@robotical/raftjs 1.3.3

package/dist/react-native/RaftChannelBLE.web.js

@@ -0,0 +1,294 @@
+"use strict";
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// RaftChannelBLE
+// Part of RaftJS
+//
+// Rob Dobson & Chris Greening 2020-2024
+// (C) 2020-2024 All rights reserved
+//
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+const RaftConnEvents_1 = require("./RaftConnEvents");
+const RaftLog_1 = tslib_1.__importDefault(require("./RaftLog"));
+const RaftUtils_1 = tslib_1.__importDefault(require("./RaftUtils"));
+class RaftChannelBLE {
+    constructor() {
+        // Device and characteristics
+        this._bleDevice = null;
+        this._characteristicTx = null;
+        this._characteristicRx = null;
+        // Message handler
+        this._raftMsgHandler = null;
+        // Conn event fn
+        this._onConnEvent = null;
+        // Last message tx time
+        this._msgTxTimeLast = Date.now();
+        this._msgTxMinTimeBetweenMs = 1;
+        this.maxRetries = 1;
+        // Connected flag and retries
+        this._isConnected = false;
+        this._maxConnRetries = 3;
+        // Event listener fn
+        this._eventListenerFn = null;
+        // File Handler parameters
+        this._requestedBatchAckSize = 10;
+        this._requestedFileBlockSize = 500;
+    }
+    fhBatchAckSize() {
+        return this._requestedBatchAckSize;
+    }
+    fhFileBlockSize() {
+        return this._requestedFileBlockSize;
+    }
+    // Set message handler
+    setMsgHandler(raftMsgHandler) {
+        this._raftMsgHandler = raftMsgHandler;
+    }
+    requiresSubscription() {
+        return true;
+    }
+    // RICREST command before disconnect
+    ricRestCmdBeforeDisconnect() {
+        // NT: Sending blerestart *before* disconnecting results in timeout issues as the device is no longer connected when we try to actually disconnect
+        // suggested fix: allow callaback command to be sent after disconnect on the fw side 
+        // return "blerestart";
+        return null;
+    }
+    // isEnabled
+    isEnabled() {
+        if (navigator.bluetooth) {
+            RaftLog_1.default.error("Web Bluetooth is supported in your browser.");
+            return true;
+        }
+        else {
+            window.alert("Web Bluetooth API is not available.\n" +
+                'Please make sure the "Experimental Web Platform features" flag is enabled.');
+            return false;
+        }
+    }
+    // isConnected
+    isConnected() {
+        return this._bleDevice !== null && this._isConnected;
+    }
+    // Set onConnEvent handler
+    setOnConnEvent(connEventFn) {
+        this._onConnEvent = connEventFn;
+    }
+    // Disconnection event
+    onDisconnected(event) {
+        const device = event.target;
+        RaftLog_1.default.debug(`RaftChannelBLE.onDisconnected ${device.name}`);
+        if (this._bleDevice) {
+            this._bleDevice.removeEventListener("gattserverdisconnected", this._eventListenerFn);
+        }
+        this._isConnected = false;
+        if (this._onConnEvent) {
+            this._onConnEvent(RaftConnEvents_1.RaftConnEvent.CONN_DISCONNECTED);
+        }
+    }
+    // Get connected locator
+    getConnectedLocator() {
+        return this._bleDevice || "";
+    }
+    // Connect to a device
+    async connect(locator, _connectorOptions) {
+        // RaftLog.debug(`Selected device: ${deviceID}`);
+        this._bleDevice = locator;
+        if (this._bleDevice && this._bleDevice.gatt) {
+            try {
+                // Connect
+                for (let connRetry = 0; connRetry < this._maxConnRetries; connRetry++) {
+                    // Connect
+                    const connTimeoutMs = _connectorOptions.connTimeoutMs || 5000;
+                    await RaftUtils_1.default.withTimeout(connTimeoutMs, this._bleDevice.gatt.connect());
+                    RaftLog_1.default.debug(`RaftChannelBLE.connect - ${this._bleDevice.gatt.connected ? "OK" : "FAILED"} attempt ${connRetry + 1} connection to device ${this._bleDevice.name}`);
+                    if (this._bleDevice.gatt.connected) {
+                        // Delay a bit
+                        await new Promise(resolve => setTimeout(resolve, 100));
+                        // Get service
+                        try {
