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sensorServer.js
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// Copyright (c) 2003-2020 Xsens Technologies B.V. or subsidiaries worldwide.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions, and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions, and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// 3. Neither the names of the copyright holders nor the names of their contributors
// may be used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
// THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
// OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
// TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS
// SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES
// OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE
// ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
//
// =======================================================================================
// Sensor Server
// Documentation: documentation/Xsens DOT Server - Sensor Server.pdf
// =======================================================================================
// =======================================================================================
// Packages
// =======================================================================================
var fs = require('fs');
var BleHandler = require('./bleHandler');
var WebGuiHandler = require('./webGuiHandler');
var FunctionalComponent = require('./functionalComponent');
var SyncManager = require('./syncManager');
var events = require('events');
// =======================================================================================
// Constants
// =======================================================================================
const RECORDINGS_PATH = "/data/",
RECORDING_BUFFER_TIME = 1000000;
// =======================================================================================
// State transitions table
// =======================================================================================
var transitions =
[
// -- Powering-on --
{
stateName: 'Powering-on',
eventName: 'blePoweredOn',
nextState: 'Idle',
transFunc:function( component, parameters )
{
// NOP
}
},
{
stateName: 'Idle',
eventName: 'startScanning',
nextState: 'Idle',
transFunc:function( component, parameters )
{
component.sensors = {};
component.discoveredSensors = [];
if (globalConnectedSensors != null && globalConnectedSensors != undefined)
{
globalConnectedSensors.forEach( function (sensor)
{
if( component.sensors[sensor.address] == undefined )
{
component.sensors[sensor.address] = sensor;
}
component.discoveredSensors.push( sensor );
});
}
component.ble.startScanning();
}
},
{
stateName: 'Idle',
eventName: 'bleScanningStarted',
nextState: 'Scanning',
transFunc:function( component, parameters )
{
component.gui.sendGuiEvent( 'scanningStarted' );
}
},
{
stateName: 'Idle',
eventName: 'connectSensors',
nextState: 'Connect next?',
transFunc:function( component, parameters )
{
}
},
// -- Scanning --
{
stateName: 'Scanning',
eventName: 'bleSensorDiscovered',
nextState: 'New sensor?',
transFunc:function( component, parameters )
{
component.discoveredSensor = parameters.sensor;
}
},
{
stateName: 'Scanning',
eventName: 'stopScanning',
nextState: 'Scanning',
transFunc:function( component, parameters )
{
component.ble.stopScanning();
}
},
{
stateName: 'Scanning',
eventName: 'bleScanningStopped',
nextState: 'Idle',
transFunc:function( component, parameters )
{
component.gui.sendGuiEvent( 'scanningStopped' );
}
},
// -- Discovering --
{
stateName: 'New sensor?',
eventName: 'yes',
nextState: 'Scanning',
transFunc:function( component, parameters )
{
if( component.sensors[component.discoveredSensor.address] == undefined )
{
component.sensors[component.discoveredSensor.address] = component.discoveredSensor;
}
component.discoveredSensors.push( component.discoveredSensor );
component.gui.sendGuiEvent
(
'sensorDiscovered',
{
name: component.discoveredSensor.name,
address: component.discoveredSensor.address
}
);
}
},
{
stateName: 'New sensor?',
eventName: 'no',
nextState: 'Scanning',
transFunc:function( component, parameters )
{
// NOP
}
},
// -- Connecting --
{
