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fix compatibility for new versions & add servo,imu,bmp support #6

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merged 1 commit into from
Jul 26, 2018
+170 −24
Merged

fix compatibility for new versions & add servo,imu,bmp support #6

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2 changes: 1 addition & 1 deletion index.js
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Original file line number Diff line number Diff line change
@@ -1,3 +1,3 @@
var rc = require('build/Release/roboticscape.node');
var rc = require('./build/Release/roboticscape.node');

module.exports = rc;
192 changes: 169 additions & 23 deletions rc-node-bindings.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ namespace rc {
rc_disable_signal_handler();
info.GetReturnValue().Set(i);
}

static void RCexit(void*) {
fprintf(stderr, "info: running rc_cleanup()\n");
rc_cleanup();
Expand Down Expand Up @@ -79,24 +79,24 @@ namespace rc {
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
bool i = (bool)info[1]->ToBoolean()->Value();
if (!strcmp(s, "GREEN")) rc_set_led(GREEN, i ? 1 : 0);
else if (!strcmp(s, "RED")) rc_set_led(RED, i ? 1 : 0);
if (!strcmp(s, "GREEN")) rc_led_set(RC_LED_GREEN, i ? 1 : 0);
else if (!strcmp(s, "RED")) rc_led_set(RC_LED_RED, i ? 1 : 0);
else {
Nan::ThrowTypeError("Wrong value (should be 'GREEN', "\
"or 'RED'");
return;
}
}

struct Handoff {
Nan::Callback *cb;
};

static void doHandoff(uv_async_t* handle) {
Nan::HandleScope scope;
Handoff *h = static_cast<Handoff *>(handle->data);
#ifdef DEBUG
fprintf(stderr, "Handoff %p using callback object %p to call %p\n",
fprintf(stderr, "Handoff %p using callback object %p to call %p\n",
(void *)h, (void *)h->cb, h->cb->GetFunction());
fflush(stderr);
#endif
Expand Down Expand Up @@ -202,9 +202,9 @@ namespace rc {
#ifdef DEBUG
fprintf(stderr, "Registered event %p " \
"with C callback %p, handoff %p, callback object %p " \
"and C++ function %p using function %p\n",
(void *)event,
(void* )fp, (void *)h, h->cb,
"and C++ function %p using function %p\n",
(void *)event,
(void* )fp, (void *)h, h->cb,
h->cb->GetFunction(), (void *)set);
fflush(stderr);
#endif
Expand All @@ -224,16 +224,16 @@ namespace rc {
if (info[1]->IsString()) {
v8::String::Utf8Value str(info[1]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "FREE_SPIN")) rc_set_motor_free_spin(motor);
else if (!strcmp(s, "BRAKE")) rc_set_motor_brake(motor);
if (!strcmp(s, "FREE_SPIN")) rc_motor_free_spin(motor);
else if (!strcmp(s, "BRAKE")) rc_motor_brake(motor);
else {
Nan::ThrowTypeError("Wrong value for argument 1 "\
"(should be 'FREE_SPIN', 'BRAKE' or a numeric duty)");
}
return;
}
float duty = (float)info[1]->ToNumber()->Value();
rc_set_motor(motor, duty);
rc_motor_set(motor, duty);
return;
}
if (info.Length() != 1) {
Expand All @@ -247,10 +247,10 @@ namespace rc {
if (info[0]->IsString()) {
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "ENABLE")) rc_enable_motors();
else if (!strcmp(s, "DISABLE")) rc_disable_motors();
else if (!strcmp(s, "FREE_SPIN")) rc_set_motor_free_spin_all();
else if (!strcmp(s, "BRAKE")) rc_set_motor_brake_all();
if (!strcmp(s, "ENABLE")) rc_motor_init();
else if (!strcmp(s, "DISABLE")) rc_motor_cleanup();
else if (!strcmp(s, "FREE_SPIN")) rc_motor_free_spin(0);
else if (!strcmp(s, "BRAKE")) rc_motor_brake(0);
else {
Nan::ThrowTypeError("Wrong value (should be "\
"'ENABLE', 'DISABLE' "\
Expand All @@ -259,7 +259,7 @@ namespace rc {
return;
}
float duty = (float)info[0]->ToNumber()->Value();
rc_set_motor_all(duty);
rc_motor_set(0,duty);
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is this really the same as 'all'?

