npm - @robotical/raftjs - Versions diffs - 2.1.2 → 2.1.4 - Mend

@robotical/raftjs 2.1.2 → 2.1.4

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Files changed (70) hide show

package/devdocs/decode-overrun-investigation.md +167 -0
package/devdocs/message-panel-design.md +320 -0
package/dist/react-native/RaftAttributeHandler.d.ts +10 -1
package/dist/react-native/RaftAttributeHandler.js +60 -8
package/dist/react-native/RaftAttributeHandler.js.map +1 -1
package/dist/react-native/RaftChannelSimulated.d.ts +1 -0
package/dist/react-native/RaftChannelSimulated.js +67 -0
package/dist/react-native/RaftChannelSimulated.js.map +1 -1
package/dist/react-native/RaftConnector.d.ts +19 -1
package/dist/react-native/RaftConnector.js +102 -2
package/dist/react-native/RaftConnector.js.map +1 -1
package/dist/react-native/RaftDeviceInfo.d.ts +5 -1
package/dist/react-native/RaftDeviceManager.js +75 -32
package/dist/react-native/RaftDeviceManager.js.map +1 -1
package/dist/react-native/RaftFileHandler.d.ts +1 -0
package/dist/react-native/RaftFileHandler.js +40 -11
package/dist/react-native/RaftFileHandler.js.map +1 -1
package/dist/react-native/RaftMicroPythonConsoleClient.d.ts +38 -0
package/dist/react-native/RaftMicroPythonConsoleClient.js +45 -0
package/dist/react-native/RaftMicroPythonConsoleClient.js.map +1 -0
package/dist/react-native/RaftMsgHandler.d.ts +1 -1
package/dist/react-native/RaftMsgHandler.js +6 -3
package/dist/react-native/RaftMsgHandler.js.map +1 -1
package/dist/react-native/RaftTypes.d.ts +19 -0
package/dist/react-native/RaftTypes.js.map +1 -1
package/dist/react-native/main.d.ts +1 -0
package/dist/react-native/main.js +3 -1
package/dist/react-native/main.js.map +1 -1
package/dist/web/RaftAttributeHandler.d.ts +10 -1
package/dist/web/RaftAttributeHandler.js +60 -8
package/dist/web/RaftAttributeHandler.js.map +1 -1
package/dist/web/RaftChannelSimulated.d.ts +1 -0
package/dist/web/RaftChannelSimulated.js +67 -0
package/dist/web/RaftChannelSimulated.js.map +1 -1
package/dist/web/RaftConnector.d.ts +19 -1
package/dist/web/RaftConnector.js +102 -2
package/dist/web/RaftConnector.js.map +1 -1
package/dist/web/RaftDeviceInfo.d.ts +5 -1
package/dist/web/RaftDeviceManager.js +75 -32
package/dist/web/RaftDeviceManager.js.map +1 -1
package/dist/web/RaftFileHandler.d.ts +1 -0
package/dist/web/RaftFileHandler.js +40 -11
package/dist/web/RaftFileHandler.js.map +1 -1
package/dist/web/RaftMicroPythonConsoleClient.d.ts +38 -0
package/dist/web/RaftMicroPythonConsoleClient.js +45 -0
package/dist/web/RaftMicroPythonConsoleClient.js.map +1 -0
package/dist/web/RaftMsgHandler.d.ts +1 -1
package/dist/web/RaftMsgHandler.js +6 -3
package/dist/web/RaftMsgHandler.js.map +1 -1
package/dist/web/RaftTypes.d.ts +19 -0
package/dist/web/RaftTypes.js.map +1 -1
package/dist/web/main.d.ts +1 -0
package/dist/web/main.js +3 -1
package/dist/web/main.js.map +1 -1
package/examples/dashboard/src/DeviceActionsForm.tsx +24 -11
package/examples/dashboard/src/DeviceLineChart.tsx +5 -4
package/examples/dashboard/src/DevicePanel.tsx +3 -0
package/package.json +1 -1
package/src/RaftAttributeHandler.ts +89 -9
package/src/RaftChannelSimulated.test.ts +62 -0
package/src/RaftChannelSimulated.ts +91 -0
package/src/RaftConnector.ts +112 -3
package/src/RaftDeviceInfo.ts +5 -1
package/src/RaftDeviceManager.test.ts +35 -1
package/src/RaftDeviceManager.ts +86 -33
package/src/RaftFileHandler.ts +43 -11
package/src/RaftMicroPythonConsoleClient.ts +78 -0
package/src/RaftMsgHandler.ts +8 -4
package/src/RaftTypes.ts +23 -0
package/src/main.ts +1 -0

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package/dist/react-native/RaftChannelSimulated.d.ts CHANGED Viewed

