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main_ht_app.js
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main_ht_app.js
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"use strict";
// Basic vars
var HTTPPORT = 81,
USERBAUD = 115200,
USERHTREFERENCE = {
wref: null,
xref: null,
yref: null,
zref: null,
status: false,
},
operatingSystem = process.platform, // 'darwin'=mac, 'freebsd', 'linux', 'sunos' 'win32'=windows
LOGGING = false,
USERPORT = process.argv[3] || "\\\\.\\COM7";
process.argv.forEach((val, index) => {
switch (val) {
case "logging":
LOGGING = true;
console.log("* Logging is turned on");
break;
case "port":
HTTPPORT = process.argv[index + 1];
break;
default:
//console.log('');
}
});
console.dir(process.version);
console.dir(process.versions);
// Service
const express = require("express");
const expApp = express();
const http = require("http").Server(expApp);
const io = require("socket.io")(http);
var ascii85 = require("ascii85").ZeroMQ;
// Serial
const SerialPort = require("serialport");
// BLE
if (operatingSystem == "win32") {
var noble = require("noble-uwp");
var USERPORTPRE = "\\\\.\\";
} else {
var noble = require("noble");
var USERPORTPRE = "";
}
// Transform stream
const Transform = require("stream").Transform;
const StringDecoder = require("string_decoder").StringDecoder;
const decoder = new StringDecoder("utf8");
const eodBreaker = new Transform({
transform(chunk, encoding, cb) {
if (this._last === undefined) {
this._last = "";
}
this._last += decoder.write(chunk);
var list = this._last.split(/;\r\n/);
this._last = list.pop();
for (var i = 0; i < list.length; i++) {
this.push(list[i]);
}
cb();
},
flush(cb) {
this._last += decoder.end();
if (this._last) {
push(this, this._last);
}
cb();
},
});
// ========================
// SERIAL
function SerialGo(pPort) {
this.usrPort = pPort;
this.usrBaud = 115200;
this.port = "";
this.usbPortsFound = [];
}
SerialGo.prototype.listAvailablePorts = function () {
SerialPort.list(function (error, ports) {
if (error) {
console.log("Port scan error, ", error);
} else {
this.usbPortsFound = ports;
console.dir(this.usbPortsFound);
return this.usbPortsFound;
}
});
};
SerialGo.prototype.start = function () {
console.log("Start serial watch: ", this.usrPort);
this.port = new SerialPort(
this.usrPort,
{
baudrate: this.usrBaud,
autoOpen: true,
parser: SerialPort.parsers.raw, //.readline('"') SerialPort.parsers.readline('\;')
},
(err) => {
console.log("Could not open serialport");
console.log(err);
}
);
this.port.on("error", (err) => {
console.log("+ ", err);
});
this.port.on("open", () => {
console.log("+ Port is open");
});
var _chunks = [];
var _chunk = "";
this.port.pipe(eodBreaker).on("data", (datachunk) => {
io.emit(
"htq",
datachunk
.toString("utf-8")
.split(",")
.map(function (t) {
return parseFloat(t);
})
);
});
};
SerialGo.prototype.stop = function () {
console.log("Stop serial watch: ", this.usrPort);
if (typeof this.port.close !== "undefined") {
this.port.close(function () {
console.log("Successfully closed port watch");
});
}
};
// TODO: Do it on th eobject instead???
