@robotical/raftjs 1.4.7 → 2.0.4

package/dist/web/RaftChannelBLE.web.js

@@ -55,15 +55,12 @@ class RaftChannelBLE {
     }
     // 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;
+        return "bledisconnect";
     }
     // isEnabled
     isEnabled() {
         if (navigator.bluetooth) {
-            RaftLog_1.default.error("Web Bluetooth is supported in your browser.");
+            RaftLog_1.default.warn("Web Bluetooth is supported in your browser.");
             return true;
         }
         else {
@@ -84,7 +81,7 @@ class RaftChannelBLE {
     onDisconnected(event) {
         const device = event.target;
         RaftLog_1.default.debug(`RaftChannelBLE.onDisconnected ${device.name}`);
-        if (this._bleDevice) {
+        if (this._bleDevice && this._eventListenerFn) {
             this._bleDevice.removeEventListener("gattserverdisconnected", this._eventListenerFn);
         }
         this._isConnected = false;
@@ -127,7 +124,7 @@ class RaftChannelBLE {
                                 }
                             }
                             if (!service) {
-                                RaftLog_1.default.error(`RaftChannelBLE.connect - cannot get primary service - giving up`);
+                                RaftLog_1.default.warn(`RaftChannelBLE.connect - cannot get primary service - giving up`);
                                 return false;
                             }
                             RaftLog_1.default.debug(`RaftChannelBLE.connect - found service: ${service.uuid}`);
@@ -156,12 +153,12 @@ class RaftChannelBLE {
                                 return true;
                             }
                             catch (error) {
-                                RaftLog_1.default.error(`RaftChannelBLE.connect - cannot find characteristic: ${error}`);
+                                RaftLog_1.default.warn(`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`);
+                                RaftLog_1.default.warn(`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}`);
@@ -240,14 +237,15 @@ class RaftChannelBLE {
             // Write to the characteristic
             try {
                 if (this._characteristicTx) {
+                    const bs = RaftUtils_1.default.toBufferSource(msg);
                     if (this._characteristicTx.writeValueWithoutResponse) {
-                        await this._characteristicTx.writeValueWithoutResponse(msg);
+                        await this._characteristicTx.writeValueWithoutResponse(bs);
                     }
                     else if (this._characteristicTx.writeValue) {
-                        await this._characteristicTx.writeValue(msg);
+                        await this._characteristicTx.writeValue(bs);
                     }
                     else if (this._characteristicTx.writeValueWithResponse) {
-                        await this._characteristicTx.writeValueWithResponse(msg);
+                        await this._characteristicTx.writeValueWithResponse(bs);
                     }
                 }
                 break;
@@ -275,19 +273,30 @@ class RaftChannelBLE {
         this._msgTxTimeLast = Date.now();
         // Write to the characteristic
         if (this._characteristicTx) {
+            const bs = RaftUtils_1.default.toBufferSource(msg);
             if (this._characteristicTx.writeValueWithoutResponse) {
-                this._characteristicTx.writeValueWithoutResponse(msg);
+                this._characteristicTx.writeValueWithoutResponse(bs);
             }
             else if (this._characteristicTx.writeValue) {
-                this._characteristicTx.writeValue(msg);
+                this._characteristicTx.writeValue(bs);
             }
             else if (this._characteristicTx.writeValueWithResponse) {
-                this._characteristicTx.writeValueWithResponse(msg);
+                this._characteristicTx.writeValueWithResponse(bs);
             }
             return true;
         }
         return false;
     }
+    // Method used for testing and simulation should never be called
+    sendTxMsgRaw() {
+        RaftLog_1.default.debug(`sendTxMsgRaw - not implemented`);
+        return false;
+    }
+    // Method used for testing and simulation should never be called
+    sendTxMsgRawAndWaitForReply() {
+        RaftLog_1.default.debug(`sendTxMsgRawAndWaitForReply - not implemented`);
+        return null;
+    }
 }
 exports.default = RaftChannelBLE;
 //# sourceMappingURL=RaftChannelBLE.web.js.map

package/dist/web/RaftChannelBLE.web.js.map

@@ -1 +1 @@
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package/dist/web/RaftChannelSimulated.d.ts

