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big refactoring, moved keyboard logic to app.js
organized code in app.js added navdata callback to log the battery level if under 30%
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,91 +1,208 @@ | ||
| //IMPORTS | ||
| const express = require("express"); | ||
| const path = require('path'); | ||
| const readline = require('readline'); | ||
| const eegDevice = require('./libs/eeglib'); | ||
| const drone = require('./libs/dronelib'); | ||
| const sse = require('connect-sse')(); | ||
| const PubSub = require('pubsub-js'); | ||
| var resp; | ||
| var EEG_ENABLED = false | ||
| const eegClient = eegDevice.eegClient(); | ||
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| //CONSTANTS | ||
| const BLINK_STRENGTH_THRESHOLD = 50; //strength treshold for a EEG blinking event | ||
| const MEDITATION_STRENGTH_THRESHOLD = 95; //strength treshold for a EEG "high level meditation" event | ||
| const ATTENTION_STRENGTH_THRESHOLD = 95; //strength treshold for a EEG "high level attention" event | ||
| const MIN_INTERVAL_EVENT = 2000; //minimum interval to trigger an event (if an event occur after < MIN_INTERVAL_EVENT the event wont be propagated) | ||
| const LOGGING_ENABLED = false; | ||
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| //APP VARIABLES | ||
| var recently_takeOffOrLand = false; // to avoid double commands due to EEG crazyness | ||
| var recently_waved = false; // to avoid double commands due to EEG crazyness | ||
| var resp; //global var for SSE response => find a better way to handle this | ||
| var previousData; | ||
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| if(EEG_ENABLED){ | ||
| eegClient.connect(); | ||
| } | ||
| startExpress(); | ||
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| //FUNCTIONS DECLARATION | ||
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| /** | ||
| * Start the Express app on port EXPRESS_PORT with and endpoint SSE on /liveEEGData | ||
| */ | ||
| function startExpress() { | ||
| const EXPRESS_PORT = 8080; | ||
| const app = express(); | ||
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| //expose public folder | ||
| app.use(express.static('public')) | ||
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| //expose Server Side Event endpoint for live EEG data stream | ||
| app.get('/liveEEGData', sse, function (req, res) { | ||
| resp = res; // expose response to global scope variable TODO: find a better way | ||
| }); | ||
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| var mySubscriber = function (msg, data) { | ||
| console.log("RAW DATA RECEIVED:"); | ||
| console.log(msg, data); | ||
| console.log("\n"); | ||
| app.listen(EXPRESS_PORT, function () { | ||
| console.log("Application running at Port " + EXPRESS_PORT); | ||
| }); | ||
| } | ||
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| function subscriber(msg, data) { | ||
| if(LOGGING_ENABLED){ | ||
| console.log("RAW DATA RECEIVED:"); | ||
| console.log(msg, data); | ||
| console.log("\n"); | ||
| } | ||
| const dataToSend = prepareDataToSend(data); | ||
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| console.log("SENDING data to client:"); | ||
| console.log(JSON.stringify(dataToSend) + "\n"); | ||
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| if(LOGGING_ENABLED){ | ||
| console.log("SENDING data to client:"); | ||
| console.log(JSON.stringify(dataToSend) + "\n"); | ||
| } | ||
| if(resp) { | ||
| resp.json(dataToSend); | ||
| console.log("Message sent correctly to subscriber. \n"); | ||
| if(LOGGING_ENABLED){ | ||
| console.log("Message sent correctly to subscriber. \n"); | ||
