Node-RED MCU用のノードを作成してみる　その２（Servoノード）

import {Node} from "nodered";

class PWMOutNode extends Node { ...

onStart(config) { ...
	try {
			const options = {
				pin: config.pin,
			};
			if (config.hz)
				options.hz = config.hz;
			this.#io = io = new device.io.PWM(options);
			cache.set(config.pin, io);
		}
		catch {
			this.status({fill: "red", shape: "dot", text: "node-red:common.status.error"});
		}

onMessage(msg, done) {
		if (this.#io) {
			this.#io.write(msg.payload * ((1 << this.#io.resolution) - 1));
			this.status({fill:"green", shape:"dot", text: msg.payload.toString()});
		}
		done();
	}

<script type="text/javascript">
	RED.nodes.registerType('mcu_servo',{
		category: mcuHelper.category,
		color: mcuHelper.color,
		defaults: {
			name: { value:"SG90" },
			pin: { validate: RED.validators.number() },
			hz: { value:"50" },
			pulseMin: {value:"0.5"},
			pulseMax: {value:"2.4"},
			angleMin: {value:"0"},
			angleMax: {value:"180"},
			moddable_manifest: {value: {include: "./manifest.json"}},
		},
		inputs:1,
		outputs:0,
		icon: "serial.svg",
		paletteLabel: 'Servo',
		label: function() {
			return this.name || "Servo " + this.pin;
		},
		oneditprepare: function() {
			const div = $("#node-mcu-rows");
			mcuHelper.appendProperties.PWM(div, "io", {});
			mcuHelper.restoreProperties.PWM(this, "io");
		},
		oneditsave: function() {
			mcuHelper.saveProperties.PWM(this, "io");
		},
	});
</script>

<script type="text/html" data-template-name="mcu_servo">
	<div class="form-row">
		<label for="node-input-name"><i class="fa fa-tag"></i> Name</label>
		<input type="text" id="node-input-name" placeholder="Servo">
	</div>
	<div id="node-mcu-rows">
	</div>
	<div class="form-row">
        <label for="node-input-pulse"><i class="fa fa-arrows-h"></i> pulse width(us)</label>
        <span for="node-input-pulseMin">min</span>
        <input type="number" id="node-input-pulseMin" style="width:60px" step="0.1">
        <span for="node-input-pulseMax" style="margin-left:22px;">max</span>
        <input type="number" id="node-input-pulseMax" style="width:60px" step="0.1">
    </div>
	<div class="form-row">
        <label for="node-input-angle"><i class="fa fa-arrows-h"></i> angle</label>
        <span for="node-input-angleMin">min</span>
        <input type="number" id="node-input-angleMin" style="width:60px" step="0.1">
        <span for="node-input-angleMax" style="margin-left:22px;">max</span>
        <input type="number" id="node-input-angleMax" style="width:60px" step="0.1">
    </div>
</script>

<script type="text/markdown" data-help-name="mcu_servo">

</script>

import {Node} from "nodered";
let cache;

class ServoNode extends Node {
	#io; #cycle; #pulseWidth; #angleWidth; #pulseMin;

	onStart(config) {
		super.onStart(config);

		if (!globalThis.device?.io?.PWM)
			return void this.status({fill: "red", shape: "dot", text: "node-red:common.status.error"});

		cache ??= new Map;
		let io = cache.get(config.pin);
        this.#cycle = 1 / Number(config.hz) * 10 ** 3;
        this.#pulseWidth = Number(config.pulseMax) - Number(config.pulseMin);
        this.#angleWidth = Number(config.angleMax) - Number(config.angleMin);
		this.#pulseMin = Number(config.pulseMin);

		if (io) {
			this.#io = io;
		}
		else {
			try {
				const options = {
					pin: config.pin,
				};
				if (config.hz)
					options.hz = config.hz;
				this.#io = io = new device.io.PWM(options);
				cache.set(config.pin, io);
			}
			catch {
				this.status({fill: "red", shape: "dot", text: "node-red:common.status.error"});
			}
		}
	}
	onMessage(msg, done) {
        let ratio = (Number(msg.payload) / this.#angleWidth * this.#pulseWidth + this.#pulseMin) / this.#cycle;
		if (this.#io) {
			this.#io.write(ratio * ((1 << this.#io.resolution) - 1));
			this.status({fill:"green", shape:"dot", text: ratio.toString()});
		}
		done();
	}

	static type = "mcu_servo";
	static {
		RED.nodes.registerType(this.type, this);
	}
}

{
	"modules": {
		"servo": "./servo"
	},
	"preload": [
		"servo"
	]
}

module.exports = function(RED) {
    function ServoNode(config) {
        RED.nodes.createNode(this, config);
		console.log(config)
    }
    RED.nodes.registerType("mcu_servo", ServoNode);
}