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I guess it is: http://strawsondesign.com/docs/librobotcontrol/group___motor.html#gaeaf337ad16953c9f9412d96a600eccc1

}

void RCencoder(const Nan::FunctionCallbackInfo<v8::Value>& info) {
Expand All @@ -278,7 +278,7 @@ namespace rc {
Nan::ThrowTypeError("Wrong value for argument 0 (should be 1 - 4)");
return;
}
rc_set_encoder_pos(encoder, value);
rc_encoder_write(encoder, value);
return;
}
if (info.Length() != 1) {
Expand All @@ -290,7 +290,7 @@ namespace rc {
return;
}
int encoder = (int)info[0]->ToInt32()->Value();
int i = rc_get_encoder_pos(encoder);
int i = rc_encoder_read(encoder);
info.GetReturnValue().Set(i);
}

Expand All @@ -304,11 +304,12 @@ namespace rc {
Nan::ThrowTypeError("Wrong type for argument (should be string or integer)");
return;
}
rc_adc_init();
if (info[0]->IsString()) {
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "BATTERY")) value = rc_battery_voltage();
else if (!strcmp(s, "DC_JACK")) value = rc_dc_jack_voltage();
if (!strcmp(s, "BATTERY")) value = rc_adc_batt();
else if (!strcmp(s, "DC_JACK")) value = rc_adc_dc_jack();
else {
Nan::ThrowTypeError("Wrong value (should be "\
"'BATTERY', 'DC_JACK' "\
Expand All @@ -325,10 +326,144 @@ namespace rc {
"0, 1, 2 or 3)");
return;
}
value = rc_adc_volt(adc);
value = rc_adc_read_volt(adc);
info.GetReturnValue().Set(value);
}

void RCservo(const Nan::FunctionCallbackInfo<v8::Value>& info) {
int result = 0;
if (info.Length() == 1) {
if (info[0]->IsString()) {
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "ENABLE")) rc_servo_init();
else if (!strcmp(s, "POWER_RAIL_ENABLE")) rc_servo_power_rail_en(1);
else if (!strcmp(s, "POWER_RAIL_DISABLE")) rc_servo_power_rail_en(0);
else if (!strcmp(s, "DISABLE")) rc_servo_cleanup();
else {
Nan::ThrowTypeError("Wrong value (should be "\
"'ENABLE', 'DISABLE' "\
"'POWER_RAIL_ENABLE', 'POWER_RAIL_DISABLE' or a numeric channel no)");
}
return;
}
else {
Nan::ThrowTypeError("Wrong type for argument (should be String)");
return;
}
}
else {
if (!info[0]->IsInt32()) {
Nan::ThrowTypeError("Wrong type for argument (should be integer)");
return;
}
int channel = (int)info[0]->ToInt32()->Value();
float value = (float)info[1]->ToNumber()->Value();
if (channel < 0 || channel > 8) {
Nan::ThrowTypeError("Wrong value for argument 1 (should be between 0 and 8)");
return;
}
result = rc_servo_send_pulse_normalized(channel, value );
info.GetReturnValue().Set(result);
}
}

void RCbmp(const Nan::FunctionCallbackInfo<v8::Value>& info) {
if (info.Length() != 1) {
Nan::ThrowTypeError("Wrong number of arguments (should be 1)");
return;
}
if (!info[0]->IsString()) {
Nan::ThrowTypeError("Wrong type for argument (should be string or integer)");
return;
}
else {