var checkPeriperals = function () {
return new Promise((resolve, reject) => {
SerialPort.list(function (err, ports) {
if (err) {
console.log(err);
reject(err);
}
resolve(ports);
});
});
};
// export the class
module.exports = SerialGo;
// ========================
// BLUETOOTH
function BluetoothGo(noble) {
this.ble = noble;
this.bleState = noble.state;
this.bleDeviceState = "disconnected";
this.bleDeviceConnectedTo = { uuid: "", localname: "", subscription: false };
this.bleError = "";
this.bleScanning = false;
this.bleSubscribedCharacteristics = [];
this.bleControlWriteChannel = "";
this.bleUnitsFound = {};
this.bleUnitsFoundReadable = [];
this.ble.on("stateChange", (state) => {
console.log("\x1b[47m%s\x1b[0m: ", "BLE stateChange", state); //<"unknown" | "resetting" | "unsupported" | "unauthorized" | "poweredOff" | "poweredOn">
this.bleState = state;
if (state != "poweredOn") {
this.ble.stopScanning();
}
this.emit();
});
this.ble.on("scanStart", (state) => {
console.log("\x1b[42m%s\x1b[0m: ", "BLE scanStart", "true");
this.bleScanning = true;
this.bleUnitsFoundReadable = [];
this.emit();
});
this.ble.on("scanStop", (peripherals) => {
console.log("\x1b[45m%s\x1b[0m: ", "BLE scanStop", "true");
this.bleScanning = false;
this.emit();
});
this.ble.on("discover", (peripheral) => {
console.log("Discovering", peripheral.advertisement.localName);
this.bleUnitsFound[peripheral.advertisement.localName] = {
unit: peripheral,
};
this.bleUnitsFoundReadable.push(peripheral.advertisement);
io.emit("scanned-ports ble", peripheral.advertisement);
//this.connectTo(peripheral)
});
}
BluetoothGo.prototype.connectToWithName = function (deviceName) {
if (this.bleUnitsFound.hasOwnProperty(deviceName)) {
this.connectTo(this.bleUnitsFound[deviceName].unit);
} else {
return "Could not connect to device, no such device";
}
};
BluetoothGo.prototype.connectTo = function (devicePheriperal) {
var that = this;
if (devicePheriperal.advertisement.localName == "OHTI") {
console.log(
"Trying to Connect with " +
devicePheriperal.advertisement.localName +
" unit: ",
devicePheriperal.advertisement
);
devicePheriperal.disconnect((error) => {
if (error) {
console.log("Error devicePheriperal disconnect: ", error);
}
this.bleDeviceState = "disconnected";
this.bleDeviceConnectedTo = {
uuid: "",
localname: "",
subscription: false,
};
this.emit();
});
devicePheriperal.connect((error) => {
if (error) {
console.log("Error devicePheriperal connect: ", error);
this.bleDeviceState = "disconnected";
this.bleDeviceConnectedTo = {
uuid: "",
localname: "",
subscription: false,
};
this.emit();
} else {
console.log(
"\x1b[36m%s\x1b[0m",
"Connected to UUID: ",
devicePheriperal.uuid
);
this.bleDeviceState = "connected";
this.bleDeviceConnectedTo = {
uuid: devicePheriperal.uuid,
localname: devicePheriperal.advertisement.localName,
subscription: false,
};
this.emit();
devicePheriperal.discoverAllServicesAndCharacteristics(
(error, services, characteristic) => {
console.log("Services: ", services.length);
for (var y = 0; y < services.length; y++) {
console.log("\x1b[45m%s\x1b[0m: ", "========================");
for (var x = 0; x < services[y].characteristics.length; x++) {
console.log(
"Service Name: " +
services[y].characteristics[x].name +
", UUID: " +
services[y].characteristics[x].uuid +
", Type: " +
services[y].characteristics[x].type +
", Properties: " +
services[y].characteristics[x].properties
);
/*services[y].characteristics[x].read(function (error, data)
{
// TODO is this the same as below
if(typeof data != 'undefined' && data != null)
{
console.log("@Characteristics read: ", data.toString())
}
else
{
console.log("@Characteristics read undefined ")
}
if(typeof error != 'undefined' && error != null)
{
console.log("@Characteristics read error: " + error.toString())
}
})*/
console.log("\x1b[42m%s\x1b[0m: ", "_____________________");
//.pipe( eodBreaker )
var _chunks = [];
var _chunk = "";
services[y].characteristics[x].on(
"data",
function (data, isNotification, more) {
if (typeof data != "undefined" && data != null) {
if (isNotification) {
let stringData = data.toString();
let stringDataNoWhite = stringData.replace(
/^\s+|\s+$/g,
""
);
if (stringDataNoWhite.length > 0) {
let dataDecode = ascii85.decode(stringData);
// Little endian
let quat16b1 = parseFloat(
dataDecode.readInt16LE(0, true) / 16384
);
let quat16b2 = parseFloat(
dataDecode.readInt16LE(2, true) / 16384
);
let quat16b3 = parseFloat(
dataDecode.readInt16LE(4, true) / 16384
);
let quat16b4 = parseFloat(
dataDecode.readInt16LE(6, true) / 16384
);
io.emit("htq", [
quat16b1,
quat16b2,
quat16b3,
quat16b4,
]);
if (LOGGING) {
console.log("===================");
console.log(
"QUAT Decoded:",
quat16b1,
",",
quat16b2,
",",
quat16b3,
",",
quat16b4,
"Stringdata: " +
stringData +
", Incoming lenght: ",
stringData.length,
", Decode lenght:",
dataDecode.length
);
}
}
} else {
console.log("@Data Info: ", data.toString());
}
}
}.bind(this)
);
// Check if the characteristics is writable
if (
services[y].characteristics[x].uuid ==
"6e400002b5a3f393e0a9e50e24dcca9e"
) {
that.bleControlWriteChannel = services[y].characteristics[x];
console.dir(that.bleControlWriteChannel);
console.log("> Found characteristic for writing");
}
// to enable notify
// todo: not on every...
