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TinyGController.js
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TinyGController.js
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import ensureArray from 'ensure-array';
import * as parser from 'gcode-parser';
import _ from 'lodash';
import SerialConnection from '../../lib/SerialConnection';
import EventTrigger from '../../lib/EventTrigger';
import Feeder from '../../lib/Feeder';
import Sender, { SP_TYPE_SEND_RESPONSE } from '../../lib/Sender';
import Workflow, {
WORKFLOW_STATE_IDLE,
WORKFLOW_STATE_PAUSED,
WORKFLOW_STATE_RUNNING
} from '../../lib/Workflow';
import delay from '../../lib/delay';
import ensurePositiveNumber from '../../lib/ensure-positive-number';
import { ensureNumber } from '../../lib/ensure-type';
import evaluateAssignmentExpression from '../../lib/evaluate-assignment-expression';
import logger from '../../lib/logger';
import translateExpression from '../../lib/translate-expression';
import config from '../../services/configstore';
import monitor from '../../services/monitor';
import taskRunner from '../../services/taskrunner';
import store from '../../store';
import {
GLOBAL_OBJECTS as globalObjects,
WRITE_SOURCE_CLIENT,
WRITE_SOURCE_FEEDER
} from '../constants';
import TinyGRunner from './TinyGRunner';
import {
TINYG,
TINYG_PLANNER_BUFFER_LOW_WATER_MARK,
TINYG_PLANNER_BUFFER_HIGH_WATER_MARK,
TINYG_SERIAL_BUFFER_LIMIT,
TINYG_STATUS_CODES
} from './constants';
const SENDER_STATUS_NONE = 'none';
const SENDER_STATUS_NEXT = 'next';
const SENDER_STATUS_ACK = 'ack';
// % commands
const WAIT = '%wait';
const log = logger('controller:TinyG');
const noop = () => {};
class TinyGController {
type = TINYG;
// CNCEngine
engine = null;
// Sockets
sockets = {};
// Connection
connection = null;
connectionEventListener = {
data: (data) => {
log.silly(`< ${data}`);
this.runner.parse('' + data);
},
close: (err) => {
this.ready = false;
if (err) {
log.warn(`Disconnected from serial port "${this.options.port}":`, err);
}
this.close(err => {
// Remove controller from store
const port = this.options.port;
store.unset(`controllers[${JSON.stringify(port)}]`);
// Destroy controller
this.destroy();
});
},
error: (err) => {
this.ready = false;
if (err) {
log.error(`Unexpected error while reading/writing serial port "${this.options.port}":`, err);
}
}
};
// TinyG
tinyg = null;
ready = false;
state = {};
settings = {};
sr = {
stat: true, // machine state
line: true, // runtime line number
vel: true, // current velocity
feed: true, // feed rate
unit: true, // units mode
coor: true, // coordinate system
momo: true, // motion mode
plan: true, // plane select
path: true, // path control mode
dist: true, // distance mode
admo: true, // arc distance mode
frmo: true, // feed rate mode
tool: true, // active tool
posx: true,
posy: true,
posz: true,
posa: true,
posb: true,
posc: true,
mpox: true,
mpoy: true,
mpoz: true,
mpoa: true,
mpob: true,
mpoc: true,
spe: true, // [edge-082.10] Spindle enable (removed in edge-101.03)
spd: true, // [edge-082.10] Spindle direction (removed in edge-101.03)
spc: true, // [edge-101.03] Spindle control
sps: true, // [edge-082.10] Spindle speed
com: true, // [edge-082.10] Mist coolant
cof: true // [edge-082.10] Flood coolant
};
timer = {
query: null,
energizeMotors: null
};
energizeMotorsTimer = null;
blocked = false;
senderStatus = SENDER_STATUS_NONE;
actionTime = {
energizeMotors: 0,
senderFinishTime: 0
};
// Event Trigger
event = null;
// Feeder
feeder = null;
// Sender
sender = null;
// Shared context
sharedContext = {};
// Workflow
workflow = null;
constructor(engine, options) {
if (!engine) {
throw new Error('engine must be specified');
}
this.engine = engine;
const { port, baudrate, rtscts } = { ...options };
this.options = {
...this.options,
port: port,
baudrate: baudrate,
rtscts: rtscts
};
// Connection
