@robdobsn/raftjs 1.7.2 → 1.7.5

package/examples/dashboard/src/SystemTypeCog/CogStateInfo.ts

@@ -1,163 +0,0 @@
-import { time } from "console";
-import RaftLog from "../../../../src/RaftLog";
-import { DeviceManager } from "../../../../src/RaftDeviceManager";
-import RaftUtils from "../../../../src/RaftUtils";
-import { TextDecoder } from 'text-encoding';
-
-// export interface IMUStateInfo {
-//     gx: number;
-//     gy: number;
-//     gz: number;
-//     ax: number;
-//     ay: number;
-//     az: number;
-//     tsMs: number;
-// }
-
-// export interface DeviceLastTsState {
-//     lastMs: number;
-//     offsetMs: number;
-// }
-
-// export interface DeviceMsgJsonElem {
-//     _t: string; // Device type
-//     _o: string; // Device name
-//     x: string; // Hex encoded message values
-// }
-
-// export interface DeviceMsgJsonBus {
-//     [devAddr: string]: DeviceMsgJsonElem;
-// }
-  
-// export interface DeviceMsgJson {
-//     [busName: string]: DeviceMsgJsonBus;
-// }
-
-export class CogStateInfo {
-
-    // LSM6DS: IMUStateInfo = {gx: 0, gy: 0, gz: 0, ax: 0, ay: 0, az: 0, tsMs: 0};
-
-    // // Last timestamp for each device
-    // private _deviceLastTs: {[devName: string]: DeviceLastTsState} = {};
-    
-    public constructor(private _deviceManager: DeviceManager) {
-    }
-
-    get deviceManager(): DeviceManager {
-        return this._deviceManager; 
-    }
-
-    updateFromMsg(rxMsg: Uint8Array, frameTimeMs: number, isBinary: boolean): Array<string> {
-
-        // Debug 
-        // RaftLog.info(`CogStateInfo: updateFromMsg: rxMsg: ${rxMsg} frameTimeMs: ${frameTimeMs}`);
-
-        if (isBinary) {
-            // console.log(`CogStateInfo: updateFromMsg: ${RaftUtils.bufferToHex(rxMsg)}`);
-            this._deviceManager.handleClientMsgBinary(rxMsg);
-        } else {
-            // Convert Uint8Array to string
-            const decoder = new TextDecoder('utf-8');
-            const jsonString = decoder.decode(rxMsg.slice(2));
-
-            // Handle using device manager
-            this._deviceManager.handleClientMsgJson(jsonString);
-        }
-
-    //     // Debug
-    //     // RaftLog.info(`CogStateInfo: updateFromMsg: jsonString: ${jsonString}`);
-
-    //     // Parse JSON string to TypeScript object
-    //     const deviceMsg: DeviceMsgJson = JSON.parse(jsonString);
-
-    //     // Debug
-    //     // for (const busName in deviceMsg) {
-    //     //     for (const devAddr in deviceMsg[busName]) {
-    //     //         for (const attrGroupName in deviceMsg[busName][devAddr]) {
-    //     //             RaftLog.info(`CogStateInfo: updateFromMsg: busName ${busName} devAddr ${devAddr} attrGroupName: ${attrGroupName}`);
-    //     //             RaftLog.info(`CogStateInfo: updateFromMsg: attrValue: ${deviceMsg[busName][devAddr][attrGroupName]}`);
-    //     //         }
-    //     //     }
-    //     // }
-
-    //     // Iterate over values and extract
-    //     for (const busName in deviceMsg) {
-    //         for (const devAddr in deviceMsg[busName]) {
-
-    //             // Validate
-    //             if ((deviceMsg[busName][devAddr].x === undefined) || (deviceMsg[busName][devAddr]._t === undefined)) {
-    //                 RaftLog.warn(`CogStateInfo: updateFromMsg: Invalid message`);
-    //                 continue;
-    //             }
-