+                            let service = null;
+                            // iterate over known services
+                            for (const serviceUUID of [RaftChannelBLE.CogServiceUUID, RaftChannelBLE.RICServiceUUID]) {
+                                try {
+                                    service = await this._bleDevice.gatt.getPrimaryService(serviceUUID);
+                                    if (service) {
+                                        break;
+                                    }
+                                }
+                                catch (error) {
+                                    RaftLog_1.default.warn(`RaftChannelBLE.connect - cannot get primary service ${error}`);
+                                }
+                            }
+                            if (!service) {
+                                RaftLog_1.default.error(`RaftChannelBLE.connect - cannot get primary service - giving up`);
+                                return false;
+                            }
+                            RaftLog_1.default.debug(`RaftChannelBLE.connect - found service: ${service.uuid}`);
+                            try {
+                                // Get Tx and Rx characteristics
+                                this._characteristicTx = await service.getCharacteristic(RaftChannelBLE.CmdUUID);
+                                RaftLog_1.default.debug(`RaftChannelBLE.connect - found char ${this._characteristicTx.uuid}`);
+                                this._characteristicRx = await service.getCharacteristic(RaftChannelBLE.RespUUID);
+                                RaftLog_1.default.debug(`RaftChannelBLE.connect - found char ${this._characteristicRx.uuid}`);
+                                // Notifications of received messages
+                                try {
+                                    await this._characteristicRx.startNotifications();
+                                    RaftLog_1.default.debug("RaftChannelBLE.connect - notifications started");
+                                    this._characteristicRx.addEventListener("characteristicvaluechanged", this._onMsgRx.bind(this));
+                                }
+                                catch (error) {
+                                    RaftLog_1.default.debug("RaftChannelBLE.connnect - addEventListener failed " + error);
+                                }
+                                // Connected ok
+                                RaftLog_1.default.debug(`RaftChannelBLE.connect ${this._bleDevice.name}`);
+                                // Add disconnect listener
+                                this._eventListenerFn = this.onDisconnected.bind(this);
+                                this._bleDevice.addEventListener("gattserverdisconnected", this._eventListenerFn);
+                                // Connected
+                                this._isConnected = true;
+                                return true;
+                            }
+                            catch (error) {
+                                RaftLog_1.default.error(`RaftChannelBLE.connect - cannot find characteristic: ${error}`);
+                            }
+                        }
+                        catch (error) {
+                            if (connRetry === this._maxConnRetries - 1) {
+                                RaftLog_1.default.error(`RaftChannelBLE.connect - cannot get primary service ${error} - attempt #${connRetry + 1} - giving up`);
+                            }
+                            else {
+                                RaftLog_1.default.debug(`RaftChannelBLE.connect - cannot get primary service - attempt #${connRetry + 1} ${error}`);
+                            }
+                        }
+                    }
+                }
+            }
+            catch (error) {
+                RaftLog_1.default.warn(`RaftChannelBLE.connect - cannot connect ${error}`);
+            }
+            // Disconnect
+            if (this._bleDevice &&
+                this._bleDevice.gatt &&
+                this._bleDevice.gatt.connected) {
+                try {
+                    await this._bleDevice.gatt.disconnect();
+                }
+                catch (error) {