@@ -0,0 +1,32 @@
+import RaftChannel from "./RaftChannel";
+import RaftMsgHandler from "./RaftMsgHandler";
+import { RaftConnEventFn } from "./RaftConnEvents";
+import { ConnectorOptions } from "./RaftSystemType";
+export default class RaftChannelSimulated implements RaftChannel {
+    private _raftMsgHandler;
+    private _isConnected;
+    private _simulatedDeviceInfo;
+    private _simulatedDeviceInfoTimers;
+    private _simulatedDeviceInfoTimeMs;
+    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;
+    sendTxMsg(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
+    sendTxMsgNoAwait(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
+    sendTxMsgRaw(msg: string): boolean;
+    sendTxMsgRawAndWaitForReply<T>(msgPayload: Uint8Array): T;
+    private _createSimulatedDeviceInfoMsg;
+    private _bytesToHexStr;
+    private _deviceTypeInfo;
+}

package/dist/web/RaftChannelSimulated.js

@@ -0,0 +1,418 @@
+"use strict";
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+//
+// RaftChannelSimulated.ts
+// Part of RaftJS
+//
+// Rob Dobson 2020-2025
+// (C) 2020-2025 All rights reserved
+//
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+Object.defineProperty(exports, "__esModule", { value: true });
+const tslib_1 = require("tslib");
+const RaftLog_1 = tslib_1.__importDefault(require("./RaftLog"));
+const RaftConnEvents_1 = require("./RaftConnEvents");
+const RaftProtocolDefs_1 = require("./RaftProtocolDefs");
+class RaftChannelSimulated {
+    constructor() {
+        // Message handler
+        this._raftMsgHandler = null;
+        // Is connected
+        this._isConnected = false;
+        // Simulated device name and rate
+        this._simulatedDeviceInfo = null;
+        // Simulated device information timer
+        this._simulatedDeviceInfoTimers = null;
+        this._simulatedDeviceInfoTimeMs = [];
+        // Conn event fn
+        this._onConnEvent = null;
+        // File Handler parameters
+        this._requestedBatchAckSize = 10;
+        this._requestedFileBlockSize = 500;
+        // Simulated device type information - this is a copy of part of DeviceTypeInfo in RaftCore
+        this._deviceTypeInfo = {
+            "LSM6DS": {
+                "name": "LSM6DS",
+                "desc": "6-Axis IMU",
+                "manu": "ST",
+                "type": "LSM6DS",
+                "clas": ["ACC", "GYRO"],
+                "resp": {
+                    "b": 12,
+                    "a": [
+                        {
+                            "n": "gx",
+                            "t": "<h",
+                            "u": "&deg;/s",
+                            "r": [-2000, 2000],
+                            "d": 16.384,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "gy",
+                            "t": "<h",
+                            "u": "&deg;/s",
+                            "r": [-2000, 2000],
+                            "d": 16.384,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "gz",
+                            "t": "<h",
+                            "u": "&deg;/s",
+                            "r": [-2000, 2000],
+                            "d": 16.384,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "ax",
+                            "t": "<h",
+                            "u": "g",
+                            "r": [-4.0, 4.0],
+                            "d": 8192,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "ay",
+                            "t": "<h",
+                            "u": "g",
+                            "r": [-4.0, 4.0],
+                            "d": 8192,
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "az",
+                            "t": "<h",
+                            "u": "g",
+                            "r": [-4.0, 4.0],
+                            "d": 8192,
+                            "f": ".2f",
+                            "o": "float"
+                        }
+                    ]
+                }
+            }
+        };
+    }
+    fhBatchAckSize() { return this._requestedBatchAckSize; }
+    fhFileBlockSize() { return this._requestedFileBlockSize; }
+    // isConnected
+    isConnected() {
+        return this._isConnected;
+    }
+    // Set message handler
+    setMsgHandler(raftMsgHandler) {
+        this._raftMsgHandler = raftMsgHandler;
+        this._raftMsgHandler.setRawMsgMode(true);
+    }
+    // WebSocket interfaces require subscription to published messages
+    requiresSubscription() {
+        return true;
+    }
+    // RICREST command before disconnect
+    ricRestCmdBeforeDisconnect() {