-    //             // Extract message and device type
-    //             const msgHex = deviceMsg[busName][devAddr].x;
-    //             const devType = deviceMsg[busName][devAddr]._t;
-
-    //             // Check if message is empty
-    //             if (msgHex === '') {
-    //                 RaftLog.warn(`CogStateInfo: updateFromMsg: Empty message`);
-    //                 continue;
-    //             }
-
-    //             // Convert the hex string to an arraybuffer by converting each pair of hex chars to a byte
-    //             const msgBytes = this.hexToBytes(msgHex);
-
-    //             // Convert to a Buffer
-    //             const msgBuffer = Buffer.from(msgBytes);
-
-    //             // Extract timestamp
-    //             let timestamp = msgBuffer.readUInt16BE(0);
-    //             if (this._deviceLastTs[devType] === undefined) {
-    //                 this._deviceLastTs[devType] = {lastMs: 0, offsetMs: 0};
-    //             }
-    //             const devTsState = this._deviceLastTs[devType];
-    //             if (timestamp < devTsState.lastMs) {
-    //                 devTsState.offsetMs += 0x10000;
-    //             }
-    //             devTsState.lastMs = timestamp;
-    //             timestamp += devTsState.offsetMs;
-    //             let msgBufferOffset = 2;
-    //             // RaftLog.info(`CogStateInfo: updateFromMsg: timestamp: ${timestamp}`);
-
-    //             // Handle device types
-    //             switch (devType) {
-    //                 case 'LSM6DS':
-    //                     // RaftLog.info(`CogStateInfo: updateFromMsg: IMU`);
-
-    //                     // LSD6DS IMU data is coded as 16-bit signed integers little-endian
-    //                     // gx, gy, gz, ax, ay, az
-    //                     this.LSM6DS = {
-    //                         gx: msgBuffer.readInt16LE(msgBufferOffset) / 16.384,
-    //                         gy: msgBuffer.readInt16LE(msgBufferOffset + 2) / 16.384,
-    //                         gz: msgBuffer.readInt16LE(msgBufferOffset + 4) / 16.384,
-    //                         ax: msgBuffer.readInt16LE(msgBufferOffset + 6) / 8192,
-    //                         ay: msgBuffer.readInt16LE(msgBufferOffset + 8) / 8192,
-    //                         az: msgBuffer.readInt16LE(msgBufferOffset + 10) / 8192,
-    //                         tsMs: timestamp
-    //                     };
-
-    //                     // Debug
-    //                     // RaftLog.info(`CogStateInfo: updateFromMsg: LSM6DS: gx: ${this.LSM6DS.gx.toFixed(2)} gy: ${this.LSM6DS.gy.toFixed(2)} gz: ${this.LSM6DS.gz.toFixed(2)} ax: ${this.LSM6DS.ax.toFixed(2)} ay: ${this.LSM6DS.ay.toFixed(2)} az: ${this.LSM6DS.az.toFixed(2)} tsMs: ${this.LSM6DS.tsMs}`);
-
-
-
-    //                     // const imu = deviceMsg[busName][devAddr] as DeviceMsgJsonElem;
-    //                     // this.imu = {x: imu.x as number, y: imu.y as number, z: imu.z as number, lastMs: frameTimeMs};
-    //                     break;
-    //             }
-    //         }
-    //     }
-
-        return [];
-
-    }
-
-    // private hexToBytes(hex: string): Uint8Array {
-    //     const bytes = new Uint8Array(hex.length / 2);
-    //     for (let i = 0; i < bytes.length; i++) {
-    //         bytes[i] = parseInt(hex.substr(i * 2, 2), 16);
-    //     }
-    //     return bytes;
-    // }    
-  }

