Initial test code for a bed of nails tester for the OpenROV controller board

tester-bonescript.js

var jsm = require('javascript-state-machine');
var b = require('bonescript');
var proc = require('child_process');
var spawn = proc.spawn;
var Q = require('q');
var serialPort = require('serialport');

var testnumberInProgress = 0;

// Pin Mappings, names match the schematic
var SW_LID = 'P8_7';
b.pinMode(SW_LID, b.INPUT);
var SW_TEST = 'P8_8';
b.pinMode(SW_TEST, b.INPUT);
var LED_FAIL = 'P8_9';
b.pinMode(LED_FAIL, b.OUTPUT);
var LED_SUCCESS = 'P8_10';
b.pinMode(LED_SUCCESS, b.OUTPUT);
var LED_PROGRESS = 'P8_12';
b.pinMode(LED_PROGRESS, b.OUTPUT);
var LED_READY = 'P8_11';
b.pinMode(LED_READY, b.OUTPUT);
var EN_12V_POWER = 'P8_13';
b.pinMode(EN_12V_POWER, b.OUTPUT);
var C5V_ON = 'P8_14';
b.pinMode(C5V_ON, b.INPUT);
var EN_5V_POWER = 'P8_15';
b.pinMode(EN_5V_POWER, b.OUTPUT);

var start;
var failureBlinkTimer;

var fsm = jsm.StateMachine.create({
        initial: 'init',
	    error: function(eventName, from, to, args, errorCode, errorMessage) {
            console.log( 'event ' + eventName + ' was naughty :- ' + errorMessage);
        },
	    events : [
	      { name: 'lid_closed', from:['open','init'], to:'ready_to_test'},
	      { name: 'test_button_pushed', from:'ready_to_test', to:'test_in_progress'},
	      { name: 'test_failed', from:'*', to:'test_complete_failure' },
	      { name: 'test_complete', from:'test_in_progress', to:'test_complete_passing' },
	      { name: 'lid_open', from:'*', to:'open' }
 	    ],
	    callbacks : {
	      oninit: function(event, from, to, msg) {
	        var ledstate = b.LOW;
	        var blinktimer = setInterval(function(){
	            if (ledstate === b.LOW){
	                ledstate = b.HIGH;
	            } else {
	                ledstate = b.LOW;
	            }
    	        b.digitalWrite(LED_FAIL, ledstate);
	            b.digitalWrite(LED_SUCCESS, ledstate);
		        b.digitalWrite(LED_PROGRESS, ledstate);
		        b.digitalWrite(LED_READY, ledstate);
		        console.log('blink' + ledstate);
	        },500);

	        setTimeout(function(){
	            clearInterval(blinktimer);
                var lidstate = b.digitalRead(SW_LID);
                // init the state machine
                if (lidstate) {fsm.lid_open()} else {fsm.lid_closed()}
	        },5000);
            
	      },
	      onopen: function(event, from, to, msg) {
	    proc.exec('pkill avrdude');
	    clearInterval(failureBlinkTimer);
		//all LEDs except power are extinguished
		b.digitalWrite(LED_FAIL, b.LOW);
		b.digitalWrite(LED_SUCCESS, b.LOW);
		b.digitalWrite(LED_PROGRESS, b.LOW);
		b.digitalWrite(LED_READY, b.LOW);
		//battery and tether power are disabled
		b.digitalWrite(EN_12V_POWER, b.LOW);
		b.digitalWrite(EN_5V_POWER, b.LOW);
		b.digitalWrite('USR3', b.HIGH);
		console.log('Did the open stuff.');
	      },
	      onready_to_test: function(event, from, to, msg) {
		//set <Ready To Test> pin high to turn on LED
		b.digitalWrite(LED_READY, b.HIGH);
		testnumberInProgress = 0;
	      },
	      ontest_in_progress: function(event, from, to, msg) {
		Q.fcall(function(){
		  //set <Ready To Test> pin low to turn off LED
		  b.digitalWrite(LED_READY, b.LOW);
		  //Turn on <Test in Progress> LED
		  b.digitalWrite(LED_PROGRESS, b.HIGH);
		  //Enable power on 12V and then pause 100ms
		  b.digitalWrite(EN_12V_POWER, b.HIGH);
		  start = +new Date();
		})
		.then( function () { return Q().delay( 250 ); } )
		.then(function(){
		  var end = +new Date();
		  console.log('diff in ms:' + (end - start) );
		  // TEST: 5V is off
		  testnumberInProgress = 16;
		  var result = b.digitalRead(C5V_ON);
		  if(result !== 1){
		    throw new '5V was not high';
		  };
		  // if high fail
		  b.digitalWrite(EN_5V_POWER, b.HIGH);
		  // TEST: 5V is on
		//wait 100ms
		  console.log('Step1');
		})
		.then( function () { return Q().delay( 250 ); } )
		.then(function(){
		  testnumberInProgress = 17;
		  var result = b.digitalRead(C5V_ON);  
		  if(result !==0 ){
		    console.log("Throwing error");
		    throw '5V was not low';
		  };
		  console.log("Step2");
		})
 		.then(function(){testnumberInProgress = 18; return runScript('bash',['/opt/openrov/cockpit/linux/burn-bootloader.sh'])})
 		.then(function(){testnumberInProgress = 19; return runScript('bash',['/opt/openrov/cockpit/linux/install-afro-esc-firmware.sh'],{timeout:120000, cwd:'/opt/openrov/cockpit/linux'})})
 		.progress(function(childProcess) {
            console.log('[spawn] childProcess.pid: ', childProcess.pid);
            childProcess.stdout.on('data', function(data) {
                console.log('[spawn] stdout: ', data.toString());
            });
            childProcess.stderr.on('data', function(data) {
                console.log('[spawn] stderr: ', data.toString()); 
            });
        })
 		.then(function(){testnumberInProgress = 20; return runScript('bash',['/opt/openrov/cockpit/linux/arduino/firmware-install-tester.sh'])})
		.then(function(){return checkArduinoTests().timeout(10000, "Arduino tests timed out")})
   		.then(function(){testnumberInProgress = 21;return runScript('bash',['/opt/openrov/cockpit/linux/arduino/firmware-installfromsource.sh'])})
		.then(function(){fsm.test_complete();})
		.catch(function(err){
		  console.log("Caught the error in catch block");
		  fsm.test_failed(err);
		})
        .done(null, function(err) {
          console.log("Caught the error");
		  fsm.test_failed(err);
		 });
		


