + hard.PCA9685ADDRESSES[i], true);
else {
trace("PCA9685 initialized at address " + hard.PCA9685ADDRESSES[i], true);
initPca++;
setInit();
}
initPcaLock--;
});
}
}
for(let i = 0; i < hard.OUTPUTS.length; i++) {
if(hard.OUTPUTS[i].ADRESSE == SYS.UNUSED) {
gpioOutputs[i] = [];
for(let j = 0; j < hard.OUTPUTS[i].GPIOS.length; j++)
gpioOutputs[i][j] = new GPIO(hard.OUTPUTS[i].GPIOS[j], {mode: GPIO.OUTPUT});
setMotorFrequency(i);
}
}
for(let i = 0; i < conf.TX.COMMANDS16.length; i++) {
floatTargets16[i] = conf.TX.COMMANDS16[i].INIT;
floatCommands16[i] = floatTargets16[i];
margins16[i] = (conf.TX.COMMANDS16[i].SCALEMAX - conf.TX.COMMANDS16[i].SCALEMIN) / 65535;
}
for(let i = 0; i < conf.TX.COMMANDS8.length; i++) {
floatTargets8[i] = conf.TX.COMMANDS8[i].INIT;
floatCommands8[i] = floatTargets8[i];
margins8[i] = (conf.TX.COMMANDS8[i].SCALEMAX - conf.TX.COMMANDS8[i].SCALEMIN) / 255;
}
for(let i = 0; i < conf.TX.COMMANDS1.length; i++) {
floatTargets1[i] = conf.TX.COMMANDS1[i].INIT;
floatCommands1[i] = floatTargets1[i];
}
for(let i = 0; i < hard.OUTPUTS.length; i++) {
oldOutputs[i] = 0;
backslashs[i] = 0;
}
}
USER.SERVERS.forEach(function(server, index) {
sockets[server].on("connect", function() {
trace("Connected to " + server + "/" + SYS.SECUREMOTEPORT, true);
EXEC("hostname -I").stdout.on("data", function(ipPriv) {
EXEC("iwgetid -r || echo $?").stdout.on("data", function(ssid) {
sockets[server].emit("serveurrobotlogin", {
conf: USER,
version: VERSION,
processTime: PROCESSTIME,
osTime: OSTIME,
ipPriv: ipPriv.trim(),
ssid: ssid.trim()
});
});
});
});
if(index == 0) {
sockets[server].on("clientsrobotconf", function(data) {
trace("Receiving robot configuration data from the " + server + " server", true);
// Security hardening: even if already done on server side,
// always filter values integrated in command lines
const CMDINT = RegExp(/^-?\d{1,10}$/);
for(let i = 0; i < data.hard.CAMERAS.length; i++) {
if(!(CMDINT.test(data.hard.CAMERAS[i].SOURCE) &&
CMDINT.test(data.hard.CAMERAS[i].WIDTH) &&
CMDINT.test(data.hard.CAMERAS[i].HEIGHT) &&
CMDINT.test(data.hard.CAMERAS[i].FPS) &&
CMDINT.test(data.hard.CAMERAS[i].BITRATE) &&
CMDINT.test(data.hard.CAMERAS[i].ROTATE) &&
CMDINT.test(data.hard.CAMERAS[i].BRIGHTNESS) &&
CMDINT.test(data.hard.CAMERAS[i].CONTRAST) &&
CMDINT.test(data.hard.CAMERAS[i].BRIGHTNESSBOOST) &&
CMDINT.test(data.hard.CAMERAS[i].CONTRASTBOOST)))
return;
}
if(!(CMDINT.test(data.hard.WLANDEVICE) &&
CMDINT.test(data.hard.RECORDINGDEVICE) &&
CMDINT.test(data.hard.PLAYBACKDEVICE)))
return;
conf = data.conf;
hard = data.hard;
tx = new FRAME.Tx(conf.TX);
rx = new FRAME.Rx(conf.TX, conf.RX);
confVideo = hard.CAMERAS[conf.COMMANDS[conf.DEFAULTCOMMAND].CAMERA];