package/examples/dashboard/src/SystemTypeCog/SystemTypeCog.ts

@@ -1,91 +0,0 @@
-import { RaftSubscribeForUpdatesCBType, RaftSystemType } from "../../../../src/RaftSystemType";
-import { RaftEventFn, RaftLog, RaftOKFail, RaftPublishEvent, RaftPublishEventNames, RaftSystemUtils } from "../../../../src/main";
-import { CogStateInfo } from "./CogStateInfo";
-import { DeviceManager } from "../../../../src/RaftDeviceManager";
-
-const SUBSCRIBE_BINARY_MSGS = true;
-
-export default class SystemTypeCog implements RaftSystemType {
-    nameForDialogs = "Robotical Cog";
-    defaultWiFiHostname = "Cog";
-    firmwareDestName = "ricfw";
-    normalFileDestName = "fs";
-    connectorOptions = {wsSuffix: "wsjson", bleConnItvlMs: 50};
-    BLEServiceUUIDs = ["da903f65-d5c2-4f4d-a065-d1aade7af874"];
-    BLECmdUUID = "aa76677e-9cfd-4626-a510-0d305be57c8e";
-    BLERespUUID = "aa76677e-9cfd-4626-a510-0d305be57c8f";
-
-    // Event handler
-    private _onEvent: RaftEventFn | null = null;
-
-    // Raft system utils
-    private _systemUtils: RaftSystemUtils | null = null;
-
-    // Device manager
-    private _deviceManager: DeviceManager = new DeviceManager();
-    
-    // Setup
-    setup(systemUtils: RaftSystemUtils, onEvent: RaftEventFn | null): void {
-      this._systemUtils = systemUtils;
-      this._onEvent = onEvent;
-      this._deviceManager.setup(systemUtils);
-    }
-
-    // Latest data from servos, IMU, etc
-    private _stateInfo: CogStateInfo = new CogStateInfo(this._deviceManager);
-    getStateInfo(): CogStateInfo {
-      return this._stateInfo;
-    }
-
-    // Subscribe for updates
-    subscribeForUpdates: RaftSubscribeForUpdatesCBType | null = async (systemUtils: RaftSystemUtils, enable: boolean) => {
-      // Subscription rate
-      const topic = SUBSCRIBE_BINARY_MSGS ? "devbin" : "devjson";
-      const subscribeRateHz = 0.1;
-      try {
-        const subscribeDisable = '{"cmdName":"subscription","action":"update",' +
-          '"pubRecs":[' +
-          `{"name":"${topic}","rateHz":0,}` +
-          ']}';
-        const subscribeEnable = '{"cmdName":"subscription","action":"update",' +
-          '"pubRecs":[' +
-          `{"name":"${topic}","trigger":"timeorchange","rateHz":${subscribeRateHz.toString()}}` +
-          ']}';
-
-        const msgHandler = systemUtils.getMsgHandler();
-        const ricResp = await msgHandler.sendRICRESTCmdFrame<RaftOKFail>(
-          enable ? subscribeEnable : subscribeDisable
-        );
-
-        // Debug
-        RaftLog.debug(`subscribe enable/disable returned ${JSON.stringify(ricResp)}`);
-      } catch (error: unknown) {
-        RaftLog.warn(`getRICCalibInfo Failed subscribe for updates ${error}`);
-      }
-    };
-
-    // Invalidate state
-    stateIsInvalid(): void {};
-
-    // Other message type
-    rxOtherMsgType(payload: Uint8Array, frameTimeMs: number) {
-
-      // RICLog.debug(`rxOtherMsgType payload ${RaftUtils.bufferToHex(payload)}`);
-      RaftLog.verbose(`rxOtherMsgType payloadLen ${payload.length}`);
-      const topicIDs = this._stateInfo.updateFromMsg(payload, frameTimeMs, SUBSCRIBE_BINARY_MSGS);
-
-      // Call event handler if registered
-      if (this._onEvent) {
-        this._onEvent("pub", RaftPublishEvent.PUBLISH_EVENT_DATA, RaftPublishEventNames[RaftPublishEvent.PUBLISH_EVENT_DATA],
-          {
-            topicIDs: topicIDs,
-            payload: payload,
-            frameTimeMs: frameTimeMs,
-            isBinary: SUBSCRIBE_BINARY_MSGS
-          });
-      }
-    };
-
-    // Get device manager
-    deviceMgrIF = this._deviceManager;
-  }

package/examples/dashboard/src/SystemTypeGeneric/StateInfoGeneric.ts

@@ -1,30 +0,0 @@
-import { time } from "console";
-import RaftLog from "../../../../src/RaftLog";
-import { DeviceManager } from "../../../../src/RaftDeviceManager";
-
-export class StateInfoGeneric {
-
-    public constructor(private _deviceManager: DeviceManager) {
-    }
-
-    updateFromMsg(rxMsg: Uint8Array, frameTimeMs: number, isBinary: boolean): Array<string> {
-
-        // Debug 
-        // RaftLog.info(`StateInfoGeneric: updateFromMsg: rxMsg: ${rxMsg} frameTimeMs: ${frameTimeMs}`);
-
-        // Handle binary or JSON
-        if (isBinary) {
-            // Handle using device manager
-            this._deviceManager.handleClientMsgBinary(rxMsg);            
-        } else {
-            // Convert Uint8Array to string
-            const decoder = new TextDecoder('utf-8');
-            const jsonString = decoder.decode(rxMsg.slice(2));
-
-            // Handle using device manager
-            this._deviceManager.handleClientMsgJson(jsonString);
-        }
-        return [];
-
-    }
-}

