Lots of refactoring

package.json

@@ -10,7 +10,6 @@
   "author": "",
   "license": "MIT",
   "dependencies": {
-    "bme280-sensor": "^0.1.7",
     "express": "^4.21.1",
     "i2c-bus": "^5.2.3",
     "serialport": "^12.0.0"

src/apollo.js

@@ -1,6 +1,6 @@
 import SensorSuite from './sensor-suite.js'
 
-export default class Apollo {
+class Apollo {
     sensor;
     onStop;
 
@@ -21,3 +21,6 @@ export default class Apollo {
         if (this.onStop) this.onStop();
     }
 }
+
+const APOLLO = new Apollo();
+export default APOLLO;

src/bme280.js

@@ -0,0 +1,20 @@
+import i2c from 'i2c-bus';
+
+export async function bme(address = 0x76) {
+    const i2cBus = await i2c.openPromisified(1);
+    const data = await Promise.all([
+        i2cBus.readByte(address, 0xFA),
+        i2cBus.readByte(address, 0xFB),
+        i2cBus.readByte(address, 0xFC),
+        i2cBus.readByte(address, 0xF7),
+        i2cBus.readByte(address, 0xF8),
+        i2cBus.readByte(address, 0xF9),
+        i2cBus.readByte(address, 0xFD),
+        i2cBus.readByte(address, 0xFE),
+    ]);
+    return {
+        temperature: (((data[0] << 12) | (data[1] << 4) | (data[2] >> 4)) / 16384.0 - 5120.0) / 100,
+        pressure: ((data[3] << 12) | (data[4] << 4) | (data[5] >> 4)) / 25600,
+        humidity: ((data[6] << 8) | data[7]) / 1024.0,
+    };
+}

src/bms.js

@@ -1,6 +1,6 @@
 import i2c from 'i2c-bus';
 
-async function bmsStatus(address = 0x57) {
+export async function bms(address = 0x57) {
     const i2cBus = await i2c.openPromisified(1);
     const data = await Promise.all([
         i2cBus.readByte(address, 0x02),
@@ -16,4 +16,3 @@ async function bmsStatus(address = 0x57) {
         voltage: ((data[2] << 8) | data[3]) / 1000,
     }
 }
-console.log(await bmsStatus());

src/cli.js

@@ -1,17 +0,0 @@
-import Controller from './controller.js';
-import {ask} from './misc.js';
-
-export default class Cli extends Controller {
-  constructor(apollo) {
-    super(apollo);
-    console.log(this.help());
-  }
-
-  async start() {
-    while(true) {
-      const cmd = await ask('> ');
-      console.log(this.run(cmd));
-      console.log();
-    }
-  }
-}

src/controller.js

@@ -1,37 +0,0 @@
-import {$} from './misc.js';
-
-export default class Controller {
-  apollo;
-
-  constructor(apollo) {
-    this.apollo = apollo;
-  }
-
-  help() {
-    return `
-Apollo v0.0.0
-
-Commands:
-exit     - Stop Apollo
-help     - Display manual
-reboot   - Reboot System
-sensors  - All sensor data
-shutdown - Shutdown System
-stop     - Stop Apollo
-status   - Subsystem status
-`;
-  }
-
-  run(cmd) {
-    cmd = cmd.toLowerCase();
-    if(cmd == 'help') return this.help();
-    else if(cmd == 'reboot') $`reboot now`;
-    else if(cmd == 'sensors') return this.apollo.sensor.data;
-    else if(cmd == 'shutdown') {
-      $`shutdown now`;
-      this.apollo.stop();
-    } else if(cmd == 'status') return this.apollo.status;
-    else if(cmd == 'stop' || cmd == 'exit') process.exit();
-    else return `Unknown Command: ${cmd}`;
-  }
-}

src/daemon.js

@@ -0,0 +1,45 @@
+import express from 'express';
+import path from 'path';
+import APOLLO from './apollo.js';
+import {$} from './misc.js';
+
+export default class Daemon {
+    apollo;
+    express;
+
+    constructor(port = 80) {
+        this.apollo = APOLLO;
+        this.apollo.start();
+
+        this.express = express();
+
+        this.express.get('/api/*', async (req, res) => {
+            const cmd = req.params['0'];
+            res.json(await this.run(cmd));
+        });
+
+        this.express.get('*', (req, res) => {
+            let p = req.params['0'];
+            if (!p || p == '/') p = 'index.html';
+            const absolute = path.join(import.meta.url, '/../../ui/', p).replace('file:', '');
+            res.sendFile(absolute);
+        });
+
+        this.express.listen(port, () => 'Started Apollo');
+    }
+
+    run(cmd) {
+        cmd = cmd.toLowerCase();
+        if (cmd === 'reboot') $`reboot now`;
+        else if (cmd === 'sensors') return this.apollo.sensor.data;
+        else if (cmd === 'shutdown') {
+            this.run('stop');
+            $`shutdown now`;
+        } else if (cmd === 'status') return this.apollo.status;
+        else if (cmd === 'stop') {
+            this.express.stop();
+            this.apollo.stop();
+        }
+        else return `Unknown Command: ${cmd}`;
+    }
+}

