total refactoring using pigpio library instead of epoll
David Kebler
parent
80c59b7ba8
commit
e85378168e
168
lib/interrupt.js
168
lib/interrupt.js
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@ -1,150 +1,74 @@
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"use strict";
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const fs = require('mz/fs'),
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exec = require('mz/child_process').exec,
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EventEmitter = require('events'),
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Epoll = require('epoll').Epoll,
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_ = require('uci-utils')
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const pWaitFor = require('p-wait-for')
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const pathExists = require('path-exists');
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const debounce = require('debounce');
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const GPIO_ROOT_PATH = '/sys/class/gpio/'
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const
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pigpio = require('pigpio'),
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Gpio = pigpio.Gpio,
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EventEmitter = require('events')
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//,_ = require('uci-utils')
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//const debounce = require('debounce');
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class Interrupt extends EventEmitter {
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// bus is i2c-bus bus object
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constructor(pin_number, opts = {}) {
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constructor(pin_number, handler, opts = {}) {
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super()
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this.num = pin_number;
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this.hook = opts.hook // will be passed back with the emit
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this.path = GPIO_ROOT_PATH + 'gpio' + this.num + '/'
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this.edge = opts.edge // default 'both'
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this.delay = opts.delay // default = 50
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this.pull = opts.pull // default = pu
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this.puller = opts.puller ? opts.puller : (num, state) => { return `raspi-gpio set ${num} ${state}` } // default rpi using raspi-gpio
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// this.puller = (num, state) => { return `raspi-gpio set ${num} ${state}` }
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this.dbt = opts.debounce ? opts.debounce : 200
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this.poller = new Epoll(
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debounce((err, fd, events) => {
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if (err) { this.emit('error', err) } else {
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// this.clear().then(this.emit('fired', this.hook))
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this.emit('fired', this.hook)
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this.pin_number = pin_number
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this.handler = handler
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this.mode = Gpio.INPUT
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this.pull = opts.pull ? opts.pull : Gpio.PUD_DOWN
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this.edge = opts.edge ? opts.edge : Gpio.RISING_EDGE
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this.sbc_interrupt = new Gpio(
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this.pin_number, {
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mode: this.mode,
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pullUpDown: this.pull,
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// edge: this.edge // don't set edge here as it will start the emitter -- see pigio js
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}
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}, this.dbt, true) // true = leading
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)
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}
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init() {
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// console.log(`initialize interrupt ${this.pin_number}`)
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return Promise.resolve()
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}
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get pin() {
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return this.pin_number
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}
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async start() {
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console.log(`starting interrupt on pin ${ this.pin_number}`)
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// for cntrl-c exit of interrupt
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process.on('SIGINT', () => {
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this.exit().then((resp) => console.log("\n", resp)) // unexport on cntrl-c
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.catch(err => console.log("error:", err))
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})
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// There are two interrupts here. One on the I2c mcp board and one on the sbc/rpi
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// The mcp interrupt trips the sbc interrupt which emits an event to run handler attached to the mcp class interrupt
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let interrupt = this // scope `this` for use in the listener for each interrupt
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console.log(`interrupt listener set for rpi ${interrupt.pin_number}`)
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this.sbc_interrupt.on('interrupt', function () {
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console.log(`rpi interrupt tripped by rpi pin ${interrupt.pin_number}`)
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interrupt.emit('fired')
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})
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return _.pSeries([
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this.exit(),
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this._pull(this.num, this.pull),
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this._export(this.num),
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this._direction('in', this.delay),
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() => this._edge(this.edge), // TODO determine why these need additional function
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() => this._fd()
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])
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// rock n roll!!, turn on the pigpio interrupt
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this.sbc_interrupt.enableInterrupt(this.edge)
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// return Promise.resolve("interrupt on pin listener")
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}
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// manual firing for testing
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fire(name = 'fired') {
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this.emit(name, this.hook)
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}
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clear() {
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let buffer = Buffer.from([0x00])
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return fs.read(this.valuefd, buffer, 0, 1, 0).then(() => { return Promise.resolve('interrupt cleared') })
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console.log('firing interrupt handler', this.handler)
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this.emit(name, this.handler)
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}
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exit() {
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return new Promise((resolve, reject) => {
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pathExists(this.path)
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.then((exists) => {
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if (exists) {
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fs.writeFile(GPIO_ROOT_PATH + 'unexport', this.num)
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.then(() => {
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if (this.valuefd) {
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this.stop()
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fs.close(this.valuefd)
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pigpio.terminate()
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return Promise.reject(`keyboard termination...terminating interrupt on pin ${this.pin_number}`)
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}
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this._pull(this.num, 'pn')
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})
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.then(resolve('unexported and exited'))
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} else {
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resolve('already unexported')
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}
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})
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.catch(err => resolve(err))
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})
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}
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start() {
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// this.inter(port).on('fired', () => {
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// console.log(`interrupt port ${port} hook me \n ${relays}`)
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// // hook.bind(this)(port)
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//
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// })
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return this.clear().then(() => this.poller.add(this.valuefd, Epoll.EPOLLPRI | Epoll.EPOLLONESHOT));
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}
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reset() {
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return this.clear().then(() => this.poller.modify(this.valuefd, Epoll.EPOLLPRI | Epoll.EPOLLONESHOT));
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}
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stop() {
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this.poller.remove(this.valuefd).close();
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}
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/*******private methods*********/
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_pull(num, state = 'pu') {
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if (this.puller === 'external') { return Promise.resolve('pull must be set externally') } else {
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return exec(this.puller(num, state))
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.then(() => { return Promise.resolve(`pull set ${state}`) })
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}
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}
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_fd() {
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return fs.open(this.path + 'value', 'r+')
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.then(fd => {
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this.valuefd = fd
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return Promise.resolve(`value fd set ${fd}`)
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})
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}
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_export(num) {
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return new Promise(function (resolve, reject) {
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fs.writeFile(GPIO_ROOT_PATH + 'export', num)
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.then(() => { return resolve('exported') })
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.catch((err) => { return reject(err) })
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})
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}
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_direction(dir = 'in', delay = 50) {
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return pWaitFor(() => pathExists(this.path + 'direction'))
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.then(_.pDelay(delay))
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.then(() => {
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return fs.writeFile(dir + 'direction', dir)
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.then(() => {
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return Promise.resolve(`direction set ${dir}`)
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})
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})
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}
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_edge(edge = 'both') {
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return fs.writeFile(this.path + 'edge', edge)
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.then(() => {
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return Promise.resolve(`edge set ${edge}`)
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})
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}
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}
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module.exports = {
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@ -30,13 +30,8 @@
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},
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"homepage": "https://github.com/uCOMmandIt/uci-interrrupt#readme",
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"dependencies": {
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"debounce": "^1.0.0",
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"epoll": "^0.1.20",
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"mz": "^2.6.0",
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"p-wait-for": "^1.0.0",
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"path-exists": "^3.0.0",
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"require-all": "git+https://github.com/dkebler/node-require-all.git#merge",
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"uci-utils": "0.0.1"
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"pigpio": "^0.x"
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},
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"devDependencies": {
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"chai": "^3.5.0",
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