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robot.js
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robot.js
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var config = require('./config.js');
var Raspi = require('raspi-io');
var five = require('johnny-five');
var parallel = require('fastparallel')();
var raspi = new Raspi();
var board = new five.Board({ io: raspi });
var worker = config.worker;
var mqtt, button, light;
var ready = true;
var machines = config.machines;
board.on('ready', function () {
initMachines();
button = five.Button(config.buttonPin);
light = five.Led(config.lightPin);
reset();
mqtt = require('mqtt').connect('mqtt://'+config.host+':'+config.port);
mqtt.subscribe(worker);
ping();
mqtt.on('message', function(topic, message) {
console.log(message.toString());
message = JSON.parse(message.toString());
if (message.status === 'ping') { ping(); }
else if (message.jobs) { handleJobs(message); }
else if (message.status === 'stop now') {
message.pump ? machines[message.pump].reset() : reset();
}
});
button.on('down', function () {
console.log('button pressed');
if (ready) {
mqtt.publish(worker, JSON.stringify({worker: worker, status: 'button pressed'}));
}
});
this.repl.inject({
machines: machines,
reset: reset,
start: start
});
});
function initMachines() {
machines.forEach(function(machine) {
machine.pins = machine.ports.reduce(function (acc, port) {
var pin = new five.Pin(port);
acc[port] = pin;
return acc;
}, {});
machine.reset = function () {
var machine = this;
this.ports.forEach(function (port) {
var pin = machine.pins[port];
pin.high();
pin.low();
});
}
machine.start = function () {
var machine = this;
this.ports.forEach(function (port) {
var pin = machine.pins[port];
pin.high();
});
};
machine.runJob = function(job, cb) {
var machine = this;
this.ready = false;
console.log('running job on machine', machine.id);
mqtt.publish(worker, JSON.stringify({status: 'running job on machine ' + machine.id}));
var portNum = 0;
parallel(null,
function(port, finished) {
var pin = machine.pins[port];
pin.high();
setTimeout(function() {
pin.low();
finished();
}, job.activations[portNum].time);
portNum++;
},
machine.ports,
function done() {
job.finished = true;
mqtt.publish(worker, JSON.stringify({status: 'job complete', job: job}));
cb();
}
);
};
});
}
function reset() {
machines.forEach(function(m) {
m.reset();
});
ready = true;
light.blink();
if (mqtt) {
//we call reset as soon as the script starts
//before the mqtt conenction is established
ping();
}
}
function start() {
machines.forEach(function(m) {
m.start();
});
ready = false;
}
function handleJobs(message) {
console.log('received jobs' + JSON.stringify(message.jobs, null, 2));
if (ready) {
ready = false;
light.stop().on();
parallel(null, function(job, cb) {
machines[job.pump].runJob(job, cb);
},
message.jobs,
function done() {
light.blink();
ready = true;
console.log('Finished Jobs');
ping();
});
}
}
function ping() {
mqtt.publish('connections', JSON.stringify({worker: worker, status: 'worker here', ready: ready}));
}
var signals = ['SIGINT', 'SIGTERM', 'SIGHUP'];
signals.forEach(function(s) {
process.on(s, function() {
reset();
light.stop().off();
});
});