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Abstract the communications method (Serialport, Bluetooth, etc.) out so this can be used regardless of medium. #1

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Abstract the communications method (Serialport, Bluetooth, etc.) out so this can be used regardless of medium. #1

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814adb4
Abstract the socket so it can be serial OR bluetooth
Dec 21, 2014
9bec4b4
Testing fixes.
Dec 21, 2014
cdf0557
All MultiWii Tests passing.
Dec 21, 2014
4987501
Test fixes for messages.
Dec 21, 2014
9085edd
Package.json updates.
Dec 21, 2014
9c82681
All Unit Tests are now passing.
Dec 21, 2014
1210a21
Remove the need for by making the entire API just callback, promises …
Dec 21, 2014
5da9e41
No dependencies now.
Dec 21, 2014
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15 changes: 0 additions & 15 deletions lib/merge.js
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124 changes: 22 additions & 102 deletions lib/wii.js
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Original file line number Diff line number Diff line change
@@ -1,100 +1,35 @@
'use strict';

var merge = require('./merge'),
util = require('util'),
var util = require('util'),
EventEmitter = require('events').EventEmitter,
serialport = require('serialport'),
SerialPort = serialport.SerialPort,
Q = require('q');


var list = function (callback) {
var deferred = Q.defer();
serialport.list(function (err, ports) {
if(err) {
deferred.reject(err);
} else {
deferred.resolve(ports);
}
});
if('function' === typeof callback) {
deferred.promise.nodeify(callback);
} else {
return deferred.promise;
}
};
when = require('when');

var defaults = {
baudrate: 115200,
databits: 8,
stopbits: 1,
parity: 'none',
parser: serialport.parsers.raw
};

var sendHeader = [0x24, 0x4D, 0x3C];


function Wii(options) {
if(!options) {
options = {};
} else if('string' === typeof options) {
options = { port: options };
function Wii(connection, options) {
if (!connection) {
throw new Error("Connection must be provided that implements a stream interface");
}
this.options = merge(options, defaults);

this.onData = this.onData.bind(this);
this.onError = this.onError.bind(this);
this.options = options || {};
this.socket = connection;

this.messages = {};
this.readMessages = {};
require('./messages').register(this);
}

util.inherits(Wii, EventEmitter);

Wii.prototype.connect = function(port, options) {
if('string' === typeof port) {
port = { comName: port };
} else {
port = port || this.options.port;
}

if(!port) {
throw new Error('no port specified');
}

options = options || {};
options.port = undefined;

var deferred = Q.defer();

this.port = new SerialPort(port.comName, merge(options, this.options));
require('./messages').register(this);

this._onConnect = function () {
this.port.removeListener('open', this._onConnect);
delete this._onConnect;
this.onOpen();
deferred.resolve(this);
}.bind(this);
this.connected = true;

this._onError = function (err) {
this.port.removeListener('error', this._onError);
delete this._onError;
deferred.reject(err);
}.bind(this);
this.onData = this.onData.bind(this);
this.onError = this.onError.bind(this);

this.port.on('error', this._onError);
this.port.on('open', this._onConnect);
this.socket.on('data', this.onData);
this.socket.on('error', this.onError);
}

return deferred.promise;
};
util.inherits(Wii, EventEmitter);

Wii.prototype.onOpen = function () {
this.connected = true;
this.port.on('error', this.onError);
this.port.on('data', this.onData);
};

Wii.prototype.onError = function (err) {
if(err.errno === -1 && err.code === 'UNKNOWN') {
Expand All @@ -106,7 +41,6 @@ Wii.prototype.onError = function (err) {

Wii.prototype.onData = function (buffer) {
this.emit('data', buffer);

var len = buffer[3];
var type = buffer[4];
var data = buffer.slice(5, 5+len);
Expand All @@ -127,14 +61,13 @@ Wii.prototype.addInMessage = function(name, parseFunction) {
}.bind(this);
};

Wii.prototype.read = function(messageName) {
return this.send(this.readMessages[messageName]);
Wii.prototype.read = function(messageName, callback) {
this.send(this.readMessages[messageName], callback);
};

Wii.prototype.send = function(message) {
Wii.prototype.send = function(message, callback) {
var size, len, msgId, data;

var deferred = Q.defer();

if('number' === typeof message) {
msgId = message;
Expand All @@ -155,24 +88,15 @@ Wii.prototype.send = function(message) {
}
msg.writeUInt8(this.calculateChecksum(msg), 5 + len); // checksum
msg.writeUInt8(0, 6 + len); // derp data to force wii to comply
this.port.write(msg, function (err, result) {
if(err) {
deferred.reject(err);
} else {
deferred.resolve();
}
});

return deferred.promise;
this.socket.write(msg, callback);
};

Wii.prototype.disconnect = function () {
if(this.connected) {
this.connected = false;
this.emit('disconnect');
this.port.removeListener('error', this.onError);
this.port.removeListener('data', this.onData);
this.port.close();
this.socket.removeListener('error', this.onError);
this.socket.removeListener('data', this.onData);
}
};