package/examples/dashboard/src/SystemTypeGeneric/SystemTypeGeneric.ts

@@ -1,91 +0,0 @@
-import { RaftSubscribeForUpdatesCBType, RaftSystemType } from "../../../../src/RaftSystemType";
-import { RaftEventFn, RaftLog, RaftOKFail, RaftPublishEvent, RaftPublishEventNames, RaftSystemUtils } from "../../../../src/main";
-import { StateInfoGeneric } from "./StateInfoGeneric";
-import { DeviceManager } from "../../../../src/RaftDeviceManager";
-
-const SUBSCRIBE_BINARY_MSGS = false;
-
-export default class SystemTypeGeneric implements RaftSystemType {
-    nameForDialogs = "Generic System";
-    defaultWiFiHostname = "Generic";
-    firmwareDestName = "ricfw";
-    normalFileDestName = "fs";
-    connectorOptions = {wsSuffix: "wsjson", bleConnItvlMs: 50};
-    BLEServiceUUIDs = ["aa76677e-9cfd-4626-a510-0d305be57c8d", "da903f65-d5c2-4f4d-a065-d1aade7af874"];
-    BLECmdUUID = "aa76677e-9cfd-4626-a510-0d305be57c8e";
-    BLERespUUID = "aa76677e-9cfd-4626-a510-0d305be57c8f";
-
-    // Event handler
-    private _onEvent: RaftEventFn | null = null;
-
-    // Raft system utils
-    private _systemUtils: RaftSystemUtils | null = null;
-
-    // Device manager
-    private _deviceManager: DeviceManager = new DeviceManager();
-    
-    // Setup
-    setup(systemUtils: RaftSystemUtils, onEvent: RaftEventFn | null): void {
-      this._systemUtils = systemUtils;
-      this._onEvent = onEvent;
-      this._deviceManager.setup(systemUtils);
-    }
-
-    // Latest data from servos, IMU, etc
-    private _stateInfo: StateInfoGeneric = new StateInfoGeneric(this._deviceManager);
-    getStateInfo(): StateInfoGeneric {
-      return this._stateInfo;
-    }
-
-    // Subscribe for updates
-    subscribeForUpdates: RaftSubscribeForUpdatesCBType | null = async (systemUtils: RaftSystemUtils, enable: boolean) => {
-      // Subscription rate
-      const subscribeRateHz = 0.1;
-      try {
-        const topic = SUBSCRIBE_BINARY_MSGS ? "devbin" : "devjson";
-        const subscribeDisable = '{"cmdName":"subscription","action":"update",' +
-          '"pubRecs":[' +
-          `{"name":"${topic}","rateHz":0,}` +
-          ']}';
-        const subscribeEnable = '{"cmdName":"subscription","action":"update",' +
-          '"pubRecs":[' +
-          `{"name":"${topic}","trigger":"timeorchange","rateHz":${subscribeRateHz.toString()}}` +
-          ']}';
-
-        const msgHandler = systemUtils.getMsgHandler();
-        const ricResp = await msgHandler.sendRICRESTCmdFrame<RaftOKFail>(
-          enable ? subscribeEnable : subscribeDisable
-        );
-
-        // Debug
-        RaftLog.debug(`subscribe enable/disable returned ${JSON.stringify(ricResp)}`);
-      } catch (error: unknown) {
-        RaftLog.warn(`getRICCalibInfo Failed subscribe for updates ${error}`);
-      }
-    };
-
-    // Invalidate state
-    stateIsInvalid(): void {};
-
-    // Other message type
-    rxOtherMsgType(payload: Uint8Array, frameTimeMs: number) {
-
-      // RICLog.debug(`rxOtherMsgType payload ${RaftUtils.bufferToHex(payload)}`);
-      RaftLog.verbose(`rxOtherMsgType payloadLen ${payload.length}`);
-      const topicIDs = this._stateInfo.updateFromMsg(payload, frameTimeMs, SUBSCRIBE_BINARY_MSGS);
-
-      // Call event handler if registered
-      if (this._onEvent) {
-        this._onEvent("pub", RaftPublishEvent.PUBLISH_EVENT_DATA, RaftPublishEventNames[RaftPublishEvent.PUBLISH_EVENT_DATA],
-          {
-            topicIDs: topicIDs,
-            payload: payload,
-            frameTimeMs: frameTimeMs,
-            isBinary: SUBSCRIBE_BINARY_MSGS
-          });
-      }
-    };
-
-    // Get device manager
-    deviceMgrIF = this._deviceManager;
-  }