+                    RaftLog_1.default.warn(`RaftChannelBLE.connect - cannot disconnect ${error}`);
+                }
+            }
+        }
+        return false;
+    }
+    // Disconnect
+    async disconnect() {
+        if (this._bleDevice && this._bleDevice.gatt) {
+            try {
+                RaftLog_1.default.debug(`RaftChannelBLE.disconnect GATT`);
+                await this._bleDevice.gatt.disconnect();
+            }
+            catch (error) {
+                RaftLog_1.default.debug(`RaftChannelBLE.disconnect ${error}`);
+            }
+        }
+    }
+    pauseConnection(pause) {
+        RaftLog_1.default.verbose(`pauseConnection ${pause} - no effect for this channel type`);
+        return;
+    }
+    // Handle notifications
+    _onMsgRx(event) {
+        // Get characteristic
+        const characteristic = event.target;
+        // Get value
+        const value = characteristic.value;
+        if (value !== undefined) {
+            const msg = new Uint8Array(value.buffer);
+            // Handle message
+            if (this._raftMsgHandler) {
+                try {
+                    this._raftMsgHandler.handleNewRxMsg(msg);
+                }
+                catch (error) {
+                    RaftLog_1.default.debug(`RaftChannelBLE.onMsgRx ${error}`);
+                }
+            }
+        }
+    }
+    // Send a message
+    async sendTxMsg(msg
+    //    _sendWithResponse: boolean
+    ) {
+        // Check valid
+        if (this._bleDevice === null) {
+            return false;
+        }
+        // Retry upto maxRetries
+        for (let retryIdx = 0; retryIdx < this.maxRetries; retryIdx++) {
+            // Check for min time between messages
+            while (Date.now() - this._msgTxTimeLast < this._msgTxMinTimeBetweenMs) {
+                await new Promise((resolve) => setTimeout(resolve, 5));
+            }
+            this._msgTxTimeLast = Date.now();
+            // Write to the characteristic
+            try {
+                if (this._characteristicTx) {
+                    if (this._characteristicTx.writeValueWithoutResponse) {
+                        await this._characteristicTx.writeValueWithoutResponse(msg);
+                    }
+                    else if (this._characteristicTx.writeValue) {
+                        await this._characteristicTx.writeValue(msg);
+                    }
+                    else if (this._characteristicTx.writeValueWithResponse) {
+                        await this._characteristicTx.writeValueWithResponse(msg);
+                    }
+                }
+                break;
+            }
+            catch (error) {
+                if (retryIdx === this.maxRetries - 1) {
+                    RaftLog_1.default.info(`RaftChannelBLE.sendTxMsg ${error} retried ${retryIdx} times`);
+                }
+            }
+        }
+        return true;
+    }
+    // Send message without awaiting response
+    async sendTxMsgNoAwait(msg
+    //    _sendWithResponse: boolean
+    ) {
+        // Check valid
+        if (this._bleDevice === null) {
+            return false;
+        }
+        // Check for min time between messages
+        while (Date.now() - this._msgTxTimeLast < this._msgTxMinTimeBetweenMs) {
+            await new Promise((resolve) => setTimeout(resolve, 5));
+        }
+        this._msgTxTimeLast = Date.now();
+        // Write to the characteristic
+        if (this._characteristicTx) {
+            if (this._characteristicTx.writeValueWithoutResponse) {
+                this._characteristicTx.writeValueWithoutResponse(msg);
+            }
+            else if (this._characteristicTx.writeValue) {
+                this._characteristicTx.writeValue(msg);
+            }
+            else if (this._characteristicTx.writeValueWithResponse) {
+                this._characteristicTx.writeValueWithResponse(msg);
+            }
+            return true;
+        }
+        return false;
+    }
+}
+// BLE UUIDS
+RaftChannelBLE.RICServiceUUID = "aa76677e-9cfd-4626-a510-0d305be57c8d";
+RaftChannelBLE.CogServiceUUID = "da903f65-d5c2-4f4d-a065-d1aade7af874";
+RaftChannelBLE.CmdUUID = "aa76677e-9cfd-4626-a510-0d305be57c8e";
+RaftChannelBLE.RespUUID = "aa76677e-9cfd-4626-a510-0d305be57c8f";
+exports.default = RaftChannelBLE;
+//# sourceMappingURL=RaftChannelBLE.web.js.map