stateName: 'Connect next?',
eventName: 'yes',
nextState: 'Connecting',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.connectSensor( sensor );
}
}
},
{
stateName: 'Connect next?',
eventName: 'no',
nextState: 'Sensor connected',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Connecting',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Connecting',
eventName: 'stopConnectingSensors',
nextState: 'Idle',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.disconnectSensor( sensor );
}
var connectedSensor = component.connectedSensors.indexOf(sensor);
if (connectedSensor == -1)
{
component.gui.sendGuiEvent( 'sensorDisconnected', {address:address} );
}
}
},
{
stateName: 'Sensor connected',
eventName: 'stopConnectingSensors',
nextState: 'Idle',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.disconnectSensor( sensor );
}
}
},
{
stateName: 'Idle',
eventName: 'bleSensorConnected',
nextState: 'Sensor disconnected?',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.disconnectSensor( sensor );
}
}
},
{
stateName: 'StopConnectingSensors',
eventName: 'connectSensors',
nextState: 'StopConnectingSensors',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'StopConnectingSensors',
eventName: 'stopConnectingSensors',
nextState: 'StopConnectingSensors',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Idle',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Connecting',
eventName: 'bleSensorConnected',
nextState: 'Sensors connected?',
transFunc:function( component, parameters )
{
component.connectedSensors.push( parameters.sensor );
var sensor = [parameters.sensor.address];
component.gui.sendGuiEvent( 'sensorConnected', {address:parameters.sensor.address, addresses:sensor} );
}
},
{
stateName: 'Connecting',
eventName: 'bleSensorError',
nextState: 'Connect next?',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Idle',
eventName: 'disconnectSensors',
nextState: 'Sensor disconnected?',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Sensor connected',
eventName: 'disconnectSensors',
nextState: 'Sensor disconnected?',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Idle',
eventName: 'startSyncing',
nextState: 'Syncing',
transFunc:function( component, parameters )
{
component.syncManager.startSyncing();
}
},
{
stateName: 'Sensor connected',
eventName: 'bleSensorConnected',
nextState: 'Sensor disconnected?',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Syncing',
eventName: 'bleSensorConnected',
nextState: 'Syncing',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Syncing',
eventName: 'bleSensorDisconnected',
nextState: 'Syncing',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Syncing',
eventName: 'syncingDone',
nextState: 'Idle',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Idle',
eventName: 'startMeasuring',
nextState: 'StartMeasuring',
transFunc:function( component, parameters )
{
var len = parameters.addresses;
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
component.measuringPayloadId = parameters.measuringPayloadId;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.enableSensor( sensor, parameters.measuringPayloadId );
}
}
},
{
stateName: 'Sensor connected',
eventName: 'startMeasuring',
nextState: 'StartMeasuring',
transFunc:function( component, parameters )
{
var len = parameters.addresses;
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
component.measuringPayloadId = parameters.measuringPayloadId;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.enableSensor( sensor, parameters.measuringPayloadId );
}
}
},
{
stateName: 'Sensor connected',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Sensor connected',
eventName: 'connectSensors',
nextState: 'Connect next?',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Sensor disconnected?',
eventName: 'yes',
nextState: 'Idle',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Sensor disconnected?',
eventName: 'no',
nextState: 'Disconnecting',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.disconnectSensor( sensor );
}
}
},
{
stateName: 'Disconnecting',
eventName: 'bleSensorDisconnected',
nextState: 'Sensor disconnected?',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Sensors connected?',
eventName: 'yes',