this.connection = new SerialConnection({
path: port,
baudRate: baudrate,
rtscts: rtscts,
writeFilter: (data) => {
return data;
}
});
// Event Trigger
this.event = new EventTrigger((event, trigger, commands) => {
log.debug(`EventTrigger: event="${event}", trigger="${trigger}", commands="${commands}"`);
if (trigger === 'system') {
taskRunner.run(commands);
} else {
this.command('gcode', commands);
}
});
// Feeder
this.feeder = new Feeder({
dataFilter: (line, context) => {
// Remove comments that start with a semicolon `;`
// @see https://github.com/synthetos/g2/wiki/JSON-Active-Comments
line = line.replace(/\s*;.*/g, '').trim();
context = this.populateContext(context);
if (line[0] === '%') {
// %wait
if (line === WAIT) {
log.debug('Wait for the planner to empty');
this.feeder.hold({ data: WAIT }); // Hold reason
return 'G4 P0.5'; // dwell
}
// Expression
// %_x=posx,_y=posy,_z=posz
evaluateAssignmentExpression(line.slice(1), context);
return '';
}
// line="G0 X[posx - 8] Y[ymax]"
// > "G0 X2 Y50"
line = translateExpression(line, context);
const data = parser.parseLine(line, { flatten: true });
const words = ensureArray(data.words);
{ // Program Mode: M0, M1
const programMode = _.intersection(words, ['M0', 'M1'])[0];
if (programMode === 'M0') {
log.debug('M0 Program Pause');
this.feeder.hold({ data: 'M0' }); // Hold reason
} else if (programMode === 'M1') {
log.debug('M1 Program Pause');
this.feeder.hold({ data: 'M1' }); // Hold reason
}
}
// M6 Tool Change
if (_.includes(words, 'M6')) {
log.debug('M6 Tool Change');
this.feeder.hold({ data: 'M6' }); // Hold reason
}
return line;
}
});
this.feeder.on('data', (line = '', context = {}) => {
if (this.isClose()) {
log.error(`Serial port "${this.options.port}" is not accessible`);
return;
}
if (this.runner.isAlarm()) {
this.feeder.reset();
log.warn('Stopped sending G-code commands in Alarm mode');
return;
}
line = String(line).trim();
if (line.length === 0) {
return;
}
this.emit('serialport:write', line + '\n', {
...context,
source: WRITE_SOURCE_FEEDER
});
this.connection.write(line + '\n');
log.silly(`> ${line}`);
});
this.feeder.on('hold', noop);
this.feeder.on('unhold', noop);
// Sender
this.sender = new Sender(SP_TYPE_SEND_RESPONSE, {
dataFilter: (line, context) => {
// Remove comments that start with a semicolon `;`
// @see https://github.com/synthetos/g2/wiki/JSON-Active-Comments
line = line.replace(/\s*;.*/g, '').trim();
context = this.populateContext(context);
const { sent, received } = this.sender.state;
if (line[0] === '%') {
// %wait
if (line === WAIT) {
log.debug(`Wait for the planner to empty: line=${sent + 1}, sent=${sent}, received=${received}`);
this.sender.hold({ data: WAIT }); // Hold reason
return 'G4 P0.5'; // dwell
}
// Expression
// %_x=posx,_y=posy,_z=posz
evaluateAssignmentExpression(line.slice(1), context);
return '';
}
// line="G0 X[posx - 8] Y[ymax]"
// > "G0 X2 Y50"
line = translateExpression(line, context);
const data = parser.parseLine(line, { flatten: true });
const words = ensureArray(data.words);
{ // Program Mode: M0, M1
const programMode = _.intersection(words, ['M0', 'M1'])[0];
if (programMode === 'M0') {
log.debug(`M0 Program Pause: line=${sent + 1}, sent=${sent}, received=${received}`);
this.workflow.pause({ data: 'M0' });
} else if (programMode === 'M1') {
log.debug(`M1 Program Pause: line=${sent + 1}, sent=${sent}, received=${received}`);
this.workflow.pause({ data: 'M1' });
}
}
// M6 Tool Change
if (_.includes(words, 'M6')) {
log.debug(`M6 Tool Change: line=${sent + 1}, sent=${sent}, received=${received}`);
this.workflow.pause({ data: 'M6' });
}
return line;
}
});
this.sender.on('data', (line = '', context = {}) => {
if (this.isClose()) {
log.error(`Serial port "${this.options.port}" is not accessible`);
return;
}
if (this.workflow.state === WORKFLOW_STATE_IDLE) {
log.error(`Unexpected workflow state: ${this.workflow.state}`);
return;
}