package/dist/react-native/RaftChannelBLE.web.js.map

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package/dist/react-native/RaftChannelBLEFactory.d.ts

@@ -0,0 +1,10 @@
+/**
+ * @description
+ * This file is used to create a new instance of the RaftChannelBLE class.
+ * RaftChannelBLE exists in 2 files: RaftChannelBLE.native.ts and RaftChannelBLE.web.ts
+ * each of these files contains the same class but with different implementations (native and web).
+ * The import statement at the top of the file will import the correct implementation based on the platform
+ * (depending on the build configuration).
+ */
+import RaftChannelBLE from './RaftChannelBLE';
+export declare function createBLEChannel(): typeof RaftChannelBLE;

package/dist/react-native/RaftChannelBLEFactory.js

@@ -0,0 +1,17 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.createBLEChannel = createBLEChannel;
+const tslib_1 = require("tslib");
+/**
+ * @description
+ * This file is used to create a new instance of the RaftChannelBLE class.
+ * RaftChannelBLE exists in 2 files: RaftChannelBLE.native.ts and RaftChannelBLE.web.ts
+ * each of these files contains the same class but with different implementations (native and web).
+ * The import statement at the top of the file will import the correct implementation based on the platform
+ * (depending on the build configuration).
+ */
+const RaftChannelBLE_1 = tslib_1.__importDefault(require("./RaftChannelBLE"));
+function createBLEChannel() {
+    return RaftChannelBLE_1.default;
+}
+//# sourceMappingURL=RaftChannelBLEFactory.js.map

package/dist/react-native/RaftChannelBLEFactory.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"RaftChannelBLEFactory.js","sourceRoot":"","sources":["../../src/RaftChannelBLEFactory.ts"],"names":[],"mappings":";;AAUA,4CAEC;;AAZD;;;;;;;GAOG;AACH,8EAA8C;AAE9C,SAAgB,gBAAgB;IAC9B,OAAO,wBAAc,CAAC;AACxB,CAAC"}

package/dist/react-native/RaftChannelBLEScanner.native.d.ts

@@ -0,0 +1,18 @@
+import { BleManager, Device, BleError } from 'react-native-ble-plx';
+import { DiscoveredRIC } from './RaftTypes';
+import { RaftConnEventFn } from './RaftConnEvents';
+export default class RICBLEScanner {
+    _bleManager: BleManager;
+    _uuidsOfServicesToScanFor: Array<string>;
+    _discoveredRICs: DiscoveredRIC[];
+    static _scanInProgress: boolean;
+    _discoveryTimeMs: number;
+    _eventCallback: RaftConnEventFn;
+    constructor(bleManager: BleManager, uuidsOfServicesToScanFor: Array<string>, eventCallback: RaftConnEventFn);
+    getDiscoveredRICs(): DiscoveredRIC[];
+    isScanInProgress(): boolean;
+    scanningStart(uuid?: string): Promise<boolean>;
+    scanningStop(): void;
+    _discoveryFoundCB(error: BleError | null, scannedDevice: Device | null): void;
+    _discoverySetTimeLimit(timeLimitMs: number): void;
+}