nextState: 'Sensor connected',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Sensors connected?',
eventName: 'no',
nextState: 'Idle',
transFunc:function( component, parameters )
{
}
},
// -- Measuring --
{
stateName: 'Start next?',
eventName: 'yes',
nextState: 'Enabling',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Start next?',
eventName: 'no',
nextState: 'Measuring',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'StartMeasuring',
eventName: 'bleSensorEnabled',
nextState: 'Start next?',
transFunc:function( component, parameters )
{
component.measuringSensors.push( parameters.sensor );
component.gui.sendGuiEvent( 'sensorEnabled', {address:parameters.sensor.address} );
}
},
{
stateName: 'StartMeasuring',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Enabling',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {sensor:parameters.sensor.address} );
}
},
{
stateName: 'Enabling',
eventName: 'bleSensorData',
nextState: 'Enabling',
transFunc:function( component, parameters )
{
// NOP
}
},
{
stateName: 'Enabling',
eventName: 'bleSensorError',
nextState: 'Start next?',
transFunc:function( component, parameters )
{
component.ble.disconnectSensor( parameters.sensor );
}
},
{
stateName: 'Measuring',
eventName: 'stopMeasuring',
nextState: 'StopMeasuring',
transFunc:function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.disableSensor( sensor, parameters.measuringPayloadId );
component.measuringSensors.shift();
}
}
},
{
stateName: 'Measuring',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Measuring',
eventName: 'bleSensorData',
nextState: 'Measuring',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Idle',
eventName: 'enableSync',
nextState: 'Idle',
transFunc:function( component, parameters )
{
component.ble.enableSync( parameters.isSyncingEnabled );
}
},
{
stateName: 'Recording',
eventName: 'resetHeading',
nextState: 'Recording',
transFunc:function( component, parameters )
{
parameters.measuringSensors.forEach( function (address)
{
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.resetHeading( sensor );
}
});
}
},
{
stateName: 'Recording',
eventName: 'revertHeading',
nextState: 'Recording',
transFunc:function( component, parameters )
{
parameters.measuringSensors.forEach( function (address)
{
var sensor = component.sensors[address];
if( sensor != undefined )
{
component.ble.revertHeading( sensor );
}
});
}
},
{
stateName: 'Measuring',
eventName: 'startRecording',
nextState: 'Measuring',
transFunc:function( component, parameters )
{
startRecordingToFile( component, parameters.filename );
}
},
{
stateName: 'Measuring',
eventName: 'fsOpen',
nextState: 'Recording',
transFunc:function( component, parameters )
{
var now = new Date();
component.fileStream.write( "sep=,\n" );
switch (component.measuringPayloadId)
{
case MEASURING_PAYLOAD_TYPE_COMPLETE_EULER:
component.fileStream.write( "Measurement Mode:,Complete (Euler)\n" );
break;
case MEASURING_PAYLOAD_TYPE_EXTENDED_QUATERNION:
component.fileStream.write( "Measurement Mode:,Extended (Quaternion)\n" );
break;
case MEASURING_PAYLOAD_TYPE_RATE_QUANTITIES_WITH_MAG:
component.fileStream.write( "Measurement Mode:,Rate quantities (with mag)\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_1:
component.fileStream.write( "Measurement Mode:,Custom Mode 1\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_2:
component.fileStream.write( "Measurement Mode:,Custom Mode 2\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_3:
component.fileStream.write( "Measurement Mode:,Custom Mode 3\n" );
break;
}
component.fileStream.write( "StartTime:," + now.toUTCString() + "\n" );
component.fileStream.write( "© Xsens Technologies B. V. 2005-" + now.getFullYear() + "\n\n" );
switch (component.measuringPayloadId)
{
case MEASURING_PAYLOAD_TYPE_COMPLETE_EULER:
component.fileStream.write( "Timestamp,Address,Euler_x,Euler_y,Euler_z,FreeAcc_x,FreeAcc_y,FreeAcc_z\n" );
break;
case MEASURING_PAYLOAD_TYPE_EXTENDED_QUATERNION:
component.fileStream.write( "Timestamp,Address,Quaternion_w,Quaternion_x,Quaternion_y,Quaternion_z,FreeAcc_x,FreeAcc_y,FreeAcc_z,Status,ClipCountAcc,ClipCountGyr\n" );
break;
case MEASURING_PAYLOAD_TYPE_RATE_QUANTITIES_WITH_MAG:
