Pass hubs in to commands

packages/sample/src/command/analog.ts

@@ -1,69 +1,33 @@
-import { openConnectedExpansionHubs } from "@rev-robotics/expansion-hub";
+import { ExpansionHub, openConnectedExpansionHubs } from "@rev-robotics/expansion-hub";
 
-export async function analog(channel: number, continuous: boolean) {
-    const hubs = await openConnectedExpansionHubs();
-
-    if (continuous) {
-        while (true) {
-            let value = await hubs[0].getAnalogInput(channel);
-            console.log(`ADC: ${value} mV`);
-        }
-    } else {
-        let value = await hubs[0].getAnalogInput(channel);
+export async function analog(hub: ExpansionHub, channel: number, continuous: boolean) {
+    while (true) {
+        let value = await hub.getAnalogInput(channel);
         console.log(`ADC: ${value} mV`);
-        hubs.forEach((hub) => {
-            hub.close();
-        });
+        if (!continuous) break;
     }
 }
 
-export async function temperature(continuous: boolean) {
-    const hubs = await openConnectedExpansionHubs();
-
-    if (continuous) {
-        while (true) {
-            let value = await hubs[0].getTemperature();
-            console.log(`Temperature: ${value} C`);
-        }
-    } else {
-        let value = await hubs[0].getTemperature();
+export async function temperature(hub: ExpansionHub, continuous: boolean) {
+    while (true) {
+        let value = await hub.getTemperature();
         console.log(`Temperature: ${value} C`);
-        hubs.forEach((hub) => {
-            hub.close();
-        });
+        if (!continuous) break;
     }
 }
 
-export async function battery(continuous: boolean) {
-    const hubs = await openConnectedExpansionHubs();
-
-    if (continuous) {
-        while (true) {
-            let value = await hubs[0].getBatteryVoltage();
-            console.log(`Battery: ${value} mV`);
-        }
-    } else {
-        let value = await hubs[0].getBatteryVoltage();
-        console.log(`Battery: ${value} mV`);
-        hubs.forEach((hub) => {
-            hub.close();
-        });
+export async function battery(hub: ExpansionHub, continuous: boolean) {
+    while (true) {
+        let value = await hub.getTemperature();
+        console.log(`Temperature: ${value} C`);
+        if (!continuous) break;
     }
 }
 
-export async function voltageRail(continuous: boolean) {
-    const hubs = await openConnectedExpansionHubs();
-
-    if (continuous) {
-        while (true) {
-            let value = await hubs[0].get5VBusVoltage();
-            console.log(`5V rail: ${value} mV`);
-        }
-    } else {
-        let value = await hubs[0].get5VBusVoltage();
+export async function voltageRail(hub: ExpansionHub, continuous: boolean) {
+    while (true) {
+        let value = await hub.get5VBusVoltage();
         console.log(`5V rail: ${value} mV`);
-        hubs.forEach((hub) => {
-            hub.close();
-        });
+        if (!continuous) break;
     }
 }

packages/sample/src/command/led.ts

@@ -2,19 +2,17 @@ import {
     createLedPattern,
     ExpansionHub,
     LedPatternStep,
-    openConnectedExpansionHubs,
 } from "@rev-robotics/expansion-hub";
 
-export async function led() {
-    const hubs: ExpansionHub[] = await openConnectedExpansionHubs();
+export async function led(hub: ExpansionHub) {
     const steps = [
         new LedPatternStep(1, 0, 255, 0), //green
         new LedPatternStep(1, 255, 0, 0), //red
         new LedPatternStep(1, 0, 0, 255), //blue
         new LedPatternStep(1, 255, 0, 255), //magenta
         new LedPatternStep(1, 255, 255, 0), //yellow
     ];
-    await hubs[0].sendKeepAlive();
+    await hub.sendKeepAlive();
     const pattern = createLedPattern(steps);
-    await hubs[0].setModuleLedPattern(pattern);
+    await hub.setModuleLedPattern(pattern);
 }

packages/sample/src/command/servo.ts

@@ -1,9 +1,12 @@
-import { openConnectedExpansionHubs } from "@rev-robotics/expansion-hub";
+import { ExpansionHub } from "@rev-robotics/expansion-hub";
 