rc_bmp_data_t bmp_data;
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "ENABLE")) rc_bmp_init( BMP_OVERSAMPLE_1, BMP_FILTER_OFF);
else if (!strcmp(s, "DISABLE")) rc_bmp_power_off();
else if (!strcmp(s, "READ")) rc_bmp_read(&bmp_data);
else {
Nan::ThrowTypeError("Wrong value (should be "\
"'ENABLE', 'DISABLE' "\
" or 'READ' )");
return;
}
v8::Local<v8::Object> bmpObject = Nan::New<v8::Object>();
v8::Local<v8::String> TempProp = Nan::New("temp_c").ToLocalChecked();
v8::Local<v8::String> AltProp = Nan::New("alt_m").ToLocalChecked();
v8::Local<v8::String> PressureProp = Nan::New("pressure_pa").ToLocalChecked();
v8::Local<v8::Value> TempValue = Nan::New(bmp_data.temp_c);
v8::Local<v8::Value> AltValue = Nan::New(bmp_data.alt_m);
v8::Local<v8::Value> PressureValue = Nan::New(bmp_data.pressure_pa);
Nan::Set(bmpObject, TempProp, TempValue);
Nan::Set(bmpObject, AltProp, AltValue);
Nan::Set(bmpObject, PressureProp, PressureValue);
info.GetReturnValue().Set(bmpObject);
}
}
rc_mpu_data_t mpu_data;
void RCimu(const Nan::FunctionCallbackInfo<v8::Value>& info) {
if (info.Length() != 1) {
Nan::ThrowTypeError("Wrong number of arguments (should be 1)");
return;
}
if (!info[0]->IsString()) {
Nan::ThrowTypeError("Wrong type for argument (should be string)");
return;
}
else {
rc_mpu_config_t conf = rc_mpu_default_config();
conf.enable_magnetometer = 1;
v8::String::Utf8Value str(info[0]->ToString());
char * s = (char *)*str;
if (!strcmp(s, "ENABLE")) rc_mpu_initialize(&mpu_data, conf);
else if (!strcmp(s, "DISABLE")) rc_mpu_power_off();
else if (!strcmp(s, "READ_ACCEL")) rc_mpu_read_accel(&mpu_data);
else if (!strcmp(s, "READ_GYRO")) rc_mpu_read_gyro(&mpu_data);
else if (!strcmp(s, "READ_MAG")) rc_mpu_read_mag(&mpu_data);
else if (!strcmp(s, "READ_TEMP")) rc_mpu_read_temp(&mpu_data);
else if (!strcmp(s, "READ_ALL") || !strcmp(s, "READ")){
rc_mpu_read_accel(&mpu_data);
rc_mpu_read_gyro(&mpu_data);
rc_mpu_read_mag(&mpu_data);
rc_mpu_read_temp(&mpu_data);
}
else {
Nan::ThrowTypeError("Wrong value (should be "\
"'ENABLE', 'DISABLE' "\
"'READ_ACCEL' 'READ_GYRO' 'READ_TEMP' 'READ_MAG' or 'READ_ALL' )");
return;
}

v8::Local<v8::Object> mpuObject = Nan::New<v8::Object>();
v8::Local<v8::String> AccelProp = Nan::New("accel").ToLocalChecked();
v8::Local<v8::String> GyroProp = Nan::New("gyro").ToLocalChecked();
v8::Local<v8::String> MagProp = Nan::New("mag").ToLocalChecked();
v8::Local<v8::String> TempProp = Nan::New("temp").ToLocalChecked();
v8::Local<v8::Array> AccelValue = Nan::New<v8::Array>(3);
Nan::Set(AccelValue, 0, Nan::New(mpu_data.accel[0]));
Nan::Set(AccelValue, 1, Nan::New(mpu_data.accel[1]));
Nan::Set(AccelValue, 2, Nan::New(mpu_data.accel[2]));
v8::Local<v8::Array> GyroValue = Nan::New<v8::Array>(3);
Nan::Set(GyroValue, 0, Nan::New(mpu_data.gyro[0]));
Nan::Set(GyroValue, 1, Nan::New(mpu_data.gyro[1]));
Nan::Set(GyroValue, 2, Nan::New(mpu_data.gyro[2]));
v8::Local<v8::Array> MagValue = Nan::New<v8::Array>(3);
Nan::Set(MagValue, 0, Nan::New(mpu_data.mag[0]));
Nan::Set(MagValue, 1, Nan::New(mpu_data.mag[1]));
Nan::Set(MagValue, 2, Nan::New(mpu_data.mag[2]));
v8::Local<v8::Value> TempValue = Nan::New(mpu_data.temp);
Nan::Set(mpuObject, AccelProp, AccelValue);
Nan::Set(mpuObject, GyroProp, GyroValue);
Nan::Set(mpuObject, MagProp, MagValue);
Nan::Set(mpuObject, TempProp, TempValue);
info.GetReturnValue().Set(mpuObject);
}
}
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Indentation doesn't look consistent here.


void ModuleInit(v8::Local<v8::Object> exports) {
/* Init and Cleanup */
exports->Set(Nan::New("initialize").ToLocalChecked(),
Expand All @@ -351,8 +486,19 @@ namespace rc {
/* ADC */
exports->Set(Nan::New("adc").ToLocalChecked(),
Nan::New<v8::FunctionTemplate>(RCadc)->GetFunction());
/* Servo */
exports->Set(Nan::New("servo").ToLocalChecked(),
Nan::New<v8::FunctionTemplate>(RCservo)->GetFunction());
/* BMP */
exports->Set(Nan::New("bmp").ToLocalChecked(),
Nan::New<v8::FunctionTemplate>(RCbmp)->GetFunction());
/* IMU */
exports->Set(Nan::New("imu").ToLocalChecked(),
Nan::New<v8::FunctionTemplate>(RCimu)->GetFunction());
exports->Set(Nan::New("mpu").ToLocalChecked(),
Nan::New<v8::FunctionTemplate>(RCimu)->GetFunction());
node::AtExit(RCexit);
}

NODE_MODULE(roboticscape, ModuleInit);
} // namespace rc
} // namespace rc