oldConfVideo = confVideo;
contrastBoost = false;
oldContrastBoost = false;
autopilot = false;
for(let i = 0; i < hard.CAMERAS.length; i++) {
if(hard.CAMERAS[i].TYPE == "Autopilot") {
autopilot = true;
break;
}
}
initOutputs();
if(!up)
writeOutputs();
setTimeout(function() {
if(!up)
setSleepModes();
}, 100);
setTimeout(function() {
if(up) {
sigterms(function() {
configurationVideo(function() {
diffusion();
});
});
} else {
configurationVideo(function() {
initVideo = true;
setInit();
});
}
}, 200);
if(initUart)
return;
if(hard.WRITEUSERDEVICE == SYS.UNUSED && hard.ENABLEGPS == SYS.UNUSED) {
initUart = true;
setInit();
} else if(hard.WRITEUSERDEVICE != SYS.UNUSED) {
serial = new SP(hard.SERIALPORTS[hard.WRITEUSERDEVICE], {
baudRate: hard.SERIALRATES[hard.WRITEUSERDEVICE],
lock: false
});
serial.on("open", function() {
trace("Connected to " + hard.SERIALPORTS[hard.WRITEUSERDEVICE], true);
if(hard.READUSERDEVICE != SYS.UNUSED) {
serial.on("data", function(data) {
rx.update(data, function() {
if(hard.CAMERAS[rx.cameraChoices[0]].TYPE == "Autopilot")
actions(rx);
setRxValues();
USER.SERVERS.forEach(function(server) {
if(currentServer && server != currentServer)
return;
sockets[server].emit("serveurrobotrx", {
timestamp: Date.now(),
data: rx.arrayBuffer
});
});
}, function(err) {
trace(err, false);
});
});
}
initUart = true;
setInit();
});
}
if(hard.ENABLEGPS != SYS.UNUSED) {
serialGps = new SP(hard.SERIALPORTS[hard.ENABLEGPS], {
baudRate: hard.SERIALRATES[hard.ENABLEGPS],
lock: false,
parser: new SP.parsers.Readline("\r\n")
});
serialGps.on("open", function() {
trace("Connected to " + hard.SERIALPORTS[hard.ENABLEGPS], true);
gps = new GPS;
serialGps.on("data", function(data) {
gps.updatePartial(data);
});
initUart = true;
setInit();
});
}
});
}
sockets[server].on("disconnect", function() {
trace("Disconnected from " + server + "/" + SYS.SECUREMOTEPORT, true);
sleep();
});
sockets[server].on("connect_error", function(err) {
//trace("Error connecting to " + server + "/" + SYS.SECUREMOTEPORT, false);
});
sockets[server].on("clientsrobottts", function(data) {
FS.writeFile("/tmp/tts.txt", data, function(err) {
if(err)
trace(err, false);
exec("eSpeak", USER.CMDTTS.replace(new RegExp("PLAYBACKDEVICE", "g"), hard.PLAYBACKDEVICE), function() {
});
});
});
sockets[server].on("clientsrobotsys", function(data) {
switch(data) {
case "exit":
trace("Restart the client process", true);
process.exit();
break;
case "reboot":
trace("Restart the system", true);
setTimeout(function() {
EXEC("reboot");
}, 1000);
setTimeout(function() {
trace("Emergency reboot using SysRq", true);
}, 9000);
setTimeout(function() {
EXEC("echo b > /proc/sysrq-trigger");
}, 10000);
break;
case "poweroff":