// Remove blanks to reduce the amount of bandwidth
line = String(line).replace(/\s+/g, '');
if (line.length === 0) {
log.warn(`Expected non-empty line: N=${this.sender.state.sent}`);
return;
}
// Replace line numbers with the number of lines sent
const n = this.sender.state.sent;
line = ('' + line).replace(/^N[0-9]*/, '');
line = ('N' + n + line);
this.connection.write(line + '\n');
log.silly(`data: n=${n}, line="${line}"`);
});
this.sender.on('hold', noop);
this.sender.on('unhold', noop);
this.sender.on('start', (startTime) => {
this.actionTime.senderFinishTime = 0;
});
this.sender.on('end', (finishTime) => {
this.actionTime.senderFinishTime = finishTime;
});
// Workflow
this.workflow = new Workflow();
this.workflow.on('start', (...args) => {
this.emit('workflow:state', this.workflow.state);
this.blocked = false;
this.senderStatus = SENDER_STATUS_NONE;
this.sender.rewind();
});
this.workflow.on('stop', (...args) => {
this.emit('workflow:state', this.workflow.state);
this.blocked = false;
this.senderStatus = SENDER_STATUS_NONE;
this.sender.rewind();
});
this.workflow.on('pause', (...args) => {
this.emit('workflow:state', this.workflow.state);
if (args.length > 0) {
const reason = { ...args[0] };
this.sender.hold(reason); // Hold reason
} else {
this.sender.hold();
}
});
this.workflow.on('resume', (...args) => {
this.emit('workflow:state', this.workflow.state);
// Reset feeder prior to resume program execution
this.feeder.reset();
// Resume program execution
this.sender.unhold();
this.sender.next();
});
// TinyG
this.runner = new TinyGRunner();
this.runner.on('raw', (res) => {
if (this.workflow.state === WORKFLOW_STATE_IDLE) {
this.emit('serialport:read', res.raw);
}
});
// https://github.com/synthetos/g2/wiki/g2core-Communications
this.runner.on('r', (r) => {
//
// Ignore unrecognized commands
//
if (r && r.spe === null) {
this.sr.spe = false; // No spindle enable
}
if (r && r.spd === null) {
this.sr.spd = false; // No spindle direction
}
if (r && r.spc === null) {
this.sr.spc = false; // No spindle control
}
if (r && r.sps === null) {
this.sr.sps = false; // No spindle speed
}
if (r && r.com === null) {
this.sr.com = false; // No mist coolant
}
if (r && r.cof === null) {
this.sr.cof = false; // No flood coolant
}
const { hold, sent, received } = this.sender.state;
if (this.workflow.state === WORKFLOW_STATE_RUNNING) {
const n = _.get(r, 'r.n') || _.get(r, 'n');
if (n !== sent) {
log.warn(`Expression: n (${n}) === sent (${sent})`);
}
log.silly(`ack: n=${n}, blocked=${this.blocked}, hold=${hold}, sent=${sent}, received=${received}`);
this.senderStatus = SENDER_STATUS_ACK;
if (!this.blocked) {
this.sender.ack();
this.sender.next();
this.senderStatus = SENDER_STATUS_NEXT;
}
return;
}
// The execution can be manually paused or issue a M0 command to pause
// * M0, M1 Program Pause
// * M2, M30 Program End
// * M6 Tool Change
if ((this.workflow.state === WORKFLOW_STATE_PAUSED) && (received < sent)) {
if (!hold) {
log.error('The sender does not hold off during the paused state');
}
if (received + 1 >= sent) {
log.debug(`Stop sending G-code: hold=${hold}, sent=${sent}, received=${received + 1}`);
}
const n = _.get(r, 'r.n') || _.get(r, 'n');
if (n !== sent) {
log.warn(`Expression: n (${n}) === sent (${sent})`);
}
log.silly(`ack: n=${n}, blocked=${this.blocked}, hold=${hold}, sent=${sent}, received=${received}`);
this.senderStatus = SENDER_STATUS_ACK;
this.sender.ack();
this.sender.next();
this.senderStatus = SENDER_STATUS_NEXT;
return;
}
console.assert(this.workflow.state !== WORKFLOW_STATE_RUNNING, `workflow.state !== '${WORKFLOW_STATE_RUNNING}'`);
// Feeder
this.feeder.next();
});
this.runner.on('qr', ({ qr }) => {
log.silly(`planner queue: qr=${qr}, lw=${TINYG_PLANNER_BUFFER_LOW_WATER_MARK}, hw=${TINYG_PLANNER_BUFFER_HIGH_WATER_MARK}`);
this.state.qr = qr;
if (qr <= TINYG_PLANNER_BUFFER_LOW_WATER_MARK) {
this.blocked = true;