| } | ||
| }else{ | ||
| console.log("There are no subscribers at the moment, skipping.\n"); | ||
| if(LOGGING_ENABLED){ | ||
| console.log("There are no subscribers at the moment, skipping.\n"); | ||
| } | ||
| } | ||
| }; | ||
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| PubSub.subscribe('eeg', mySubscriber); | ||
| //*************EVENTS HERE **********************/ | ||
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| if(data.blinkStrength && data.blinkStrength >= BLINK_STRENGTH_THRESHOLD && !recently_takeOffOrLand) { | ||
| console.log("************TAKING OFF OR LANDING VIA MIND*************"); | ||
| setTimeout(function(){recently_takeOffOrLand = false}, MIN_INTERVAL_EVENT); | ||
| recently_takeOffOrLand = true; | ||
| drone.takeOffOrLand(); | ||
| } | ||
| if(data.eSense && data.eSense.meditation && data.eSense.meditation >= MEDITATION_STRENGTH_THRESHOLD && !recently_waved){ | ||
| console.log("************CONGRATULATIONS HIGH LEVEL MEDITATION ACQUIRED, WAVING*************"); | ||
| setTimeout(function(){recently_waved = false}, MIN_INTERVAL_EVENT); | ||
| recently_waved = true; | ||
| drone.wave(); | ||
| } | ||
| if(data.eSense && data.eSense.attention && data.eSense.attention >= ATTENTION_STRENGTH_THRESHOLD){ | ||
| console.log("************CONGRATULATIONS HIGH LEVEL ATTENTION ACQUIRED, FIRING LEDS*************"); | ||
| drone.fireLeds(); | ||
| } | ||
| } | ||
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| /** | ||
| * Parse the raw data from the EEG device and map it to a format compatible with the | ||
| * Rickshaw.Graph library (D3.js) | ||
| * @param {data received from the EEG device} data | ||
| * | ||
| */ | ||
| function prepareDataToSend(data) { | ||
| const timeNow = Math.floor(new Date().getTime() / 1000); | ||
| const dataToSend = [ | ||
| var dataToSend = [ | ||
| {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, | ||
| {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0}, {x : timeNow, y:0} | ||
| ]; | ||
| if (data.eegPower) { | ||
| dataToSend[0] = { x: timeNow, y: data.eegPower.delta / 10000 }; | ||
| dataToSend[1] = { x: timeNow, y: data.eegPower.theta / 10000 }; | ||
| dataToSend[2] = { x: timeNow, y: data.eegPower.lowAlpha / 10000 }; | ||
| dataToSend[3] = { x: timeNow, y: data.eegPower.highAlpha / 10000 }; | ||
| dataToSend[4] = { x: timeNow, y: data.eegPower.lowBeta / 10000 }; | ||
| dataToSend[5] = { x: timeNow, y: data.eegPower.highBeta / 10000 }; | ||
| dataToSend[6] = { x: timeNow, y: data.eegPower.lowGamma / 10000 }; | ||
| dataToSend[7] = { x: timeNow, y: data.eegPower.highGamma / 10000 }; | ||
| dataToSend[0] = { x: timeNow, y: data.eegPower.delta }; | ||
| dataToSend[1] = { x: timeNow, y: data.eegPower.theta }; | ||
| dataToSend[2] = { x: timeNow, y: data.eegPower.lowAlpha }; | ||
| dataToSend[3] = { x: timeNow, y: data.eegPower.highAlpha }; | ||
| dataToSend[4] = { x: timeNow, y: data.eegPower.lowBeta }; | ||
| dataToSend[5] = { x: timeNow, y: data.eegPower.highBeta }; | ||
| dataToSend[6] = { x: timeNow, y: data.eegPower.lowGamma }; | ||
| dataToSend[7] = { x: timeNow, y: data.eegPower.highGamma }; | ||
| } | ||
| if (data.poorSignalLevel) { | ||
| dataToSend[8] = { x: timeNow, y: data.poorSignalLevel * 10 }; | ||
| dataToSend[8] = { x: timeNow, y: data.poorSignalLevel }; | ||
| } | ||
| if (data.blinkStrength) { | ||
| dataToSend[9] = { x: timeNow, y: data.blinkStrength * 10 }; | ||
| if (data.blinkStrength) { //since blinking is an "async event" (does not happen regularly every second) I copy the previous data to not mess up the graph | ||
| dataToSend = previousData; | ||
| dataToSend[9] = { x: timeNow, y: data.blinkStrength }; | ||
