johnny-five/lib/sensor.js

The JavaScript Robotics and Hardware Programming Framework. Use with: Arduino (all models), Electric Imp, Beagle Bone, Intel Galileo & Edison, Linino One, Pinoccio, pcDuino3, Raspberry Pi, Particle/Spark Core & Photon, Tessel 2, TI Launchpad and more!

const Board = require("./board");
const Fn = require("./fn");
const Collection = require("./mixins/collection");
const Withinable = require("./mixins/withinable");

// Sensor instance private data
const priv = new Map();

// To reduce noise in sensor readings, sort collected samples
// from high to low and select the value in the center.
function median(input) {
  // faster than default comparitor (even for small n)
  const sorted = input.sort((a, b) => a - b);
  const len = sorted.length;
  const half = Math.floor(len / 2);

  // If the length is odd, return the midpoint m
  // If the length is even, return average of m & m + 1
  return len % 2 ? sorted[half] : (sorted[half - 1] + sorted[half]) / 2;
}

/**
 * Sensor
 * @constructor
 *
 * @description Generic analog or digital sensor constructor
 *
 * @param {Object} options Options: pin, freq, range
 */

class Sensor extends Withinable {
  constructor(options) {

    super();

    // Defaults to 10-bit resolution
    let resolution = 0x3FF;
    let raw = null;
    let last = -1;
    const samples = [];

    Board.Component.call(
      this, options = Board.Options(options)
    );

    if (!options.type) {
      options.type = "analog";
    }

    if (this.io.RESOLUTION &&
        (this.io.RESOLUTION.ADC &&
          (this.io.RESOLUTION.ADC !== resolution))) {
      resolution = this.io.RESOLUTION.ADC;
    }

    // Set the pin to ANALOG (INPUT) mode
    this.mode = options.type === "digital" ?
      this.io.MODES.INPUT :
      this.io.MODES.ANALOG;

    this.io.pinMode(this.pin, this.mode);

    // Create a "state" entry for privately
    // storing the state of the sensor
    const state = {
      enabled: typeof options.enabled === "undefined" ? true : options.enabled,
      booleanBarrier: options.type === "digital" ? 0 : null,
      intervalId: null,
      scale: null,
      value: 0,
      median: 0,
      freq: options.freq || 25,
      previousFreq: options.freq || 25,
    };
    // Put a reference where the prototype methods defined in this file have access
    priv.set(this, state);

    // Sensor instance properties
    this.range = options.range || [0, resolution];
    this.limit = options.limit || null;
    this.threshold = options.threshold === undefined ? 1 : options.threshold;
    this.isScaled = false;

    this.io[`${options.type}Read`](this.pin, data => {
      raw = data;

      // Only append to the samples when noise filtering can/will be used
      if (options.type !== "digital") {
        samples.push(raw);
      }
    });

    // Throttle
    // TODO: The event (interval) processing function should be outside of the Sensor
    // constructor function (with appropriate passed (and bound?) arguments), to
    // avoid creating a separate copy (of the function) for each Sensor instance.
    const eventProcessing = () => {
      let err;
      let boundary;

      err = null;

      // For digital sensors, skip the analog
      // noise filtering provided below.
      if (options.type === "digital") {
        this.emit("data", raw);

        /* istanbul ignore else */
        if (last !== raw) {
          this.emit("change", raw);
          last = raw;
        }
        return;
      }

      // Keep the previous calculated value if there were no new readings
      if (samples.length > 0) {
        // Filter the accumulated sample values to reduce analog reading noise
        state.median = median(samples);
      }

      const roundMedian = Math.round(state.median);

      this.emit("data", roundMedian);

      // If the filtered (state.median) value for this interval is at least ± the
      // configured threshold from last, fire change events
      if (state.median <= (last - this.threshold) || state.median >= (last + this.threshold)) {
        this.emit("change", roundMedian);
        // Update the instance-local `last` value (only) when a new change event
        // has been emitted.  For comparison in the next interval
        last = state.median;
      }

      if (this.limit) {
        if (state.median <= this.limit[0]) {
          boundary = "lower";
        }
        if (state.median >= this.limit[1]) {
          boundary = "upper";
        }

        if (boundary) {
          this.emit("limit", {
            boundary,
            value: roundMedian
          });
          this.emit(`limit:${boundary}`, roundMedian);
        }
      }

      // Reset samples
      samples.length = 0;
    }; // ./function eventProcessing()