-export async function runServo(channel: number, pulseWidth: number, framePeriod: number) {
-    const hubs = await openConnectedExpansionHubs();
-
-    await hubs[0].setServoConfiguration(channel, framePeriod);
-    await hubs[0].setServoPulseWidth(channel, pulseWidth);
-    await hubs[0].setServoEnable(channel, true);
+export async function runServo(
+    hub: ExpansionHub,
+    channel: number,
+    pulseWidth: number,
+    framePeriod: number,
+) {
+    await hub.setServoConfiguration(channel, framePeriod);
+    await hub.setServoPulseWidth(channel, pulseWidth);
+    await hub.setServoEnable(channel, true);
 }

packages/sample/src/main.ts

@@ -4,6 +4,14 @@ import { error } from "./command/error.js";
 import { list } from "./command/list.js";
 import { led } from "./command/led.js";
 import { runServo } from "./command/servo.js";
+import { openConnectedExpansionHubs } from "@rev-robotics/expansion-hub";
+
+function runOnSigint(block: () => void) {
+    process.on("SIGINT", () => {
+        block();
+        process.exit();
+    });
+}
 
 const program = new Command();
 
@@ -30,7 +38,13 @@ program
     .command("led")
     .description("Run LED steps")
     .action(async () => {
-        await led();
+        runOnSigint(() => {
+            hub.close();
+        });
+
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
+        await led(hub);
     });
 
 program
@@ -41,9 +55,15 @@ program
             "--continuous to run continuously.",
     )
     .action(async (port, options) => {
+        runOnSigint(() => {
+            hub.close();
+        });
+
         let isContinuous = options.continuous !== undefined;
         let portNumber = Number(port);
-        await analog(portNumber, isContinuous);
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
+        await analog(hub, portNumber, isContinuous);
     });
 
 program
@@ -54,8 +74,14 @@ program
             "Specify --continuous to run continuously",
     )
     .action(async (options) => {
+        runOnSigint(() => {
+            hub.close();
+        });
+
         let isContinuous = options.continuous !== undefined;
-        await temperature(isContinuous);
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
+        await temperature(hub, isContinuous);
     });
 
 program
@@ -65,8 +91,15 @@ program
         "Read the current 5V rail voltage. Specify --continuous to run continuously",
     )
     .action(async (options) => {
+        runOnSigint(() => {
+            hub.close();
+        });
+
         let isContinuous = options.continuous !== undefined;
-        await voltageRail(isContinuous);
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
+        await voltageRail(hub, isContinuous);
+        hub.close();
     });
 
 program
@@ -76,19 +109,33 @@ program
         "Read the current battery Voltage. Specify --continuous to run continuously",
     )
     .action(async (options) => {
+        runOnSigint(() => {
+            hub.close();
+        });
+
         let isContinuous = options.continuous !== undefined;
-        await battery(isContinuous);
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
+        await battery(hub, isContinuous);
+        hub.close();
     });
 
 program
     .command("servo <channel> <pulseWidth> [frameWidth]")
     .description("Run a servo with pulse width and optional frame width")
     .action(async (channel, pulseWidth, frameWidth) => {
+        runOnSigint(async () => {
+            await hub.setServoEnable(channelValue, false);
+            hub.close();
+        });
+
         let channelValue = Number(channel);
         let pulseWidthValue = Number(pulseWidth);
         let frameWidthValue = frameWidth ? Number(frameWidth) : 4000;
+        let hubs = await openConnectedExpansionHubs();
+        let hub = hubs[0];
 
-        await runServo(channelValue, pulseWidthValue, frameWidthValue);
+        await runServo(hub, channelValue, pulseWidthValue, frameWidthValue);
     });
 
 program.parse(process.argv);