trace("Power off the system", true);
EXEC("poweroff");
break;
}
});
sockets[server].on("echo", function(data) {
sockets[server].emit("echo", {
serveur: data,
client: Date.now()
});
});
sockets[server].on("clientsrobottx", function(data) {
if(currentServer && server != currentServer || !initDone)
return;
if(data.data[0] != FRAME0 ||
data.data[1] != FRAME1S &&
data.data[1] != FRAME1T) {
trace("Reception of a corrupted frame", false);
return;
}
// Reject bursts
let now = Date.now();
if(now - lastFrame < SYS.TXRATE / 2)
return;
lastFrame = now;
lastTimestamp = data.boucleVideoCommande;
if(hard.WRITEUSERDEVICE != SYS.UNUSED)
serial.write(data.data);
if(data.data[1] == FRAME1S) {
for(let i = 0; i < tx.byteLength; i++)
tx.bytes[i] = data.data[i];
if(hard.CAMERAS[tx.cameraChoices[0]].TYPE != "Autopilot")
actions(tx);
confVideo = hard.CAMERAS[tx.cameraChoices[0]];
if(confVideo != oldConfVideo &&
JSON.stringify(confVideo) != JSON.stringify(oldConfVideo)) {
if(up) {
sigterms(function() {
configurationVideo(function() {
diffusion();
});
});
} else {
configurationVideo(function() {
});
}
oldConfVideo = confVideo;
}
} else
trace("Reception of a text frame", false);
wake(server);
clearTimeout(upTimeout);
upTimeout = setTimeout(function() {
sleep();
}, SYS.UPTIMEOUT);
if(hard.READUSERDEVICE == SYS.UNUSED ||
autopilot && hard.CAMERAS[tx.cameraChoices[0]].TYPE != "Autopilot") {
setRxCommands();
setRxValues();
sockets[server].emit("serveurrobotrx", {
timestamp: now,
data: rx.arrayBuffer
});
}
});
});
function computeOut(n, value) {
let out;
let nbInMax = hard.OUTPUTS[n].INS.length - 1;
if(value <= hard.OUTPUTS[n].INS[0])
out = hard.OUTPUTS[n].OUTS[0];
else if(value > hard.OUTPUTS[n].INS[nbInMax])
out = hard.OUTPUTS[n].OUTS[nbInMax];
else {
for(let i = 0; i < nbInMax; i++) {
if(value <= hard.OUTPUTS[n].INS[i + 1]) {
out = map(value, hard.OUTPUTS[n].INS[i], hard.OUTPUTS[n].INS[i + 1], hard.OUTPUTS[n].OUTS[i], hard.OUTPUTS[n].OUTS[i + 1]);
break;
}
}
}
return out;
}
function setMotorFrequency(n) {
if(hard.OUTPUTS[n].ADRESSE == SYS.UNUSED) {
switch(hard.OUTPUTS[n].TYPE) {
case "Pwms":
for(let i = 0; i < gpioOutputs[n].length; i++)
gpioOutputs[n][i].pwmFrequency(hard.PWMFREQUENCY);
break;
case "PwmPwm":
gpioOutputs[n][0].pwmFrequency(hard.PWMFREQUENCY);
gpioOutputs[n][1].pwmFrequency(hard.PWMFREQUENCY);
break;
case "PwmDir":
gpioOutputs[n][0].pwmFrequency(hard.PWMFREQUENCY);
break;
case "PwmDirDir":
gpioOutputs[n][0].pwmFrequency(hard.PWMFREQUENCY);
break;
}
}
}
function setGpio(n, pin, etat) {
let pcaId = hard.OUTPUTS[n].ADRESSE;
let gpio;
if(pcaId == SYS.UNUSED) {
gpio = gpioOutputs[n][pin];
if(etat == SYS.INPUT)
gpio.mode(GPIO.INPUT);
else
gpio.digitalWrite(etat);