+        return null;
+    }
+    // Set onConnEvent handler
+    setOnConnEvent(connEventFn) {
+        this._onConnEvent = connEventFn;
+    }
+    // Get connected locator
+    getConnectedLocator() {
+        return "simulated";
+    }
+    // Connect to a device
+    async connect(locator, connectorOptions) {
+        // Debug
+        RaftLog_1.default.debug(`RaftChannelSimulated.connect connected ${locator.toString()} options ${JSON.stringify(connectorOptions)}`);
+        // Extract SimulatedDeviceInfo from JSON locator
+        if (typeof locator === 'string') {
+            try {
+                const parsedLocator = JSON.parse(locator);
+                if (parsedLocator && Array.isArray(parsedLocator)) {
+                    this._simulatedDeviceInfo = parsedLocator;
+                }
+            }
+            catch (e) {
+                RaftLog_1.default.warn(`RaftChannelSimulated.connect - error parsing locator ${locator}`);
+                return false;
+            }
+        }
+        // Handle simulated devices
+        if (this._simulatedDeviceInfo) {
+            // Create timers for simulated devices
+            this._simulatedDeviceInfoTimers = [];
+            for (let i = 0; i < this._simulatedDeviceInfo.length; i++) {
+                const deviceInfo = this._simulatedDeviceInfo[i];
+                const deviceName = deviceInfo.name ? deviceInfo.name : `SimulatedDevice${i}`;
+                this._simulatedDeviceInfoTimeMs.push(0);
+                const deviceRate = deviceInfo.publishRatePerSecond ? deviceInfo.publishRatePerSecond : 1;
+                let deviceIntervalMs = 911;
+                if ((deviceRate > 0.01) && (deviceRate < 1000)) {
+                    deviceIntervalMs = Math.floor(1000 / deviceRate);
+                }
+                const deviceTypeInfo = this._deviceTypeInfo[deviceName];
+                if (deviceTypeInfo) {
+                    const timer = setInterval(() => {
+                        var _a;
+                        const msg = this._createSimulatedDeviceInfoMsg(deviceIntervalMs, deviceName, deviceTypeInfo, this._simulatedDeviceInfoTimeMs[i]);
+                        (_a = this._raftMsgHandler) === null || _a === void 0 ? void 0 : _a.handleNewRxMsgRaw(msg, RaftProtocolDefs_1.RaftCommsMsgTypeCode.MSG_TYPE_PUBLISH, 0, this._simulatedDeviceInfoTimeMs[i]);
+                        this._simulatedDeviceInfoTimeMs[i] += deviceIntervalMs;
+                    }, deviceIntervalMs);
+                    this._simulatedDeviceInfoTimers.push(timer);
+                }
+                else {
+                    RaftLog_1.default.warn(`RaftChannelSimulated.connect - device type info not found for ${deviceName}`);
+                }
+            }
+        }
+        else {
+            RaftLog_1.default.warn(`RaftChannelSimulated.connect - no simulated devices found`);
+        }
+        // Connected
+        this._isConnected = true;
+        return true;
+    }
+    // Disconnect
+    async disconnect() {
+        // Not connected
+        this._isConnected = false;
+        // Clear timers
+        if (this._simulatedDeviceInfoTimers) {
+            for (const timer of this._simulatedDeviceInfoTimers) {
+                clearInterval(timer);
+            }
+            this._simulatedDeviceInfoTimers = null;
+        }
+        // Notify connection event
+        if (this._onConnEvent) {
+            this._onConnEvent(RaftConnEvents_1.RaftConnEvent.CONN_DISCONNECTED);
+        }
+        // Debug
+        RaftLog_1.default.debug(`RaftChannelSimulated.disconnect closed`);
+    }
+    pauseConnection(pause) {
+        RaftLog_1.default.debug(`pauseConnection ${pause} - no effect for this channel type`);
+        return;
+    }
+    // Send a message
+    async sendTxMsg(msg, sendWithResponse) {
+        // Check connected
+        if (!this._isConnected)
+            return false;
+        // Debug
+        RaftLog_1.default.debug(`RaftChannelSimulated.sendTxMsg ${msg.toString()} sendWithResp ${sendWithResponse.toString()}`);
+        return true;
+    }
+    async sendTxMsgNoAwait(msg, sendWithResponse) {
+        // Check connected
+        if (!this._isConnected)
+            return false;
+        // Debug
+        RaftLog_1.default.debug(`RaftChannelSimulated.sendTxMsgNoAwait ${msg.toString()} sendWithResp ${sendWithResponse.toString()}`);
+        return true;
+    }
+    // Method used for testing and simulation should never be called
+    sendTxMsgRaw(msg) {
+        RaftLog_1.default.debug(`sendTxMsgRaw - not implemented ${msg}`);
