robot_control_app.js
//List of modules required
var express = require('express')
, routes = require('./routes/routes')
, http = require('http')
, path = require('path')
, serialport = require('serialport')
//, fs = require('fs') //not required
, socketio = require('socket.io');
var app = express();
app.configure(function(){
app.set('port', process.env.PORT || 3000);
app.set('views', __dirname + '/views');
app.set('view engine', 'jade');
app.use(express.favicon(__dirname + '/public/favicon.ico'));
app.use(express.logger('dev'));
app.use(express.bodyParser());
app.use(express.methodOverride());
app.use(express.cookieParser('your secret here'));
app.use(express.session());
app.use(app.router);
app.use(express.static(path.join(__dirname, 'public')));
});
app.configure('development', function(){
app.use(express.errorHandler());
});
//routing pages you can get to the page using either / or /mobile
app.get('/', routes.mobile);
app.get('/mobile', routes.mobile);
/* Sometimes I get frustrated with Jade and want to test code in straight html
app.get('/test', function(req, res) {
fs.readFile(__dirname + '/public/test.html', 'utf8', function(err, text){
res.send(text);
});
});
*/
var server = app.listen(app.get('port'), function(){
console.log("Robot Server listening on port " + app.get('port'));
});
//--SerialPort Code---
//Listening on the serial port for data coming from Arduino over USB
var arduinoSerialPort = '/dev/ttyACM0';
var RobotStatus;
var ArduinoPort = new serialport.SerialPort(arduinoSerialPort, {
parser: serialport.parsers.readline('\n'),
baudrate: 115200
});
console.log('Serial Port Started...');
//When a new line of text is received from Arduino over USB
ArduinoPort.on('data', function (data) {
RobotStatus = JSON.parse(data);
});
//--Socket io code----
// log level 1 is not very verbose
var io = socketio.listen(server, {
'log level' : 1
});
io.sockets.on('connection', function (socket) {
/* socket.emit('welcome', { msg: 'You are connected' });
socket.on('disconnect', function () {
console.log('User Disconnected');
});
*/
//the server emits the RobotStatus JSON string every 100ms regardless of how often the
//data arrives from the arduino
setInterval(function () {
socket.emit('robot-info', RobotStatus );
}, 100);
//When any of the controls on the mobile page is pressed, that 'client' emits a 'robot_control' message
//this code responds and sends that info to the arduino
socket.on('robot_control', function(data) {
//console.log('scanner_control: ' + data.output);
ArduinoPort.write(data.output);
});
});