} else {
gpio = hard.OUTPUTS[n].GPIOS[pin];
if(etat)
pca9685Driver[pcaId].channelOn(gpio);
else
pca9685Driver[pcaId].channelOff(gpio);
}
}
function setGpios(n, value) {
let etat = computeOut(n, value);
for(let i = 0; i < hard.OUTPUTS[n].GPIOS.length; i++)
setGpio(n, i, etat);
}
function setServos(n, value) {
let pwm = computeOut(n, value);
let pcaId = hard.OUTPUTS[n].ADRESSE;
if(pcaId == SYS.UNUSED)
for(let i = 0; i < hard.OUTPUTS[n].GPIOS.length; i++)
gpioOutputs[n][i].servoWrite(pwm);
else
for(let i = 0; i < hard.OUTPUTS[n].GPIOS.length; i++)
pca9685Driver[hard.OUTPUTS[n].ADRESSE].setPulseLength(hard.OUTPUTS[n].GPIOS[i], pwm);
}
function setPwm(n, gpio, pwm) {
let pcaId = hard.OUTPUTS[n].ADRESSE;
if(pcaId == SYS.UNUSED)
gpioOutputs[n][gpio].pwmWrite(Math.abs(map(pwm, -100, 100, -255, 255)));
else
pca9685Driver[pcaId].setDutyCycle(hard.OUTPUTS[n].GPIOS[gpio], Math.abs(pwm / 100));
}
function setPwms(n, value) {
let pwm = computeOut(n, value);
for(let i = 0; i < hard.OUTPUTS[n].GPIOS.length; i++)
setPwm(n, i, pwm);
}
function setPwmPwm(n, value) {
let pwm = computeOut(n, value);
if(pwm > 0) {
setPwm(n, 0, pwm);
setGpio(n, 1, 0);
} else if(pwm < 0) {
setGpio(n, 0, 0);
setPwm(n, 1, pwm);
} else {
setGpio(n, 0, 1);
setGpio(n, 1, 1);
}
}
function setPwmDir(n, value) {
let pwm = computeOut(n, value);
if(pwm > 0)
setGpio(n, 1, 1);
else
setGpio(n, 1, 0);
setPwm(n, 0, pwm);
}
function setPwmDirDir(n, value) {
let pwm = computeOut(n, value);
if(pwm > 0) {
setGpio(n, 1, 1);
setGpio(n, 2, 0);
} else if(pwm < 0) {
setGpio(n, 1, 0);
setGpio(n, 2, 1);
} else {
setGpio(n, 1, 1);
setGpio(n, 2, 1);
}
setPwm(n, 0, pwm);
}
function writeOutputs() {
for(let i = 0; i < hard.OUTPUTS.length; i++) {
let output = 0;
for(let j = 0; j < hard.OUTPUTS[i].COMMANDS16.length; j++)
output += floatCommands16[hard.OUTPUTS[i].COMMANDS16[j]] * hard.OUTPUTS[i].GAINS16[j];
for(let j = 0; j < hard.OUTPUTS[i].COMMANDS8.length; j++)
output += floatCommands8[hard.OUTPUTS[i].COMMANDS8[j]] * hard.OUTPUTS[i].GAINS8[j];
for(let j = 0; j < hard.OUTPUTS[i].COMMANDS1.length; j++)
output += floatCommands1[hard.OUTPUTS[i].COMMANDS1[j]] * hard.OUTPUTS[i].GAINS1[j];
if(output < oldOutputs[i])
backslashs[i] = -hard.OUTPUTS[i].BACKSLASH;
else if(output > oldOutputs[i])
backslashs[i] = hard.OUTPUTS[i].BACKSLASH;
oldOutputs[i] = output;
let value = output + backslashs[i];
switch(hard.OUTPUTS[i].TYPE) {
case "Gpios":
setGpios(i, value);
break;
case "Servos":
setServos(i, value);
break;
case "Pwms":
setPwms(i, value);
break;
case "PwmPwm":
setPwmPwm(i, value);
break;
case "PwmDir":
setPwmDir(i, value);
break;
case "PwmDirDir":
setPwmDirDir(i, value);
break;
}
}
}
function setSleepModes() {
for(let i = 0; i < hard.OUTPUTS.length; i++) {