+        return false;
+    }
+    // Method used for testing and simulation should never be called
+    sendTxMsgRawAndWaitForReply(msgPayload) {
+        RaftLog_1.default.debug(`sendTxMsgRawAndWaitForReply ${msgPayload}`);
+        // Decode the message from Uint8Array to string
+        const textDecoder = new TextDecoder('utf-8');
+        const decodedString = textDecoder.decode(msgPayload.slice(1)).replace("\0", "").trim();
+        RaftLog_1.default.debug(`sendTxMsgRawAndWaitForReply ${decodedString}`);
+        // Check for version request
+        if (decodedString === "v") {
+            // R"({"req":"%s","rslt":"ok","SystemName":"%s","SystemVersion":"%s","Friendly":"%s","SerialNo":"%s","MAC":"%s",%s})",
+            const response = {
+                req: "v",
+                rslt: "ok",
+                SystemName: "Simulated",
+                SystemVersion: "1.0.0",
+                Friendly: "Simulated",
+                SerialNo: "123456",
+                MAC: "00:00:00:00:00:00"
+            };
+            return response;
+        }
+        else if (decodedString.startsWith("sub")) {
+            const response = {
+                req: decodedString,
+                rslt: "ok"
+            };
+            return response;
+        }
+        // Check if this is a device type info request
+        else if (decodedString.startsWith("devman/typeinfo?")) {
+            // Extract the type parameter from the request
+            const match = decodedString.match(/type=([^&]+)/);
+            if (match && match[1]) {
+                const deviceType = match[1];
+                // Look up the device type in the _deviceTypeInfo
+                if (deviceType in this._deviceTypeInfo) {
+                    // Prepare response with the device type info
+                    const response = {
+                        req: decodedString,
+                        rslt: "ok",
+                        devinfo: this._deviceTypeInfo[deviceType]
+                    };
+                    RaftLog_1.default.debug(`Device type info for ${deviceType} found, returning response`);
+                    return response;
+                }
+                else {
+                    // Device type not found
+                    const response = {
+                        req: decodedString,
+                        rslt: "err",
+                        msg: `Device type ${deviceType} not found`
+                    };
+                    RaftLog_1.default.warn(`Device type info for ${deviceType} not found`);
+                    return response;
+                }
+            }
+        }
+        // Unknown message
+        const response = {
+            req: decodedString,
+            rslt: "err",
+            msg: `Unknown request`
+        };
+        return response;
+    }
+    // Create simulated device info message
+    _createSimulatedDeviceInfoMsg(deviceIntervalMs, deviceName, deviceTypeInfo, deviceTimeMs) {
+        var _a;
+        // Make sure we have response metadata
+        if (!((_a = deviceTypeInfo === null || deviceTypeInfo === void 0 ? void 0 : deviceTypeInfo.resp) === null || _a === void 0 ? void 0 : _a.a)) {
+            return new Uint8Array(0);
+        }
+        const attributes = deviceTypeInfo.resp.a;
+        const dataBlockSizeBytes = deviceTypeInfo.resp.b;
+        // Create a buffer for the data
+        const dataBuffer = new ArrayBuffer(dataBlockSizeBytes + 2);
+        const dataView = new DataView(dataBuffer);
+        let bytePos = 0;
+        // Add 16 bit big endian deviceTimeMs mod 65536 to the buffer
+        dataView.setUint16(bytePos, deviceTimeMs % 65536, false);
+        bytePos += 2;
+        // Calculate sine wave with phase offsets for each attribute
+        const numAttributes = attributes.length;
+        // Adjust frequency based on the device interval with N samples per cycle
+        const numSamplesPerCycle = 10;
+        let frequencyHz = 0.1; // Default frequency in Hz
+        if (deviceIntervalMs > 0) {
+            frequencyHz = (1000 / deviceIntervalMs) / numSamplesPerCycle;
+        }
+        // Amplitude of the sine wave (0 to 1)
+        const amplitude = 0.8;
+        // Iterate through attributes and set values
+        for (let i = 0; i < numAttributes; i++) {
+            const attr = attributes[i];
+            // Calculate phase offset for this attribute
+            const phaseOffset = (2 * Math.PI * i) / numAttributes;
+            // Generate sine wave value
+            const timeRadians = deviceTimeMs * frequencyHz * (2 * Math.PI) / 1000;