package/dist/react-native/RaftChannelBLEScanner.native.js

@@ -0,0 +1,146 @@
+"use strict";
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// RICBLEScanner
+// Communications Connector for RIC V2
+//
+// RIC V2
+// Rob Dobson 2022
+// (C) Robotical 2022
+//
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+const RaftTypes_1 = require("./RaftTypes");
+const RaftLog_1 = tslib_1.__importDefault(require("./RaftLog"));
+const RaftConnEvents_1 = require("./RaftConnEvents");
+class RICBLEScanner {
+    constructor(bleManager, uuidsOfServicesToScanFor, eventCallback) {
+        // Services to scan for
+        this._uuidsOfServicesToScanFor = [];
+        // Scanned devices found on BLE
+        this._discoveredRICs = [];
+        // Time to scan for
+        this._discoveryTimeMs = 10000;
+        this._bleManager = bleManager;
+        this._uuidsOfServicesToScanFor = uuidsOfServicesToScanFor;
+        this._eventCallback = eventCallback;
+    }
+    // Get discovered RICs
+    getDiscoveredRICs() {
+        return this._discoveredRICs;
+    }
+    // Check is a scan is in progress
+    isScanInProgress() {
+        return RICBLEScanner._scanInProgress;
+    }
+    async scanningStart(uuid) {
+        let uuidsOfServicesToScanFor = [];
+        if (uuid) {
+            uuidsOfServicesToScanFor.push(uuid);
+        }
+        else {
+            uuidsOfServicesToScanFor = this._uuidsOfServicesToScanFor;
+        }
+        // Handle discovery
+        RaftLog_1.default.debug('Starting Scanning...');
+        // Clear list
+        this._discoveredRICs = [];
+        // Disconnect any connections
+        RICBLEScanner._scanInProgress = true;
+        // Start scan
+        try {
+            this._bleManager.startDeviceScan(uuidsOfServicesToScanFor, { allowDuplicates: true }, (error, device) => {
+                // RaftLog.debug(`discoveryFoundCB error ${error}`);
+                this._discoveryFoundCB(error, device);
+            });
+        }
+        catch (e) {
+            RaftLog_1.default.warn(`Error starting scan ${e}`);
+            return false;
+        }
+        // Set a time limit
+        this._discoverySetTimeLimit(this._discoveryTimeMs);
+        return true;
+    }
+    scanningStop() {
+        RaftLog_1.default.debug('scanningStop');
+        // Emit finished if we were scanning
+        RaftLog_1.default.debug(`IS SCANNING IN PROGRESS: ${RICBLEScanner._scanInProgress}`);
+        if (RICBLEScanner._scanInProgress) {
+            RaftLog_1.default.debug(`sending BLE_SCANNING_FINISHED event`);
+            this._eventCallback(RaftConnEvents_1.RaftConnEvent.BLE_SCANNING_FINISHED, { discoveredRICs: this._discoveredRICs });
+        }
+        // Cancel scanning
+        this._bleManager.stopDeviceScan();
+        RICBLEScanner._scanInProgress = false;
+    }
+    // Callback from BLE-PLX library on device discovered
+    _discoveryFoundCB(error, scannedDevice) {
+        if (error) {
+            //RaftLog.warn(`⚠️ Scan Error >> ${error.toString()}`);
+            RaftLog_1.default.warn(`⚠️ Scan Error >> ${JSON.stringify(error)}`);
+            // Event if we were scanning
+            if (RICBLEScanner._scanInProgress) {
+                this._eventCallback(RaftConnEvents_1.RaftConnEvent.BLE_SCANNING_FINISHED, {
+                    discoveredRICs: this._discoveredRICs,
+                });
+                RICBLEScanner._scanInProgress = false;
+            }
+            return;
+        }
+        // See if already in the list
+        const ricAlreadyFound = this._discoveredRICs.find(item => item.id === scannedDevice.id);
+        RaftLog_1.default.debug(`✅ Scanning... >> ${scannedDevice}`);
+        if (ricAlreadyFound) {
+            // update the rssi value if it's not 127
+            if (scannedDevice.rssi !== null && scannedDevice.rssi !== 127) {
+                ricAlreadyFound._rssi = scannedDevice.rssi;
+                this._eventCallback(RaftConnEvents_1.RaftConnEvent.BLE_DEVICE_FOUND, {
+                    discoveredRIC: ricAlreadyFound
+                });
+            }
+            return;
+        }
+        if (scannedDevice !== null) {
+            if (!scannedDevice.localName) {
+                // if the name of the device is null, don't add this device
+                // the first time round. Second time this device comes up
+                // will have all the needed info
+                return;
+            }
+            const newDiscoveredRic = new RaftTypes_1.DiscoveredRIC(scannedDevice.localName !== null ? scannedDevice.localName : '', scannedDevice.name !== null ? scannedDevice.name : '', scannedDevice.id, scannedDevice.rssi !== null ? scannedDevice.rssi : -150);
+            this._discoveredRICs.push(newDiscoveredRic);
+            // send the newly found ric to the state so it can pop-up on the front-end
+            this._eventCallback(RaftConnEvents_1.RaftConnEvent.BLE_DEVICE_FOUND, {
+                discoveredRIC: newDiscoveredRic
+            });
+        }
+        RaftLog_1.default.debug(`🤖 Scanned RICs >> ${this._discoveredRICs}`);
+    }
+    // Time-limit on device scanning
+    _discoverySetTimeLimit(timeLimitMs) {
+        setTimeout(() => {
+            // Stop scanning
+            this._bleManager.stopDeviceScan();
+            // Check we were scanning
+            if (RICBLEScanner._scanInProgress) {
+                // Sort by signal strength
+                // this._discoveredRICs.sort((a, b) => {
+                //   return b!.rssi! - a!.rssi!;
+                // });
+                // Debug
+                const msg = `🤖 ${this._discoveredRICs.length} RICs found! Choose one to connect`;
+                RaftLog_1.default.debug(msg);
+                // Finished event
+                this._eventCallback(RaftConnEvents_1.RaftConnEvent.BLE_SCANNING_FINISHED, {
+                    discoveredRICs: this._discoveredRICs,
+                });
+            }
+            RICBLEScanner._scanInProgress = false;
+        }, timeLimitMs);
+    }
+}
+RICBLEScanner._scanInProgress = false;
+exports.default = RICBLEScanner;
+//# sourceMappingURL=RaftChannelBLEScanner.native.js.map

