Environment
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Arch : RaspberryPi 3
OS kernel : Linux raspberrypi 4.14.30-v7
node : v8.11.3
npm : v5.6.0

Purpose
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라즈베리파이의 servo(모터)를 동작시키려고 함

Problem
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02arm.js는 모터동작하게 하는 코드

pi@raspberrypi:~/tjbot/recipes/conversation $ sudo node 02arm.js
verbose: TJBot initializing servo motor on PIN 7
2019-10-11 18:56:53 initInitialise: Can't lock /var/run/pigpio.pid
/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:11
    pigpio.gpioInitialise();
           ^

Error: pigpio error -1 in gpioInitialise
    at initializePigpio (/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:11:12)
    at new Gpio (/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:25:3)
    at TJBot._setupServo (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:361:19)
    at TJBot.<anonymous> (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:74:22)
    at Array.forEach (<anonymous>)
    at new TJBot (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:59:14)
    at Object.<anonymous> (/home/pi/tjbot/recipes/conversation/02arm.js:22:10)
    at Module._compile (module.js:652:30)
    at Object.Module._extensions..js (module.js:663:10)
    at Module.load (module.js:565:32)
    at tryModuleLoad (module.js:505:12)
    at Function.Module._load (module.js:497:3)
    at Function.Module.runMain (module.js:693:10)
    at startup (bootstrap_node.js:191:16)
    at bootstrap_node.js:612:3

pin7에서 에러가 났다고 하길래 하드웨어적인 문제인줄 알고 모터, 판, 선 다바꿔봤는데 똑같은 에러 발생.

initInitialise: Can't lock /var/run/pigpio.pid

이 에러에 대한걸 찾아봤더니 몇 개 해결책이 나오긴 했다.

그 중 하나가 /var/run/pigpio.pid를 날려버리는것.

pi@raspberrypi:~/tjbot/recipes/conversation $ cat /var/run/pigpio.pid
313
pi@raspberrypi:~/tjbot/recipes/conversation $ sudo kill -9 313
pi@raspberrypi:~/tjbot/recipes/conversation $ rm /var/run/pigpio.pid

pigpio.pid에 적혀있는 프로세스 아이디를 찾아서 없애버리고 pid파일도 날려버린다.

근데 또 에러가 난다.

pi@raspberrypi:~/tjbot/recipes/conversation $ sudo node 02arm.js
verbose: TJBot initializing servo motor on PIN 7
2019-10-11 18:57:28 initInitialise: bind to port 8888 failed (Address already in use)
/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:11
    pigpio.gpioInitialise();
           ^

Error: pigpio error -1 in gpioInitialise
    at initializePigpio (/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:11:12)
    at new Gpio (/home/pi/tjbot/recipes/conversation/tjbotlib/node_modules/pigpio/pigpio.js:25:3)
    at TJBot._setupServo (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:361:19)
    at TJBot.<anonymous> (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:74:22)
    at Array.forEach (<anonymous>)
    at new TJBot (/home/pi/tjbot/recipes/conversation/tjbotlib/lib/tjbot.js:59:14)
    at Object.<anonymous> (/home/pi/tjbot/recipes/conversation/02arm.js:22:10)
    at Module._compile (module.js:652:30)
    at Object.Module._extensions..js (module.js:663:10)
    at Module.load (module.js:565:32)
    at tryModuleLoad (module.js:505:12)
    at Function.Module._load (module.js:497:3)
    at Function.Module.runMain (module.js:693:10)
    at startup (bootstrap_node.js:191:16)
    at bootstrap_node.js:612:3

비슷해보이는 에러인데 이번엔 포트충돌문제다.

initInitialise: bind to port 8888 failed (Address already in use)

Solution
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Caused by : 잘모르겠다
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initInitialise: Can't lock /var/run/pigpio.pid

위 에러에 대한 원인은 잘 모르겠다.

initInitialise: bind to port 8888 failed (Address already in use)

port8888을 누가 점유하고 있기때문에 발생.

How to solve?
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pigpio는 default port가 8888이기 때문에 해결방법은 두가지다.

8888포트를 쓰고있는 프로세스의 포트를 변경
pigpio의 default port를 변경

나는 2번으로 해결

pigpio를 설정하는 코드에 configureSocketPort로 포트 지정.

근데 configureSocketPort를 사용하려면 pigpio 버전이 0.6.0 이상이어야 한다.

TJBot.prototype._setupServo = function(pin) {
    var pigpio=require('pigpio');
    pigpio.configureSocketPort(8889);
    var Gpio=pigpio.Gpio;
    ....