return;
}
if (qr >= TINYG_PLANNER_BUFFER_HIGH_WATER_MARK) {
this.blocked = false;
}
if (this.workflow.state === WORKFLOW_STATE_RUNNING) {
const { hold, sent, received } = this.sender.state;
log.silly(`sender: status=${this.senderStatus}, hold=${hold}, sent=${sent}, received=${received}`);
if (this.senderStatus === SENDER_STATUS_NEXT) {
if (hold && (received >= sent) && (qr >= this.runner.plannerBufferPoolSize)) {
log.debug(`Continue sending G-code: hold=${hold}, sent=${sent}, received=${received}, qr=${qr}`);
this.sender.unhold();
this.sender.next();
this.senderStatus = SENDER_STATUS_NEXT;
}
} else if (this.senderStatus === SENDER_STATUS_ACK) {
this.sender.ack();
this.sender.next();
this.senderStatus = SENDER_STATUS_NEXT;
}
return;
}
// The execution is manually paused
if ((this.workflow.state === WORKFLOW_STATE_PAUSED) && (this.senderStatus === SENDER_STATUS_ACK)) {
const { hold, sent, received } = this.sender.state;
log.silly(`sender: status=${this.senderStatus}, hold=${hold}, sent=${sent}, received=${received}`);
if (received >= sent) {
log.error(`Expression: received (${received}) < sent (${sent})`);
}
if (!hold) {
log.error('The sender does not hold off during the paused state');
}
if (received + 1 >= sent) {
log.debug(`Stop sending G-code: hold=${hold}, sent=${sent}, received=${received + 1}`);
}
this.sender.ack();
this.sender.next();
this.senderStatus = SENDER_STATUS_NEXT;
return;
}
console.assert(this.workflow.state !== WORKFLOW_STATE_RUNNING, `workflow.state !== '${WORKFLOW_STATE_RUNNING}'`);
// Feeder
if (this.feeder.state.hold) {
const { data } = { ...this.feeder.state.holdReason };
if ((data === WAIT) && (qr >= this.runner.plannerBufferPoolSize)) {
this.feeder.unhold();
}
}
this.feeder.next();
});
this.runner.on('sr', (sr) => {
});
this.runner.on('fb', (fb) => {
});
this.runner.on('hp', (hp) => {
});
this.runner.on('f', (f) => {
// https://github.com/synthetos/g2/wiki/Status-Codes
const statusCode = f[1] || 0;
if (statusCode !== 0) {
const code = Number(statusCode);
const err = _.find(TINYG_STATUS_CODES, { code: code }) || {};
if (this.workflow.state === WORKFLOW_STATE_RUNNING) {
const ignoreErrors = config.get('state.controller.exception.ignoreErrors');
const pauseError = !ignoreErrors;
const { lines, received } = this.sender.state;
const line = lines[received - 1] || '';
this.emit('serialport:read', `> ${line}`);
this.emit('serialport:read', JSON.stringify({
err: {
code: code,
msg: err.msg,
line: received,
data: line.trim()
}
}));
log.error('Error:', {
code: code,
msg: err.msg,
line: received,
data: line.trim()
});
if (pauseError) {
this.workflow.pause({ err: err.msg });
}
return;
}
this.emit('serialport:read', JSON.stringify({
err: {
code: code,
msg: err.msg
}
}));
}
if (this.workflow.state === WORKFLOW_STATE_IDLE) {
this.feeder.next();
}
});
// Query Timer
this.timer.query = setInterval(() => {
if (this.isClose()) {
// Serial port is closed
return;
}
// Feeder
if (this.feeder.peek()) {
this.emit('feeder:status', this.feeder.toJSON());
}
// Sender
if (this.sender.peek()) {
this.emit('sender:status', this.sender.toJSON());
}
const zeroOffset = _.isEqual(
this.runner.getWorkPosition(this.state),
this.runner.getWorkPosition(this.runner.state)
);
// TinyG settings
if (this.settings !== this.runner.settings) {
this.settings = this.runner.settings;
this.emit('controller:settings', TINYG, this.settings);
this.emit('TinyG:settings', this.settings); // Backward compatibility
}
// TinyG state
if (this.state !== this.runner.state) {
this.state = this.runner.state;
this.emit('controller:state', TINYG, this.state);
this.emit('TinyG:state', this.state); // Backward compatibility
}
// Check the ready flag
if (!(this.ready)) {
return;
}
// Check if the machine has stopped movement after completion
if (this.actionTime.senderFinishTime > 0) {
const machineIdle = zeroOffset && this.runner.isIdle();