src/http.js

@@ -1,28 +0,0 @@
-
-import express from 'express';
-import path from 'path';
-import Controller from './controller.js';
-
-export default class Http extends Controller {
-  express;
-
-  constructor(apollo, port = 8000) {
-    super(apollo);
-    this.express = express();
-
-    this.express.get('/api/*', async (req, res) => {
-      const cmd = req.params['0'];
-      console.log(cmd);
-      res.json(await this.run(cmd));
-    });
-
-    this.express.get('*', (req, res) => {
-       let p = req.params['0'];
-       if(!p || p == '/') p = 'index.html';
-       const absolute = path.join(import.meta.url, '/../../ui/', p).replace('file:', '');
-       res.sendFile(absolute);
-    });
-
-    this.express.listen(port);
-  }
-}

src/main.js

@@ -1,14 +1,41 @@
-import Apollo from './apollo.js';
+import {ask} from './misc.js';
-import Cli from './cli.js';
+import Daemon from './daemon.js';
-import Http from './http.js';
-import Serial from './serial.js';
 
-(async () => {
+const command = process.argv[1];
-  const apollo = new Apollo();
+let remote;
-  const cli = new Cli(apollo);
+
-  const serial = new Serial(apollo);
+function help() {
-  const http = new Http(apollo);
+    return `
-  await apollo.start();
+Apollo v0.0.0
-  cli.start();
+
-  // serial.start();
+Commands:
-})();
+exit          - Exit CLI
+help          - Display this manual
+reboot        - Reboot System
+remote <addr> - Connect to remote Apollo
+sensors       - Display sensor data
+shutdown      - Shutdown System
+start  <port> - Start Apollo server
+stop          - Stop Apollo server
+status        - Apollo Subsystems status
+`;
+}
+
+function run(cmd) {
+    if(cmd.toLowerCase() === 'exit') process.exit();
+    else if(cmd === 'help') return this.help();
+    else if(cmd.startsWith('remote')) remote = cmd.split(' ').pop();
+    else if(cmd.startsWith('start')) new Daemon(+cmd.split(' ').pop() || 80);
+    else return fetch(`${remote}/api/${cmd}`).then(resp => {
+        if(resp.ok && resp.headers['Content-Type'].includes('json'))
+            return resp.json();
+        else return resp.text();
+    });
+}
+
+if(command) console.log(run(command));
+else console.log(help());
+while(true) {
+    const cmd = await ask('> ');
+    console.log(run(cmd), '\n');
+}

src/misc.js

@@ -9,6 +9,22 @@ export function $(str, ...args) {
     }))
 }
 
+export function adjustedInterval(cb, ms) {
+    let cancel = false, timeout = null;
+    const p = async () => {
+        if (cancel) return;
+        const start = new Date().getTime();
+        await cb();
+        const end = new Date().getTime();
+        timeout = setTimeout(() => p(), ms - (end - start) || 1);
+    };
+    p();
+    return () => {
+        cancel = true;
+        if (timeout) clearTimeout(timeout);
+    }
+}
+
 export function ask(prompt, hide = false) {
     const rl = readline.createInterface({
         input: process.stdin,
@@ -50,22 +66,6 @@ export function ask(prompt, hide = false) {
     });
 }
 
-export function poll(cb, ms) {
-    let cancel = false, timeout = null;
-    const p = async () => {
-        if(cancel) return;
-        const start = new Date().getTime();
-        await cb();
-        const end = new Date().getTime();
-        timeout = setTimeout(() => p(), ms - (end - start));
-    };
-    p();
-    return () => {
-        cancel = true;
-        if(timeout) clearTimeout(timeout);
-    }
-}
-
 export function sleep(ms) {
     return new Promise(res => setTimeout(res, ms));
 }

src/sensor-suite.js

@@ -1,50 +1,51 @@
-import BME280 from 'bme280-sensor';
+import {adjustedInterval, sleep} from './misc.js';
-import {poll} from './misc.js';
+import {bms} from './bms.js';
+import {bme} from './bme280.js';
 
 export default class SensorSuite {
-    bme280;
+    data = {
-    stopBme280;
+        battery: {charging: false, temperature: 0, percentage: 0, voltage: 0},
-
+        environment: {humidity: 0, temperature: 0, pressure: 0, altitude: 0},
-    _data = {
+        movement: {accelerometer: null, gyro: null, magnetometer: null},
-        acceleration: [null, null, null],
+        gps: {accuracy: null, lat: null, long: null, altitude: 0, ground: 0, time: 0}
-        altitude: null,
-        battery: null,
-        gpsStrength: null,
-        gyro: [null, null, null],
-        humidity: null,
-        magnetometer: [null, null, null],
-        position: [null, null],
-        pressure: null,
-        temperature: null,
-        voltage: null,
     }
-    set data(d) { this._data = d; }
+    intervals = [];
-    get data() { return {timestamp: new Date().getTime(), ...this._data}; }
+    status = {}
 
