/
CNCEngine.js
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/
CNCEngine.js
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import ensureArray from 'ensure-array';
import noop from 'lodash/noop';
import SerialPort from 'serialport';
import socketIO from 'socket.io';
import socketioJwt from 'socketio-jwt';
import EventTrigger from '../../lib/EventTrigger';
import logger from '../../lib/logger';
import settings from '../../config/settings';
import store from '../../store';
import config from '../configstore';
import taskRunner from '../taskrunner';
import {
GrblController,
MarlinController,
SmoothieController,
TinyGController
} from '../../controllers';
import { GRBL } from '../../controllers/Grbl/constants';
import { MARLIN } from '../../controllers/Marlin/constants';
import { SMOOTHIE } from '../../controllers/Smoothie/constants';
import { G2CORE, TINYG } from '../../controllers/TinyG/constants';
import {
authorizeIPAddress,
validateUser
} from '../../access-control';
const log = logger('service:cncengine');
// Case-insensitive equality checker.
// @param {string} str1 First string to check.
// @param {string} str2 Second string to check.
// @return {boolean} True if str1 and str2 are the same string, ignoring case.
const caseInsensitiveEquals = (str1, str2) => {
str1 = str1 ? (str1 + '').toUpperCase() : '';
str2 = str2 ? (str2 + '').toUpperCase() : '';
return str1 === str2;
};
const isValidController = (controller) => (
// Grbl
caseInsensitiveEquals(GRBL, controller) ||
// Marlin
caseInsensitiveEquals(MARLIN, controller) ||
// Smoothie
caseInsensitiveEquals(SMOOTHIE, controller) ||
// g2core
caseInsensitiveEquals(G2CORE, controller) ||
// TinyG
caseInsensitiveEquals(TINYG, controller)
);
class CNCEngine {
controllerClass = {};
listener = {
taskStart: (...args) => {
if (this.io) {
this.io.emit('task:start', ...args);
}
},
taskFinish: (...args) => {
if (this.io) {
this.io.emit('task:finish', ...args);
}
},
taskError: (...args) => {
if (this.io) {
this.io.emit('task:error', ...args);
}
},
configChange: (...args) => {
if (this.io) {
this.io.emit('config:change', ...args);
}
}
};
server = null;
io = null;
sockets = [];
// Event Trigger
event = new EventTrigger((event, trigger, commands) => {
log.debug(`EventTrigger: event="${event}", trigger="${trigger}", commands="${commands}"`);
if (trigger === 'system') {
taskRunner.run(commands);
}
});
// @param {object} server The HTTP server instance.
// @param {string} controller Specify CNC controller.
start(server, controller = '') {
// Fallback to an empty string if the controller is not valid
if (!isValidController(controller)) {
controller = '';
}
// Grbl
if (!controller || caseInsensitiveEquals(GRBL, controller)) {
this.controllerClass[GRBL] = GrblController;
}
// Marlin
if (!controller || caseInsensitiveEquals(MARLIN, controller)) {
this.controllerClass[MARLIN] = MarlinController;
}
// Smoothie
if (!controller || caseInsensitiveEquals(SMOOTHIE, controller)) {
this.controllerClass[SMOOTHIE] = SmoothieController;
}
// TinyG / G2core
if (!controller || caseInsensitiveEquals(G2CORE, controller) || caseInsensitiveEquals(TINYG, controller)) {
this.controllerClass[TINYG] = TinyGController;
}
if (Object.keys(this.controllerClass).length === 0) {
throw new Error(`No valid CNC controller specified (${controller})`);
}
const loadedControllers = Object.keys(this.controllerClass);
log.debug(`Loaded controllers: ${loadedControllers}`);
this.stop();
taskRunner.on('start', this.listener.taskStart);
taskRunner.on('finish', this.listener.taskFinish);
taskRunner.on('error', this.listener.taskError);
config.on('change', this.listener.configChange);
// System Trigger: Startup
this.event.trigger('startup');
this.server = server;
this.io = socketIO(this.server, {
serveClient: true,
path: '/socket.io'
});
this.io.use(socketioJwt.authorize({
secret: settings.secret,
handshake: true
}));
this.io.use(async (socket, next) => {
try {
// IP Address Access Control
const ipaddr = socket.handshake.address;
await authorizeIPAddress(ipaddr);
// User Validation
const user = socket.decoded_token || {};
await validateUser(user);
} catch (err) {
log.warn(err);
next(err);
return;
}
next();
});
this.io.on('connection', (socket) => {
const address = socket.handshake.address;
const user = socket.decoded_token || {};
log.debug(`New connection from ${address}: id=${socket.id}, user.id=${user.id}, user.name=${user.name}`);
// Add to the socket pool
this.sockets.push(socket);
socket.emit('startup', {
loadedControllers: Object.keys(this.controllerClass),