if (services[y].characteristics[x].properties == "notify") {
//if( services[y].characteristics[x].uuid == '6e400003b5a3f393e0a9e50e24dcca9e' ) {
let tmpCharacteristic = services[y].characteristics[x];
that.bleSubscribedCharacteristics.push(tmpCharacteristic);
tmpCharacteristic.subscribe(function (error) {
if (error) {
that.bleDeviceConnectedTo.subscription = false;
console.log("Error subscribing to characteristic: ");
console.dir(error);
}
that.bleDeviceConnectedTo.subscription = true;
console.log(
"Notification on characteristics is on, Roger check if this is sent before data starts coming in from sensor..."
);
});
}
}
}
}
);
}
});
}
};
BluetoothGo.prototype.emit = function () {
// emit general status message
io.emit("feedback ble-info", {
state: this.bleState,
scanning: this.bleScanning,
connection: this.bleDeviceState,
connectedTo: this.bleDeviceConnectedTo,
error: this.bleError,
result: this.bleUnitsFoundReadable,
});
};
BluetoothGo.prototype.startScanning = function () {
var serviceUUIDs = []; // default: [] => all
var allowDuplicates = true; // allow duplicate peripheral to be returned (default false) on discovery event
if (this.ble.state == "poweredOn") {
this.ble.startScanning(
serviceUUIDs,
allowDuplicates[
(error) => {
console.log("Error start scanning: ", error);
this.bleError = "Error while starting to scan";
this.emit();
}
]
);
} else if (this.ble.state == "poweredOff") {
this.ble.stopScanning();
}
};
BluetoothGo.prototype.stopScanning = function () {
if (this.ble.state == "poweredOn" && this.bleScanning) {
this.ble.stopScanning();
}
};
BluetoothGo.prototype.stopCharacteristics = function () {
var that = this;
this.bleSubscribedCharacteristics.forEach(function (element) {
element.unsubscribe(function (error) {
if (error) {
console.log(
"Error: Unsubscribing to notification on characteristics is unchanged"
);
console.dir(error);
} else {
that.bleDeviceConnectedTo.subscription = false;
console.log("Notification on characteristics is off, unsubscribed");
}
});
}, this);
};
BluetoothGo.prototype.startCharacteristics = function () {
var that = this;
this.bleSubscribedCharacteristics.forEach(function (element) {
element.subscribe(function (error) {
if (error) {
that.bleDeviceConnectedTo.subscription = false;
console.log(
"Error: Subscribing to notification on characteristics is unchanged"
);
console.dir(error);
} else {
that.bleDeviceConnectedTo.subscription = true;
console.log("Notification on characteristics is on, subscribed");
}
});
}, this);
};
BluetoothGo.prototype.startCalibration = function (payload) {
console.log("Start calibration, command: ", payload);
//var payload = '2,2;';
var payload = Buffer.from(payload, "utf8");
//console.dir(this.bleControlWriteChannel._noble._bindings);
if (this.bleControlWriteChannel != undefined) {
this.bleControlWriteChannel.write(payload, function (error) {
if (!error) {
console.log("Calibration information sent");
} else {
console.log("Could not trigger calibration");
}
});
}
};
// export the class
module.exports = BluetoothGo;
// ========================
// USER CONNECTION & SERVICE - APP
var SerialObj = new SerialGo(USERPORT);
var BluetoothObj = new BluetoothGo(noble);
expApp.use(express.static("node_modules"));
expApp.use(express.static("static"));
expApp.get("/", function (req, res) {
res.sendFile(__dirname + "/index.html");
});
expApp.get("/omni", function (req, res) {
res.sendFile(__dirname + "/index_blebr.html");
});
expApp.get("/ambi", function (req, res) {
res.sendFile(__dirname + "/index_blebr_politis.html");
});
expApp.get("/model.json", function (req, res) {
res.sendFile(__dirname + "/ladies-head.json");
});
expApp.get("/get/:what", function (req, res) {
if (req.params.what == "ble-units") {
res.setHeader("Content-Type", "application/json");