-    _env_sensor = false;
+    #altitude; // Pressure <-> GPS correction for future calculations TODO: Update on GPS events
-    get status() { return { env_sensor: this._env_sensor ? 'ok' : 'failed' }; }
+    get altitude() {
+        return data.environment.altitude + (this.#altitude ?? 0);
+    }
 
     constructor() {
-        this.bme280 = new BME280({i2cBusNo: 1, i2cAddress: 0x76});
     }
 
-    start() {
+    static #hPaToAltitude(hPa) {
-        return this.bme280.init().then(() => {
+        return 44330 * (1 - Math.pow(hPa / 1013.25, 1 / 5.255));
-          // Poll environmental data
+    }
-          this._env_sensor = true;
+
-          this.stopBme280 = poll(async () => {
+    async start() {
-              const d = await this.bme280.readSensorData();
+        this.intervals.push(adjustedInterval(async () => {
-              this._data.humidity = d.humidity / 100;
+            this.data.environment = await this.statusWrapper(bme(), 'bme280');
-              this._data.temperature = d.temperature_C;
+            this.data.environment.altitude = SensorSuite.#hPaToAltitude(this.data.environment.pressure);
-              this._data.pressure = d.pressure_hPa;
+        }, 1000));
-              this._data.altitude = BME280.calculateAltitudeMeters(this.data.pressure);
+        await sleep(500); // Offset reading sensor data
-          }, 1000);
+        this.intervals.push(adjustedInterval(async () => {
+            this.data.battery = await this.statusWrapper(bms(), 'bms');
+        }, 1000));
+    }
+
+    statusWrapper(promise, key) {
+        return promise.then(resp => {
+            this.status[key] = 'ok'
+            return resp;
         }).catch(err => {
-          this._env_sensor = false;
+            this.status[key] = err.message;
         });
     }
 
     stop() {
-      if(this.stopBme280) this.stopBme280();
+        this.intervals.forEach(unsubscribe => unsubscribe());
+        this.intervals = [];
     }
 }

src/serial.js

@@ -1,29 +0,0 @@
-import {SerialPort} from 'serialport';
-import Controller from './controller.js';
-
-export default class Serial extends Controller {
-  baud;
-  interval;
-  port;
-
-  constructor(apollo, options) {
-    super(apollo);
-    this.options = {
-      baud: 9600,
-      ...options
-    };
-  }
-
-  async start() {
-    this.interval = setInterval(async () => {
-      const cons = (await SerialPort.list()).map(p => p.path);
-      if(this.ports.length > 0) {
-        this.port = new SerialPort({path: cons[0], baudRate: this.options.baud});
-        this.port.on('open', () => this.help());
-        this.port.on('data', cmd => port.write(JSON.stringify(this.run(cmd))));
-        this.port.on('close', () => this.start());
-        clearInterval(this.interval);
-      }
-    }, 1000);
-  }
-}

ui/index.html

@@ -3,9 +3,43 @@
 <html>
   <head>
     <title>Apollo v0.0.0</title>
+
+    <style>
+	    html, body {
+		    margin: 0;
+		    padding: 0;
+		    width: 100%;
+		    height: 100%;
+		    background: #1a1a1a;
+		    color: white;
+		    font-family: sans-serif;
+	    }
+
+	    .text-muted {
+		    color: #aaa;
+	    }
+    </style>
   </head>
 
   <body>
-    <h1>Apollo v0.0.0</h1>
+    <nav style="padding: 0.5rem;">
+	    <div style="display: flex; flex-direction: row">
+		    <div>
+			    <h1 style="display: inline; font-size: 1rem;">Apollo Control</h1>
+		    </div>
+		    <div style="flex-grow: 1"></div>
+		    <div class="text-muted" style="font-size: 1rem">
+			    <span id="time">00:00:00</span> UTC
+		    </div>
+	    </div>
+    </nav>
+
+	  <script>
+		  const time = document.querySelector('#time');
+		  setInterval(() => {
+			  const now = new Date();
+			  time.innerHTML = `${now.getHours().toString().padStart(2, 0)}:${now.getMinutes().toString().padStart(2, 0)}:${now.getSeconds().toString().padStart(2, 0)}`;
+		  }, 1000);
+	  </script>
   </body>
 </html>