// User-defined baud rates and ports
baudrates: ensureArray(config.get('baudrates', [])),
ports: ensureArray(config.get('ports', []))
});
socket.on('disconnect', () => {
log.debug(`Disconnected from ${address}: id=${socket.id}, user.id=${user.id}, user.name=${user.name}`);
const controllers = store.get('controllers', {});
Object.keys(controllers).forEach(port => {
const controller = controllers[port];
if (!controller) {
return;
}
controller.removeConnection(socket);
});
// Remove from socket pool
this.sockets.splice(this.sockets.indexOf(socket), 1);
});
// List the available serial ports
socket.on('list', () => {
log.debug(`socket.list(): id=${socket.id}`);
SerialPort.list()
.then(ports => {
ports = ports.concat(ensureArray(config.get('ports', [])));
const controllers = store.get('controllers', {});
const portsInUse = Object.keys(controllers)
.filter(port => {
const controller = controllers[port];
return controller && controller.isOpen();
});
ports = ports.map(port => {
return {
port: port.comName,
manufacturer: port.manufacturer,
inuse: portsInUse.indexOf(port.comName) >= 0
};
});
socket.emit('serialport:list', ports);
})
.catch(err => {
log.error(err);
});
});
// Open serial port
socket.on('open', (port, options, callback = noop) => {
if (typeof callback !== 'function') {
callback = noop;
}
log.debug(`socket.open("${port}", ${JSON.stringify(options)}): id=${socket.id}`);
let controller = store.get(`controllers["${port}"]`);
if (!controller) {
let { controllerType = GRBL, baudrate, rtscts } = { ...options };
if (controllerType === 'TinyG2') {
// TinyG2 is deprecated and will be removed in a future release
controllerType = TINYG;
}
const Controller = this.controllerClass[controllerType];
if (!Controller) {
const err = `Not supported controller: ${controllerType}`;
log.error(err);
callback(new Error(err));
return;
}
const engine = this;
controller = new Controller(engine, {
port: port,
baudrate: baudrate,
rtscts: !!rtscts
});
}
controller.addConnection(socket);
if (controller.isOpen()) {
// Join the room
socket.join(port);
callback(null);
return;
}
controller.open((err = null) => {
if (err) {
callback(err);
return;
}
// System Trigger: Open a serial port
this.event.trigger('port:open');
if (store.get(`controllers["${port}"]`)) {
log.error(`Serial port "${port}" was not properly closed`);
}
store.set(`controllers[${JSON.stringify(port)}]`, controller);
// Join the room
socket.join(port);
callback(null);
});
});
// Close serial port
socket.on('close', (port, callback = noop) => {
if (typeof callback !== 'function') {
callback = noop;
}
log.debug(`socket.close("${port}"): id=${socket.id}`);
const controller = store.get(`controllers["${port}"]`);
if (!controller) {
const err = `Serial port "${port}" not accessible`;
log.error(err);
callback(new Error(err));
return;
}
// System Trigger: Close a serial port
this.event.trigger('port:close');
// Leave the room
socket.leave(port);
controller.close(err => {
// Remove controller from store
store.unset(`controllers[${JSON.stringify(port)}]`);
// Destroy controller
controller.destroy();
callback(null);
});
});
socket.on('command', (port, cmd, ...args) => {
log.debug(`socket.command("${port}", "${cmd}"): id=${socket.id}`);
const controller = store.get(`controllers["${port}"]`);
if (!controller || controller.isClose()) {
log.error(`Serial port "${port}" not accessible`);
return;
}
controller.command.apply(controller, [cmd].concat(args));
});
socket.on('write', (port, data, context = {}) => {
log.debug(`socket.write("${port}", "${data}", ${JSON.stringify(context)}): id=${socket.id}`);
const controller = store.get(`controllers["${port}"]`);
if (!controller || controller.isClose()) {
log.error(`Serial port "${port}" not accessible`);
return;
}
controller.write(data, context);
});
socket.on('writeln', (port, data, context = {}) => {
log.debug(`socket.writeln("${port}", "${data}", ${JSON.stringify(context)}): id=${socket.id}`);
const controller = store.get(`controllers["${port}"]`);
if (!controller || controller.isClose()) {
log.error(`Serial port "${port}" not accessible`);
return;
}
controller.writeln(data, context);
});
});
}
stop() {
if (this.io) {
this.io.close();
this.io = null;
}
this.sockets = [];
this.server = null;
taskRunner.removeListener('start', this.listener.taskStart);
taskRunner.removeListener('finish', this.listener.taskFinish);
taskRunner.removeListener('error', this.listener.taskError);
config.removeListener('change', this.listener.configChange);
}
}
export default CNCEngine;