res.send(JSON.stringify({ a: 1 }));
}
});
console.log(
"Application started, Port:",
USERPORT,
", Baud:",
USERBAUD,
", Http-port:",
HTTPPORT
);
io.on("connection", function (Socket) {
console.log("> WS client connected");
// Init values
Socket.send("#################");
io.emit("feedback serial-info", { port: USERPORT, baud: USERBAUD });
/*io.emit('feedback ble-info', { state: BluetoothObj.bleState,
scanning: BluetoothObj.bleScanning,
connection: BluetoothObj.bleDeviceState,
connectedTo: BluetoothObj.bleDeviceConnectedTo,
result: BluetoothObj.bleUnitsFoundReadable } )*/
BluetoothObj.emit();
io.emit("feedback headtrack-info", { htreference: USERHTREFERENCE });
// TODO send
//io.emit("scanned-ports ble", BluetoothObj.bleUnitsFound)
Socket.on("disconnect", function () {
console.log("> User disconnected");
});
// Check ports and emit
checkPeriperals()
.then((data) => {
// Com Port is found
console.log(data);
io.emit("scanned-ports", data);
})
.catch((err) => {
console.log("Error ports" + err);
io.emit("scanned-ports", {});
});
// ------------------------
// BLE CONTROL
Socket.on("ble-start-scan", (msg) => {
// User starts BLE discovering
console.log("> Starting BLE discovering: " + msg);
BluetoothObj.startScanning();
});
Socket.on("ble-stop-scan", (msg) => {
// User stops BLE discovering
console.log("> Stopping BLE discovering: " + msg);
BluetoothObj.stopScanning();
});
Socket.on("ble-connect-to", (msg) => {
// User connects to device
console.log("> Connecting to device: " + msg);
BluetoothObj.connectToWithName(msg);
});
Socket.on("ble-start-notify-sensor", (msg) => {
// User starts tracking
console.log("> Starting watch BLE: " + msg);
BluetoothObj.startCharacteristics();
});
Socket.on("ble-stop-notify-sensor", (msg) => {
// User stops characteristics subscription tracking
console.log("> Stopping watch BLE: " + msg);
BluetoothObj.stopCharacteristics();
});
Socket.on("ble-calibrate-sensor", (msg) => {
// User starts calibration
console.log("> Sending instructions to start calibration BLE: " + msg);
BluetoothObj.startCalibration(msg);
});
// ------------------------
// SERIAL CONTROL
Socket.on("usb-start-scan", (msg) => {
// User starts Serial USB discovering
console.log("> Starting Serial USB discovering: " + msg);
SerialObj.listAvailablePorts();
});
Socket.on("usb-start-track", (msg) => {
// User starts tracking
console.log(
"> Starting Serial USB watch: " + msg + ", on port: " + USERPORT
);
SerialObj.usrPort = USERPORT;
SerialObj.start();
});
Socket.on("usb-stop-track", (msg) => {
// User stops tracking
console.log(
"> Stopping Serial USB watch: " + msg + ", on port: " + USERPORT
);
if (SerialObj !== null) {
SerialObj.stop();
} else {
console.log("Serial OBJ is null");
}
});
Socket.on("usb-save-settings", (msg) => {
// User saves COM-port
console.log("> Saving usb and serial: " + msg);
if (msg.hasOwnProperty("input_headtrack_port")) {
USERPORT = USERPORTPRE + msg.input_headtrack_port;
SerialObj.usrPort = USERPORTPRE + msg.input_headtrack_port;
}
if (msg.hasOwnProperty("input_headtrack_baud")) {
USERBAUD = msg.input_headtrack_baud;
SerialObj.usrBaud = msg.input_headtrack_baud;
}
io.emit("feedback serial-info", { port: USERPORT, baud: USERBAUD });
});
// ------------------------
// CONFIG - REF VALUE
Socket.on("save-user config-options", function (msg) {
console.dir("> Save-user config-options: " + msg);
if (msg.hasOwnProperty("wref")) {
// HT reference auto
// { wref: null, xref: null, yref: null, zref: null, status: false },
USERHTREFERENCE = msg;
console.dir(msg);
} else {
console.log("> Nothing to save");
}
});
});
http.listen(HTTPPORT, function () {
console.log("> server listening on :" + HTTPPORT);
});
http.on("error", function (e) {
// Error starting web-server
console.log("HTTPPORT is occupied, start as sudo");
console.log(e);
});