package/examples/dashboard/src/SystemTypeMarty/RICAddOn.ts

@@ -1,70 +0,0 @@
-import { RICHWElem } from "./RICHWElem";
-
-/**
- * RICAddOn
- * 
- * @description
- * Information about an add-on
- * 
- * @field name: string - Name of add-on
- * @field SN: string - Serial number
- * @field poll: string - polling type ("status")
- * @field pollRd: string - hex data most recently read
- * @field pollHz: number - rate of polling
- */
-export type RICAddOn = {
-  name: string;
-  SN: string;
-  poll: string;
-  pollRd: number;
-  pollHz: number;
-};
-
-export class RICConfiguredAddOns {
-  req = '';
-  rslt = 'ok';
-  addons: Array<RICAddOn> = [];
-}
-
-/**
- * AddOnElemAndConfig
- * 
- * @description
- * Carrier of information about an add-on combining
- * the add-on element and the add-on configuration
- * 
- * @field addOnConfig: RICAddOn - Add-on configuration
- * @field hwElemRec: RICHWElem - Add-on element
- * @field elemIdx: number - Index of the add-on element
- */
-export class AddOnElemAndConfig {
-  constructor(
-    addOnConfig: RICAddOn | null,
-    hwElemRec: RICHWElem | null,
-    elemIdx: number,
-  ) {
-    this.isConfigured = addOnConfig !== null;
-    this.isConnected = hwElemRec !== null;
-    if (addOnConfig != null) {
-      this.SN = addOnConfig.SN;
-      this.name = addOnConfig.name;
-    } else if (hwElemRec != null) {
-      this.SN = hwElemRec.SN;
-      this.name = hwElemRec.name;
-    }
-    this.addOnConfig = addOnConfig;
-    this.hwElemRec = hwElemRec;
-    this.id = elemIdx.toString();
-  }
-
-  // Fields from config (stored in RIC NVS using addon REST API)
-  addOnConfig: RICAddOn | null = null;
-  // Fields from HWElem (from hwstatus command)
-  hwElemRec: RICHWElem | null = null;
-  // Fields allocated when combining records
-  name = '';
-  SN = '';
-  id = '0';
-  isConnected = false;
-  isConfigured = false;
-}

package/examples/dashboard/src/SystemTypeMarty/RICAddOnBase.ts

@@ -1,33 +0,0 @@
-/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-//
-// RICJS
-// Communications Library
-//
-// Rob Dobson & Chris Greening 2020-2022
-// (C) 2020-2022
-//
-/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
-import { RaftReportMsg } from '../../../../src/RaftTypes';
-import { ROSSerialAddOnStatus } from './RICROSSerial';
-
-export default abstract class RICAddOnBase {
-  _name = '';
-  _typeName = '';
-  _whoAmI = "";
-  _whoAmITypeCode = "";
-  _isStatic = false;
-  _initCmd: string | null = null;
-  constructor(name: string, typeName: string, whoAmI: string, whoAmITypeCode: string) {
-    this._name = name;
-    this._typeName = typeName;
-    this._whoAmI = whoAmI;
-    this._whoAmITypeCode = whoAmITypeCode;
-  }
-  abstract processInit(_dataReceived: RaftReportMsg): void;
-  abstract processPublishedData(
-    addOnID: number,
-    statusByte: number,
-    rawData: Uint8Array,
-  ): ROSSerialAddOnStatus;
-}