@@ -32,6 +32,7 @@ export default class RaftChannelSimulated implements RaftChannel {
     private _generateAttributeScaledValues;
     private _generateThermalGridValues;
     private _fillCustomRawData;
+    private _writeFloat32BytesAtOffsets;
     private _getGridDimensions;
     private _prepareRawValue;
     private _writeRawValueToBuffer;

package/dist/react-native/RaftChannelSimulated.js CHANGED Viewed

@@ -220,6 +220,45 @@ class RaftChannelSimulated {
                     "us": 100000
                 }
             },
+            "SCD30": {
+                "name": "CO2 Sensor",
+                "desc": "",
+                "manu": "Sensirion",
+                "type": "SCD30",
+                "clas": ["CO2", "TEMP", "RH"],
+                "resp": {
+                    "b": 24,
+                    "a": [
+                        {
+                            "n": "CO2",
+                            "t": ">f",
+                            "at": [6, 7, 9, 10],
+                            "u": "ppm",
+                            "r": [0, 40000],
+                            "f": ".1f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "temperature",
+                            "t": ">f",
+                            "at": [12, 13, 15, 16],
+                            "u": "C",
+                            "r": [-40, 125],
+                            "f": ".2f",
+                            "o": "float"
+                        },
+                        {
+                            "n": "humidity",
+                            "t": ">f",
+                            "at": [18, 19, 21, 22],
+                            "u": "%RH",
+                            "r": [0, 100],
+                            "f": ".2f",
+                            "o": "float"
+                        }
+                    ]
+                }
+            },
             "RoboticalServo": {
                 "name": "Robotical Servo",
                 "desc": "Servo",
@@ -795,6 +834,18 @@ class RaftChannelSimulated {
                 dataView.setUint16(bytePos + 1, distanceMm, false);
                 return true;
             }
+            case "SCD30": {
+                if (dataBlockSizeBytes < 24) {
+                    return false;
+                }
+                const clamp = (value, min, max) => Math.max(min, Math.min(max, value));
+                const co2Ppm = clamp(850 + 320 * Math.sin(deviceTimeMs / 6500) + 45 * Math.sin(deviceTimeMs / 1400), 400, 2000);
+                const temperatureC = clamp(22 + 2.2 * Math.sin(deviceTimeMs / 11000 + Math.PI / 5), -40, 125);
+                const humidityPercent = clamp(48 + 14 * Math.sin(deviceTimeMs / 9000 + Math.PI / 2), 0, 100);
+                return (this._writeFloat32BytesAtOffsets(dataView, bytePos, [6, 7, 9, 10], co2Ppm) &&
+                    this._writeFloat32BytesAtOffsets(dataView, bytePos, [12, 13, 15, 16], temperatureC) &&
+                    this._writeFloat32BytesAtOffsets(dataView, bytePos, [18, 19, 21, 22], humidityPercent));
+            }
             case "RoboticalLEDRing": {
                 if (dataBlockSizeBytes < 1) {
                     return false;
@@ -858,6 +909,22 @@ class RaftChannelSimulated {
                 return false;
         }
     }
+    _writeFloat32BytesAtOffsets(dataView, baseBytePos, offsets, value) {
+        if (offsets.length < 4) {
+            return false;
+        }
+        const maxOffset = Math.max(...offsets);
+        if (baseBytePos + maxOffset >= dataView.byteLength) {
+            return false;
+        }
+        const scratchBuffer = new ArrayBuffer(4);
+        new DataView(scratchBuffer).setFloat32(0, value, false);
+        const bytes = new Uint8Array(scratchBuffer);
+        for (let idx = 0; idx < 4; idx++) {
+            dataView.setUint8(baseBytePos + offsets[idx], bytes[idx]);
+        }
+        return true;
+    }
     _getGridDimensions(attr, repeatCount) {
         if (attr && typeof attr.resolution === "string") {
             const match = attr.resolution.match(/(\d+)\s*x\s*(\d+)/i);

package/dist/react-native/RaftChannelSimulated.js.map CHANGED Viewed

	@@ -1 +1 @@
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package/dist/react-native/RaftConnector.d.ts CHANGED Viewed