const now = new Date().getTime();
const timespan = Math.abs(now - this.actionTime.senderFinishTime);
const toleranceTime = 500; // in milliseconds
if (!machineIdle) {
// Extend the sender finish time if the controller state is not idle
this.actionTime.senderFinishTime = now;
} else if (timespan > toleranceTime) {
log.silly(`Finished sending G-code: timespan=${timespan}`);
this.actionTime.senderFinishTime = 0;
// Stop workflow
this.command('gcode:stop');
}
}
}, 250);
}
// https://github.com/synthetos/TinyG/wiki/TinyG-Configuration-for-Firmware-Version-0.97
async initController() {
const send = (cmd = '') => {
if (this.isClose()) {
// Serial port is closed
return;
}
cmd = String(cmd);
if (cmd.length >= TINYG_SERIAL_BUFFER_LIMIT) {
log.error(`Exceeded serial buffer limit (${TINYG_SERIAL_BUFFER_LIMIT}): cmd=${cmd}`);
return;
}
log.silly(`init: ${cmd} ${cmd.length}`);
this.command('gcode', cmd);
};
const relaxedJSON = (json) => {
if (typeof json === 'object') {
json = JSON.stringify(json);
}
return json.replace(/"/g, '').replace(/true/g, 't');
};
// Enable JSON mode
// 0=text mode, 1=JSON mode
send('{ej:1}');
// JSON verbosity
// 0=silent, 1=footer, 2=messages, 3=configs, 4=linenum, 5=verbose
send('{jv:4}');
// Queue report verbosity
// 0=off, 1=filtered, 2=verbose
send('{qv:1}');
// Status report verbosity
// 0=off, 1=filtered, 2=verbose
send('{sv:1}');
// Status report interval
// in milliseconds (50ms minimum interval)
send('{si:100}');
// Check whether the spindle and coolant commands are supported
await delay(100);
send('{spe:n}');
await delay(100);
send('{spd:n}');
await delay(100);
send('{spc:n}');
await delay(100);
send('{sps:n}');
await delay(100);
send('{com:n}');
await delay(100);
send('{cof:n}');
// Wait for a certain amount of time before setting status report fields
await delay(200);
// Settings Status Report Fields
// https://github.com/synthetos/TinyG/wiki/TinyG-Status-Reports#setting-status-report-fields
// Note: The JSON string is minified to make sure the length won't exceed the serial buffer limit
send(relaxedJSON({
// Returns an object composed of the picked properties
sr: _.pickBy(this.sr, (value, key) => {
return !!value;
})
}));
// Request system settings
send('{sys:n}');
// Request motor timeout
send('{mt:n}');
// Request motor states
send('{pwr:n}');
// Request queue report
send('{qr:n}');
// Request status report
send('{sr:n}');
await delay(50);
this.event.trigger('controller:ready');
}
populateContext(context) {
// Machine position
const {
x: mposx,
y: mposy,
z: mposz,
a: mposa,
b: mposb,
c: mposc
} = this.runner.getMachinePosition();
// Work position
const {
x: posx,
y: posy,
z: posz,
a: posa,
b: posb,
c: posc
} = this.runner.getWorkPosition();
// Modal group
const modal = this.runner.getModalGroup();
// Tool
const tool = this.runner.getTool();
return Object.assign(context || {}, {
// User-defined global variables
global: this.sharedContext,
// Bounding box
xmin: Number(context.xmin) || 0,
xmax: Number(context.xmax) || 0,
ymin: Number(context.ymin) || 0,
ymax: Number(context.ymax) || 0,
zmin: Number(context.zmin) || 0,
zmax: Number(context.zmax) || 0,
// Machine position
mposx: Number(mposx) || 0,
mposy: Number(mposy) || 0,
mposz: Number(mposz) || 0,
mposa: Number(mposa) || 0,
mposb: Number(mposb) || 0,
mposc: Number(mposc) || 0,
// Work position
posx: Number(posx) || 0,
posy: Number(posy) || 0,
posz: Number(posz) || 0,
posa: Number(posa) || 0,
posb: Number(posb) || 0,
posc: Number(posc) || 0,
// Modal group
modal: {
motion: modal.motion,
wcs: modal.wcs,
plane: modal.plane,
units: modal.units,
distance: modal.distance,
feedrate: modal.feedrate,
path: modal.path,
spindle: modal.spindle,
// M7 and M8 may be active at the same time, but a modal group violation might occur when issuing M7 and M8 together on the same line. Using the new line character (\n) to separate lines can avoid this issue.