package/dist/react-native/RaftChannelBLEScanner.native.js.map

@@ -0,0 +1 @@
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package/dist/react-native/RaftChannelWebSerial.d.ts

@@ -0,0 +1,37 @@
+import RaftChannel from "./RaftChannel";
+import RaftMsgHandler from "./RaftMsgHandler";
+import { RaftConnEventFn } from "./RaftConnEvents";
+import { ConnectorOptions } from "./RaftSystemType";
+export default class RaftChannelWebSerial implements RaftChannel {
+    private _raftMsgHandler;
+    private _port;
+    private _reader?;
+    private _isConnected;
+    private _connPaused;
+    private _serialBuffer;
+    private _escapeSeqCode;
+    private _OVERASCII_ESCAPE_1;
+    private _OVERASCII_ESCAPE_2;
+    private _OVERASCII_ESCAPE_3;
+    private _OVERASCII_MOD_CODE;
+    private _onConnEvent;
+    private _requestedBatchAckSize;
+    private _requestedFileBlockSize;
+    fhBatchAckSize(): number;
+    fhFileBlockSize(): number;
+    isConnected(): boolean;
+    setMsgHandler(raftMsgHandler: RaftMsgHandler): void;
+    requiresSubscription(): boolean;
+    ricRestCmdBeforeDisconnect(): string | null;
+    setOnConnEvent(connEventFn: RaftConnEventFn): void;
+    getConnectedLocator(): string | object;
+    connect(locator: string | object, _connectorOptions: ConnectorOptions): Promise<boolean>;
+    disconnect(): Promise<void>;
+    pauseConnection(pause: boolean): void;
+    private _overasciiDecodeByte;
+    private _overasciiEncode;
+    _onMsgRx(msg: Uint8Array | null): void;
+    sendTxMsg(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
+    sendTxMsgNoAwait(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
+    _readLoop(): Promise<void>;
+}