Expand All @@ -194,8 +118,4 @@ Wii.prototype.calculateChecksum = function(buffer) {
}
};

module.exports = {
Wii: Wii,
list: list,
defaults: defaults
};
module.exports = Wii;
19 changes: 14 additions & 5 deletions package.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"name": "multiwii",
"version": "0.1.0",
"description": "A library for sending and parsing messages to/from a MultiWii device using Node.js",
"version": "1.0.0",
"description": "A library for sending and parsing messages to/from a MultiWii device using Node.js. It is now implemented such that it will use whatever stream you provide it instead of specifically requiring a serialport.",
"main": "index.js",
"scripts": {
"test": "grunt test"
Expand All @@ -14,15 +14,24 @@
"multiwii",
"copter"
],
"author": "Johan Öbrink <[email protected]>",
"author": [
{
"name": "Johan Öbrink",
"email": "[email protected]",
"url": "http://terminaln00b.tumblr.com/"
},
{
"name": "Chris Williams",
"email": "[email protected]",
"url": "http://www.voodootikigod.com"
}
],
"license": "MIT",
"bugs": {
"url": "https://github.com/JohanObrink/node-multiwii/issues"
},
"homepage": "https://github.com/JohanObrink/node-multiwii",
"dependencies": {
"serialport": "~1.3.1",
"q": "~1.0.1"
},
"devDependencies": {
"sinon-chai": "~2.5.0",
Expand Down
33 changes: 0 additions & 33 deletions test/unit/merge.js
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43 changes: 18 additions & 25 deletions test/unit/messages.js
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Original file line number Diff line number Diff line change
Expand Up @@ -3,34 +3,27 @@
var chai = require('chai'),
expect = chai.expect,
sinon = require('sinon'),
proxyquire = require('proxyquire');
Wii = require('../../');

chai.use(require('sinon-chai'));

describe('\u2b50 messages', function () {
var Wii, multiwii, serialport, sandbox, port, wii;


var proxyConnection, sandbox, wii;

beforeEach(function () {
port = {
proxyConnection = {
on: sinon.stub(),
removeListener: sinon.stub()
removeListener: sinon.stub(),
write: sinon.stub(),
close: sinon.spy()
};
serialport = {
list: sinon.stub(),
parsers: {
raw: {}
},
SerialPort: sinon.stub().returns(port)
};
multiwii = proxyquire('../../lib/wii', {
'serialport': serialport
});
Wii = multiwii.Wii;
sandbox = sinon.sandbox.create();

wii = new Wii();
wii.connect('/dev/mupp');
port.on.withArgs('open').yield();
wii = new Wii(proxyConnection);
});


afterEach(function () {
sandbox.restore();
});
Expand All @@ -39,7 +32,7 @@ describe('\u2b50 messages', function () {
it('parses the message correctly', function () {
var listener = sinon.spy();
wii.on('ident', listener);
port.on.withArgs('data').yield(new Buffer([0, 0, 0, 7, 100, 2, 1, 1, 0, 0, 0, 0]));
proxyConnection.on.withArgs('data').yield(new Buffer([0, 0, 0, 7, 100, 2, 1, 1, 0, 0, 0, 0]));
expect(listener).calledWith({
version: 2,
multitype: 'TRI',
Expand All @@ -59,7 +52,7 @@ describe('\u2b50 messages', function () {
it('parses the message correctly', function () {
var listener = sinon.spy();
wii.on('rc', listener);
port.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 105,
proxyConnection.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 105,
0, 1, // roll
1, 1, // pitch
2, 1, // yaw
Expand All @@ -86,7 +79,7 @@ describe('\u2b50 messages', function () {
it('parses the message correctly', function () {
var listener = sinon.spy();
wii.on('status', listener);
port.on.withArgs('data').yield(new Buffer([0, 0, 0, 11, 101,
proxyConnection.on.withArgs('data').yield(new Buffer([0, 0, 0, 11, 101,
0, 1, // cycleTime
1, 1, // i2cErrorCount
2, 1, // sensor
Expand All @@ -105,7 +98,7 @@ describe('\u2b50 messages', function () {
it('parses the message correctly', function () {
var listener = sinon.spy();
wii.on('servo', listener);
port.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 103,
proxyConnection.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 103,
0, 1, // servo[0]
1, 1, // servo[1]
2, 1, // servo[2]
Expand All @@ -123,7 +116,7 @@ describe('\u2b50 messages', function () {
it('parses the message correctly', function () {
var listener = sinon.spy();
wii.on('motor', listener);
port.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 104,
proxyConnection.on.withArgs('data').yield(new Buffer([0, 0, 0, 16, 104,
0, 1, // motor[0]
1, 1, // motor[1]
2, 1, // motor[2]
Expand All @@ -136,5 +129,5 @@ describe('\u2b50 messages', function () {
expect(listener).calledWith([256, 257, 258, 259, 260, 261, 262, 263]);
});
});

});
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