component.fileStream.write( "Timestamp,Address,Acc_x,Acc_y,Acc_z,Gyr_x,Gyr_y,Gyr_z,Mag_x,Mag_y,Mag_z\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_1:
component.fileStream.write( "Timestamp,Address,Euler_X,Euler_Y,Euler_Z,FreeAcc_x,FreeAcc_y,FreeAcc_z,Gyr_X,Gyr_Y,Gyr_Z\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_2:
component.fileStream.write( "Timestamp,Address,Euler_X,Euler_Y,Euler_Z,FreeAcc_x,FreeAcc_y,FreeAcc_z,Mag_x,Mag_y,Mag_z\n" );
break;
case MEASURING_PAYLOAD_TYPE_CUSTOM_MODE_3:
component.fileStream.write( "Timestamp,Address,Quaternion_w,Quaternion_x,Quaternion_y,Quaternion_z,Gyr_X,Gyr_Y,Gyr_Z\n" );
break;
}
}
},
{
stateName: 'Stop next?',
eventName: 'yes',
nextState: 'Disabling',
transFunc:function( component, parameters )
{
}
},
{
stateName: 'Stop next?',
eventName: 'no',
nextState: 'Sensor connected',
transFunc:function( component, parameters )
{
component.gui.sendGuiEvent( 'allSensorsDisabled' );
}
},
{
stateName: 'StopMeasuring',
eventName: 'bleSensorDisabled',
nextState: 'Stop next?',
transFunc:function( component, parameters )
{
component.gui.sendGuiEvent( 'sensorDisabled', {address:parameters.sensor.address} );
}
},
{
stateName: 'StopMeasuring',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} ); }
},
{
stateName: 'Disabling',
eventName: 'bleSensorError',
nextState: 'Stop next?',
transFunc:function( component, parameters )
{
console.log( "bleSensorError:" + parameters.error );
component.ble.disconnectSensor( parameters.sensor );
}
},
{
stateName: 'Disabling',
eventName: 'bleSensorData',
nextState: 'Disabling',
transFunc:function( component, parameters )
{
// NOP
}
},
{
stateName: 'Disabling',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
// -- Recording --
{
stateName: 'Recording',
eventName: 'bleSensorDisconnected',
nextState: 'Idle',
transFunc:function( component, parameters )
{
removeSensor( parameters.sensor, component.connectedSensors );
removeSensor( parameters.sensor, component.measuringSensors );
component.gui.sendGuiEvent( 'sensorDisconnected', {address:parameters.sensor.address} );
}
},
{
stateName: 'Recording',
eventName: 'bleSensorData',
nextState: 'Store data?',
transFunc:function( component, parameters )
{
component.lastTimestamp = parameters.timestamp;
component.csvBuffer += Object.values(parameters).join() + '\n';
component.gui.sendGuiEvent( 'sensorOrientation', parameters );
}
},
{
stateName: 'Recording',
eventName: 'stopRecording',
nextState: 'Recording',
transFunc:function( component, parameters )
{
component.fileStream.write( component.csvBuffer );
component.fileStream.end();
}
},
{
stateName: 'Recording',
eventName: 'fsClose',
nextState: 'Idle',
transFunc:function( component, parameters )
{
component.gui.sendGuiEvent( 'recordingStopped' );
}
},
{
stateName: 'Store data?',
eventName: 'yes',
nextState: 'Recording',
transFunc:function( component, parameters )
{
component.fileStream.write( component.csvBuffer );
component.csvBuffer = "";
component.lastWriteTime = component.lastTimestamp;
}
},
{
stateName: 'Store data?',
eventName: 'no',
nextState: 'Recording',
transFunc:function( component, parameters )
{
// NOP
}
}
];
// =======================================================================================
// Choice-points
// =======================================================================================
var choicePoints =
[
{
name:'Connect next?',
evalFunc: function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
var connectedSensor = component.connectedSensors.indexOf(sensor);
if( sensor != undefined && connectedSensor == -1)
{
return true;
}
return false;
}
},
{
name:'Start next?',
evalFunc: function( component, parameters )
{
return false;
}
},
{
name:'Store data?',
evalFunc: function( component )
{
return ( component.lastTimestamp - component.lastWriteTime > RECORDING_BUFFER_TIME );
}
},
{
name:'Stop next?',
evalFunc: function( component )
{
return false;
}
},
{
name:'Sensor disconnected?',
evalFunc: function( component, parameters )
{
if( parameters == undefined ) return;
var address = parameters.addresses[0];
if( address == undefined ) return;
var sensor = component.sensors[address];
var connectedSensor = component.connectedSensors.indexOf(sensor);
if( sensor != undefined && connectedSensor == -1 )
{
return true;
}
return false;
}