coolant: ensureArray(modal.coolant).join('\n'),
},
// Tool
tool: Number(tool) || 0,
// Global objects
...globalObjects,
});
}
clearActionValues() {
this.actionTime.energizeMotors = 0;
this.actionTime.senderFinishTime = 0;
}
destroy() {
if (this.timer.query) {
clearInterval(this.timer.query);
this.timer.query = null;
}
if (this.timer.energizeMotors) {
clearInterval(this.timer.energizeMotors);
this.timer.energizeMotors = null;
}
if (this.runner) {
this.runner.removeAllListeners();
this.runner = null;
}
this.sockets = {};
if (this.connection) {
this.connection = null;
}
if (this.event) {
this.event = null;
}
if (this.feeder) {
this.feeder = null;
}
if (this.sender) {
this.sender = null;
}
if (this.workflow) {
this.workflow = null;
}
}
get status() {
return {
port: this.options.port,
baudrate: this.options.baudrate,
rtscts: this.options.rtscts,
sockets: Object.keys(this.sockets),
ready: this.ready,
controller: {
type: this.type,
settings: this.settings,
state: this.state,
footer: this.runner.footer
},
feeder: this.feeder.toJSON(),
sender: this.sender.toJSON(),
workflow: {
state: this.workflow.state
}
};
}
open(callback = noop) {
const { port, baudrate } = this.options;
// Assertion check
if (this.isOpen()) {
log.error(`Cannot open serial port "${port}"`);
return;
}
this.connection.on('data', this.connectionEventListener.data);
this.connection.on('close', this.connectionEventListener.close);
this.connection.on('error', this.connectionEventListener.error);
this.connection.open(async (err) => {
if (err) {
log.error(`Error opening serial port "${port}":`, err);
this.emit('serialport:error', { err: err, port: port });
callback(err); // notify error
return;
}
this.emit('serialport:open', {
port: port,
baudrate: baudrate,
controllerType: this.type,
inuse: true
});
// Emit a change event to all connected sockets
if (this.engine.io) {
this.engine.io.emit('serialport:change', {
port: port,
inuse: true
});
}
callback(); // register controller
log.debug(`Connected to serial port "${port}"`);
this.workflow.stop();
// Clear action values
this.clearActionValues();
if (this.sender.state.gcode) {
// Unload G-code
this.command('unload');
}
// Wait for the bootloader to complete before sending commands
await delay(1000);
// Set ready flag to true
this.ready = true;
// Initialize controller
this.initController();
});
}
close(callback) {
const { port } = this.options;
// Assertion check
if (!this.connection) {
const err = `Serial port "${port}" is not available`;
callback(new Error(err));
return;
}
// Stop status query
this.ready = false;
this.emit('serialport:close', {
port: port,
inuse: false
});
// Emit a change event to all connected sockets
if (this.engine.io) {
this.engine.io.emit('serialport:change', {
port: port,
inuse: false
});
}
if (this.isClose()) {
callback(null);
return;
}
this.connection.removeAllListeners();
this.connection.close(callback);
}
isOpen() {
return this.connection && this.connection.isOpen;
}
isClose() {
return !(this.isOpen());
}
addConnection(socket) {
if (!socket) {
log.error('The socket parameter is not specified');
return;
}
log.debug(`Add socket connection: id=${socket.id}`);
this.sockets[socket.id] = socket;
//
// Send data to newly connected client
//
if (this.isOpen()) {
socket.emit('serialport:open', {
port: this.options.port,
baudrate: this.options.baudrate,
controllerType: this.type,
inuse: true
});
}
if (!_.isEmpty(this.settings)) {
// controller settings
socket.emit('controller:settings', TINYG, this.settings);
socket.emit('TinyG:settings', this.settings); // Backward compatibility
}
if (!_.isEmpty(this.state)) {
// controller state
socket.emit('controller:state', TINYG, this.state);