	      },
	      onleavetest_in_progress: function(event, from, to, msg){
		//Turn off <Test in Progress> LED
		b.digitalWrite(LED_PROGRESS, b.LOW);
		//Disable battery and tether power
		b.digitalWrite(EN_12V_POWER, b.LOW);
                b.digitalWrite(EN_5V_POWER, b.LOW);
	      },
	      onleaveinit: function(event, from, to, msg){
	        b.digitalWrite(LED_FAIL, b.LOW);
		    b.digitalWrite(LED_SUCCESS, b.LOW);
		    b.digitalWrite(LED_PROGRESS, b.LOW);
		    b.digitalWrite(LED_READY, b.LOW);
	        b.attachInterrupt(SW_LID, function(){return !IsDeBounceMode(SW_LID_debounce)}, b.CHANGE, function(){setTimeout(function(){if (b.digitalRead(SW_LID)) {fsm.lid_open()} else {fsm.lid_closed()}},50)});
            b.attachInterrupt(SW_TEST, function(){return !IsDeBounceMode(SW_TEST_debounce)}, b.RISING, function(){fsm.test_button_pushed()});
	      },
	      ontest_complete_failure: function(event, from, to, msg) {
		//Turn on <Test Failure> LED
		console.log("Test failed on:" + msg);
		b.digitalWrite(LED_FAIL, b.HIGH);
		failureBlinkTimer = repatedlyBlinkLED(LED_READY,testnumberInProgress,150);
		console.log('Should blink' + testnumberInProgress);
		//failureblink = setInterval(function(){},500);
		console.log("Test fail stuff done");
	      },
	      ontest_complete_passing: function(event, from, to, msg) {
	        //Turn on <Test Success> LED
		b.digitalWrite(LED_SUCCESS, b.HIGH);
	      },
	      onenterstate: function(event, from, to, msg){
		    console.log("Entered: " + to);
	      }
	    }
	  });

var SW_LID_debounce = false;
var SW_TEST_debounce = false;

function IsDeBounceMode(debounce_flag){
  console.log("debounce check");
  if(debounce_flag) return true;
  setTimeout(function(){debounce_flag = false;},100);
  debounce_flag = true;
  return false;
};



// ---- Test Code to simulate button and switch presses ---- //
/*
setTimeout(function(){
    fsm.lid_closed()
    
},1000);

setTimeout(function(){
    fsm.test_button_pushed()
    
},3000);
*/
function checkArduinoTests(){
  var deferred = Q.defer();
  //setTimeout(function(){deferred.resolve()},100); //simulate looking at test data and pass
  var sp = new serialPort.SerialPort('/dev/ttyO1', {
      baudrate: 115200,
      parser: serialPort.parsers.readline('\r\n')
    });
  sp.on("open", function () {
    console.log('open');
    setTimeout(function(){sp.close();},5000);
    sp.on('data', function(data) {
      console.log('data received: ' + data);
      if (data.substring(0, 1) !== "#") {
          if (parseInt(data)===0) {
              deferred.resolve();
          } else {
              testnumberInProgress = parseInt(data);
              deferred.reject(new Error('ArduinoTestFailed with code: ' + data, data ));
          }
      }
    });
  });    

  return deferred.promise;
}

function repatedlyBlinkLED(pin,times,speed){
    var _pin = pin;
    var _pattern =  [];
    for (var i = 0;i<times;i++){
        _pattern.push(b.HIGH);
        _pattern.push(b.LOW);
    }
    _pattern.push(b.LOW);
    _pattern.push(b.LOW);
    _pattern.push(b.LOW);
    _pattern.push(b.LOW);
    var _index = 0;
    return setInterval(function(){
         b.digitalWrite(pin, _pattern[_index]);
         _index++;
         if (_index > _pattern.length) _index = 0;
    },speed);
}

function runScript(script,args,options){
    var deferred = Q.defer();
    var p = spawn(script, args, options);

    if ((options !== undefined ) && (options['timeout'] !== undefined) && (options.timeout > 0)){
        setTimeout(function(){
            if ((p.pid>0) && (p.code !== null)){
                proc.exec('kill -9' + p.pid);
                proc.exec('pkill avrdude');
                //process.kill(p.pid);
                deferred.reject(new Error('Timed Out: ' + script + ' ' + args));
            }
          }
          ,options.timeout);
    }

    p.on('exit', function (code) {
      if (code !== 0) {
	deferred.reject(new Error('Failed: ' + script + ' ' + args + ' with code: ' + code));
      } else {
	deferred.resolve();
      }
    });
    p.on('error', function(err){
        deferred.reject(new Error('Failed: ' + script +  ' ' + args + ' with msg: ' + err.message));
    })
    process.nextTick(function() { // Make sure the callee had a chance to add listeners
        deferred.notify(p);
    });
    return deferred.promise;
}