| } | ||
| if (data.eSense) { | ||
| dataToSend[10] = { x: timeNow, y: data.eSense.attention * 10 }; | ||
| dataToSend[11] = { x: timeNow, y: data.eSense.meditation * 10 }; | ||
| dataToSend[10] = { x: timeNow, y: data.eSense.attention }; | ||
| dataToSend[11] = { x: timeNow, y: data.eSense.meditation }; | ||
| } | ||
| previousData = dataToSend; | ||
| return dataToSend; | ||
| } | ||
|
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| /** | ||
| * Quit the app, safely (callback to event CTRL+C) | ||
| */ | ||
| function quit() { | ||
| console.log("****************** EXITING ******************\n"); | ||
| process.stdin.pause(); | ||
| drone.land(); | ||
| process.exit(1); | ||
| } | ||
|
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||
| //*********EXPRESS INIT **********/ | ||
| /** | ||
| * Init the keyboard and bind the keys to drone commands | ||
| */ | ||
| function keyboardInitAndBinding(){ | ||
| readline.emitKeypressEvents(process.stdin); //keyboard init | ||
| if (process.stdin.isTTY) { //keybord init | ||
| process.stdin.setRawMode(true); | ||
| } | ||
| process.stdin.on('keypress', (str, key) => { //keyboard binding | ||
| if (key && key.sequence === '-') { | ||
| drone.onOffToggle(); | ||
| } | ||
| if (key && key.sequence === '+') { | ||
| eegDevice.onOffToggle(); | ||
| } | ||
|
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| if (key && key.ctrl && key.name == 'c') { | ||
| quit(); | ||
| } | ||
| if (key && key.name === 'space') { | ||
| drone.takeOffOrLand(); | ||
| } | ||
| if (key && key.name === 'w') { | ||
| drone.wave(); | ||
| } | ||
| if (key && key.name === 'up') { | ||
| drone.front(); | ||
| } | ||
| if (key && key.name === 'down') { | ||
| drone.back(); | ||
| } | ||
| if (key && key.name === 'left') { | ||
| drone.left(); | ||
| } | ||
| if (key && key.name === 'right') { | ||
| drone.right(); | ||
| } | ||
| if (key && key.shift && key.name == 'up') { | ||
| drone.up(); | ||
| } | ||
| if (key && key.shift && key.name == 'down') { | ||
| drone.down(); | ||
| } | ||
| if (key && key.name === 'i') { | ||
| drone.yaw_left(); | ||
| } | ||
| if (key && key.name === 'o') { | ||
| drone.yaw_right(); | ||
| } | ||
| if (key && key.name === 'x') { | ||
| drone.calibrate(); | ||
| } | ||
| if (key && key.name === 'z') { | ||
| drone.fireLeds(); | ||
| } | ||
| }); | ||
| } | ||
|
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| function startExpress() { | ||
| const EXPRESS_PORT = 8080; | ||
| const app = express(); | ||
| // app.use(express.static(path.join(__dirname,'public'))); | ||
|
|
||
| //expose public folder | ||
| app.use(express.static('public')) | ||
|
|
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| //expose S.S.E. endpoint for live EEG data stream | ||
| app.get('/liveEEGData', sse, function (req, res) { | ||
| resp = res; // expose response to global scope | ||
| }); | ||
|
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| app.listen(EXPRESS_PORT, function () { | ||
| console.log("Application running at Port " + EXPRESS_PORT); | ||
| }); | ||
| } | ||
| //****************************** MAIN ******************************/ | ||
|
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|
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| if(eegDevice.isEnabled()){ //nb. drone does not require an explict connect() method | ||
| eegClient.connect(); | ||
| } | ||
| PubSub.subscribe('eeg', subscriber); //subscribe "subscriber" to eeg topic | ||
| keyboardInitAndBinding(); //init keyboard and bind drone commands to it | ||
| startExpress(); //start Express app |
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