let pcaId = hard.OUTPUTS[i].ADRESSE;
let etat;
for(let j = 0; j < hard.OUTPUTS[i].SLEEPMODES.length; j++) {
let sleepMode = hard.OUTPUTS[i].SLEEPMODES[j];
if(sleepMode == "None")
continue;
if(sleepMode == "High")
etat = 1;
else if(sleepMode == "Low")
etat = 0;
else
etat = 2;
setGpio(i, j, etat);
}
}
}
setInterval(function() {
if(!engine)
return;
let change = false;
let predictiveLatency = Date.now() - lastTimestamp;
if(predictiveLatency < SYS.LATENCYALARMEND && latencyAlarm) {
trace(predictiveLatency + " ms latency, resuming normal operations", false);
latencyAlarm = false;
} else if(predictiveLatency > SYS.LATENCYALARMBEGIN && !latencyAlarm) {
trace(predictiveLatency + " ms latency, stopping of motors and streams", false);
latencyAlarm = true;
}
if(latencyAlarm) {
for(let i = 0; i < conf.TX.COMMANDS16.length; i++)
if(hard.COMMANDS16[i].FAILSAFE)
floatTargets16[i] = conf.TX.COMMANDS16[i].INIT;
for(let i = 0; i < conf.TX.COMMANDS8.length; i++)
if(hard.COMMANDS8[i].FAILSAFE)
floatTargets8[i] = conf.TX.COMMANDS8[i].INIT;
for(let i = 0; i < conf.TX.COMMANDS1.length; i++)
if(hard.COMMANDS1[i].FAILSAFE)
floatTargets1[i] = conf.TX.COMMANDS1[i].INIT;
}
for(let i = 0; i < conf.TX.COMMANDS16.length; i++) {
if(floatCommands16[i] == floatTargets16[i])
continue;
change = true;
let delta;
let target = floatTargets16[i];
let init = conf.TX.COMMANDS16[i].INIT;
if(Math.abs(target - init) <= margins16[i])
delta = hard.COMMANDS16[i].RAMPINIT;
else if((target - init) * (floatCommands16[i] - init) < 0) {
delta = hard.COMMANDS16[i].RAMPDOWN;
target = init;
} else if(Math.abs(target) - Math.abs(floatCommands16[i]) < 0)
delta = hard.COMMANDS16[i].RAMPDOWN;
else
delta = hard.COMMANDS16[i].RAMPUP;
if(delta <= 0)
floatCommands16[i] = target;
else if(floatCommands16[i] - target < -delta)
floatCommands16[i] += delta;
else if(floatCommands16[i] - target > delta)
floatCommands16[i] -= delta;
else
floatCommands16[i] = target;
}
for(let i = 0; i < conf.TX.COMMANDS8.length; i++) {
if(floatCommands8[i] == floatTargets8[i])
continue;
change = true;
let delta;
let target = floatTargets8[i];
let init = conf.TX.COMMANDS8[i].INIT;
if(Math.abs(target - init) <= margins8[i])
delta = hard.COMMANDS8[i].RAMPINIT;
else if((target - init) * (floatCommands8[i] - init) < 0) {
delta = hard.COMMANDS8[i].RAMPDOWN;
target = init;
} else if(Math.abs(target) - Math.abs(floatCommands8[i]) < 0)
delta = hard.COMMANDS8[i].RAMPDOWN;
else
delta = hard.COMMANDS8[i].RAMPUP;
if(delta <= 0)
floatCommands8[i] = target;
else if(floatCommands8[i] - target < -delta)
floatCommands8[i] += delta;
else if(floatCommands8[i] - target > delta)
floatCommands8[i] -= delta;
else
floatCommands8[i] = target;
}