+            const sinValue = Math.sin(timeRadians + phaseOffset);
+            // Scale the value to fit within the attribute's range
+            let scaledValue;
+            if (attr.r && attr.r.length >= 2) {
+                const minValue = attr.r[0];
+                const maxValue = attr.r[1];
+                const midPoint = (maxValue + minValue) / 2;
+                const range = (maxValue - minValue) / 2;
+                scaledValue = midPoint + sinValue * range * amplitude;
+            }
+            else {
+                // Default range if not specified
+                scaledValue = sinValue * 1000 * amplitude;
+            }
+            // Convert to raw integer value if needed
+            let rawValue = scaledValue;
+            if (attr.d) {
+                // Multiply by the divisor to get the raw value (reverse of what happens when decoding)
+                rawValue = scaledValue * attr.d;
+            }
+            // Write the value to the buffer based on its type
+            if (attr.t === "b") {
+                dataView.setUint8(bytePos, Math.round(rawValue));
+                bytePos += 1;
+            }
+            else if (attr.t === "B") {
+                dataView.setUint8(bytePos, Math.round(rawValue));
+                bytePos += 1;
+            }
+            else if (attr.t === "c") {
+                dataView.setInt8(bytePos, Math.round(rawValue));
+                bytePos += 1;
+            }
+            else if (attr.t === "C") {
+                dataView.setUint8(bytePos, Math.round(rawValue));
+                bytePos += 1;
+            }
+            else if (attr.t === "<h") {
+                dataView.setInt16(bytePos, Math.round(rawValue), true); // Little endian
+                bytePos += 2;
+            }
+            else if (attr.t === ">h") {
+                dataView.setInt16(bytePos, Math.round(rawValue), false); // Big endian
+                bytePos += 2;
+            }
+            else if (attr.t === "<H") {
+                dataView.setUint16(bytePos, Math.round(rawValue), true); // Little endian
+                bytePos += 2;
+            }
+            else if (attr.t === ">H") {
+                dataView.setUint16(bytePos, Math.round(rawValue), false); // Big endian
+                bytePos += 2;
+            }
+            else if (attr.t === "f" || attr.t === "<f") {
+                dataView.setFloat32(bytePos, rawValue, true); // Little endian
+                bytePos += 4;
+            }
+            else if (attr.t === ">f") {
+                dataView.setFloat32(bytePos, rawValue, false); // Big endian
+                bytePos += 4;
+            }
+            else {
+                RaftLog_1.default.warn(`RaftChannelSimulated._createSimulatedDeviceInfoMsg - unsupported attribute type ${attr.t}`);
+            }
+        }
+        // Convert the buffer to a byte array
+        const dataBytes = new Uint8Array(dataBuffer);
+        // Create the JSON message structure
+        const message = {
+            "BUS1": {
+                [deviceName]: {
+                    "_t": deviceTypeInfo.type,
+                    "_o": 1, // Device is online
+                    "pub": this._bytesToHexStr(dataBytes)
+                }
+            }
+        };
+        // Convert the JSON to a string and then to Uint8Array with prepended timestamp
+        const jsonString = JSON.stringify(message);
+        const encodedMsg = new TextEncoder().encode(jsonString);
+        const msgWithPrefix = new ArrayBuffer(2 + encodedMsg.byteLength);
+        const msgWithPrefixView = new DataView(msgWithPrefix);
+        const msgPrefixBytes = new Uint8Array(msgWithPrefix);
+        msgWithPrefixView.setUint16(0, 0, false);
+        msgPrefixBytes.set(encodedMsg, 2);
+        return msgPrefixBytes;
+    }
+    // Helper function to convert bytes to hex string
+    _bytesToHexStr(bytes) {
+        return Array.from(bytes)
+            .map(byte => byte.toString(16).padStart(2, '0'))
+            .join('');
+    }
+}
+exports.default = RaftChannelSimulated;
+//# sourceMappingURL=RaftChannelSimulated.js.map

package/dist/web/RaftChannelSimulated.js.map

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package/dist/web/RaftChannelWebSerial.d.ts

@@ -34,4 +34,6 @@ export default class RaftChannelWebSerial implements RaftChannel {
     sendTxMsg(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
     sendTxMsgNoAwait(msg: Uint8Array, sendWithResponse: boolean): Promise<boolean>;
     _readLoop(): Promise<void>;
+    sendTxMsgRaw(): boolean;
+    sendTxMsgRawAndWaitForReply<T>(): T;
 }