    Object.defineProperties(this, {
      raw: {
        get() {
          return raw;
        }
      },
      analog: {
        get() {
          if (options.type === "digital") {
            return raw;
          }

          return raw === null ? 0 :
            Fn.map(this.raw, 0, resolution, 0, 255) | 0;
        },
      },
      constrained: {
        get() {
          if (options.type === "digital") {
            return raw;
          }

          return raw === null ? 0 :
            Fn.constrain(this.raw, 0, 255);
        }
      },
      boolean: {
        get() {
          const state = priv.get(this);
          let booleanBarrier = state.booleanBarrier;
          const scale = state.scale || [0, resolution];

          if (booleanBarrier === null) {
            booleanBarrier = scale[0] + (scale[1] - scale[0]) / 2;
          }

          return this.value > booleanBarrier;
        }
      },
      scaled: {
        get() {
          let mapped;
          let constrain;

          if (state.scale && raw !== null) {
            if (options.type === "digital") {
              // Value is either 0 or 1, use as an index
              // to return the scaled value.
              return state.scale[raw];
            }

            mapped = Fn.fmap(raw, this.range[0], this.range[1], state.scale[0], state.scale[1]);
            constrain = Fn.constrain(mapped, state.scale[0], state.scale[1]);

            return constrain;
          }
          return this.constrained;
        }
      },
      freq: {
        get() {
          return state.freq;
        },
        set(newFreq) {
          state.freq = newFreq;
          if (state.intervalId) {
            clearInterval(state.intervalId);
          }

          if (state.freq !== null) {
            state.intervalId = setInterval(eventProcessing, newFreq);
          }
        }
      },
      value: {
        get() {
          if (state.scale) {
            this.isScaled = true;
            return this.scaled;
          }

          return raw;
        }
      },
      resolution: {
        get() {
          return resolution;
        }
      }
    });

    /* istanbul ignore else */
    if (!!process.env.IS_TEST_MODE) {
      Object.defineProperties(this, {
        state: {
          get() {
            return priv.get(this);
          }
        }
      });
    }

    // Set the freq property only after the get and set functions are defined
    // and only if the sensor is not `enabled: false`
    if (state.enabled) {
      this.freq = state.freq;
    }
  }

  /**
   * enable Enable a disabled sensor.
   *
   * @return {Object} instance
   *
   */
  enable() {
    const state = priv.get(this);

    /* istanbul ignore else */
    if (!state.enabled) {
      this.freq = state.freq || state.previousFreq;
    }

    return this;
  }

  /**
   * disable Disable an enabled sensor.
   *
   * @return {Object} instance
   *
   */
  disable() {
    const state = priv.get(this);

    /* istanbul ignore else */
    if (state.enabled) {
      state.enabled = false;
      state.previousFreq = state.freq;
      this.freq = null;
    }

    return this;
  }

  /**
   * scale/scaleTo Set a value scaling range
   *
   * @param  {Number} low  Lowerbound
   * @param  {Number} high Upperbound
   * @return {Object} instance
   *
   * @param  {Array} [ low, high]  Lowerbound
   * @return {Object} instance
   *
   */
  scale(low, high) {
    this.isScaled = true;

    priv.get(this).scale = Array.isArray(low) ?
      low : [low, high];

    return this;
  }

  /**
   * scaleTo Scales value to integer representation
   * @param  {Number} low  An array containing a lower and upper bound
   *
   * @param  {Number} low  A number to use as a lower bound
   * @param  {Number} high A number to use as an upper bound
   * @return {Number}      The scaled value
   */
  scaleTo(low, high) {
    const scale = Array.isArray(low) ? low : [low, high];
    return Fn.map(this.raw, 0, this.resolution, scale[0], scale[1]);
  }

  /**
   * fscaleTo Scales value to single precision float representation
   * @param  {Number} low  An array containing a lower and upper bound
   *
   * @param  {Number} low  A number to use as a lower bound
   * @param  {Number} high A number to use as an upper bound
   * @return {Number}      The scaled value
   */
  fscaleTo(low, high) {
    const scale = Array.isArray(low) ? low : [low, high];
    return Fn.fmap(this.raw, 0, this.resolution, scale[0], scale[1]);
  }

  /**
   * booleanAt Set a midpoint barrier value used to calculate returned value of
   *           .boolean property.
   *
   * @param  {Number} barrier
   * @return {Object} instance
   *
   */
  booleanAt(barrier) {
    priv.get(this).booleanBarrier = barrier;
    return this;
  }
}

/**
 * Sensors()
 * new Sensors()
 *
 * Constructs an Array-like instance of all servos
 */
class Sensors extends Collection.Emitter {
  constructor(numsOrObjects) {
    super(numsOrObjects);
  }
  get type() {
    return Sensor;
  }
}

Collection.installMethodForwarding(
  Sensors.prototype, Sensor.prototype
);

// Assign Sensors Collection class as static "method" of Sensor.
Sensor.Collection = Sensors;

/* istanbul ignore else */
if (!!process.env.IS_TEST_MODE) {
  Sensor.purge = () => {
    priv.clear();
  };
}


module.exports = Sensor;