@@ -1,7 +1,7 @@
 import RaftChannel from "./RaftChannel";
 import RaftMsgHandler, { RaftMsgResultCode } from "./RaftMsgHandler";
 import RaftCommsStats from "./RaftCommsStats";
-import { RaftEventFn, RaftOKFail, RaftFileDownloadResult, RaftProgressCBType, RaftStreamDataProgressCBType, RaftBridgeSetupResp, RaftFileDownloadFn, RaftReportMsg } from "./RaftTypes";
+import { RaftEventFn, RaftOKFail, RaftFileDownloadResult, RaftProgressCBType, RaftStreamDataProgressCBType, RaftBridgeSetupResp, RaftFileDownloadFn, RaftReportMsg, RaftRtStreamHandle, RaftRtStreamOptions } from "./RaftTypes";
 import RaftSystemUtils from "./RaftSystemUtils";
 import RaftStreamHandler from "./RaftStreamHandler";
 import { RaftConnEvent } from "./RaftConnEvents";
@@ -29,6 +29,8 @@ export default class RaftConnector {
     getStreamHandler(): RaftStreamHandler;
     private _onEventFn;
     private _raftUpdateManager;
+    private _rtStreamCallbacks;
+    private _fallbackRtStreamCallback;
     /**
      * RaftConnector constructor
      * @param getSystemTypeCB - callback to get system type
@@ -89,6 +91,16 @@ export default class RaftConnector {
      * @returns RaftCommsStats - communication stats
      * */
     getCommsStats(): RaftCommsStats;
+    /**
+     * getOperationQueueDepth
+     * @returns number of high-level device operations queued or running
+     */
+    getOperationQueueDepth(): number;
+    /**
+     * isOperationBusy
+     * @returns true when a high-level device operation is queued or running
+     */
+    isOperationBusy(): boolean;
     /**
      * Get Raft message handler (to allow message sending and receiving)
      * @returns RaftMsgHandler - Raft message handler
@@ -122,6 +134,7 @@ export default class RaftConnector {
      *
      */
     sendRICRESTMsg(commandName: string, params: object, bridgeID?: number | undefined): Promise<RaftOKFail>;
+    private _sendRICRESTMsg;
     /**
      * onRxReply - handle a reply message
      * @param msgHandle number indicating the message that is being replied to (from the original message)
@@ -165,6 +178,11 @@ export default class RaftConnector {
      * @returns Promise<boolean> true on success
      */
     streamData(streamContents: Uint8Array, fileName: string, targetEndpoint: string, progressCallback?: RaftStreamDataProgressCBType): Promise<boolean>;
+    /**
+     * openRtStream - open an indefinite bidirectional RT stream.
+     * The returned handle can send byte blocks and closes with ufEnd.
+     */
+    openRtStream(options: RaftRtStreamOptions): Promise<RaftRtStreamHandle>;
     /**
      * streamAudio - stream audio
      * @param streamContents audio data

package/dist/react-native/RaftConnector.js CHANGED Viewed

@@ -68,6 +68,9 @@ class RaftConnector {
         this._onEventFn = null;
         // Update manager
         this._raftUpdateManager = null;
+        // Open-ended RT stream callbacks keyed by streamID
+        this._rtStreamCallbacks = new Map();
+        this._fallbackRtStreamCallback = null;
         // Get system type callback
         this._getSystemTypeCB = getSystemTypeCB;
         // Debug
@@ -156,6 +159,20 @@ class RaftConnector {
     getCommsStats() {
         return this._commsStats;
     }
+    /**
+     * getOperationQueueDepth
+     * @returns number of high-level device operations queued or running
+     */
+    getOperationQueueDepth() {
+        return 0;
+    }
+    /**
+     * isOperationBusy
+     * @returns true when a high-level device operation is queued or running
+     */
+    isOperationBusy() {
+        return false;
+    }
     /**
      * Get Raft message handler (to allow message sending and receiving)
      * @returns RaftMsgHandler - Raft message handler
@@ -354,6 +371,9 @@ class RaftConnector {
      *
      */
     async sendRICRESTMsg(commandName, params, bridgeID = undefined) {
+        return this._sendRICRESTMsg(commandName, params, bridgeID);
+    }
+    async _sendRICRESTMsg(commandName, params, bridgeID = undefined) {
         try {
             // Format the paramList as query string
             const paramEntries = Object.entries(params);
@@ -361,12 +381,13 @@ class RaftConnector {
             for (const param of paramEntries) {
                 if (paramQueryStr.length > 0)
                     paramQueryStr += '&';
-                paramQueryStr += param[0] + '=' + param[1];
+                paramQueryStr += `${encodeURIComponent(param[0])}=${encodeURIComponent(String(param[1]))}`;
             }
             // Format the url to send
             if (paramQueryStr.length > 0)
                 commandName += '?' + paramQueryStr;
-            return await this._raftMsgHandler.sendRICRESTURL(commandName, bridgeID);
+            const response = await this._raftMsgHandler.sendRICRESTURL(commandName, bridgeID);
+            return response !== null && response !== void 0 ? response : { rslt: 'fail' };
         }
         catch (error) {
             RaftLog_1.default.warn(`sendRICRESTMsg failed ${error}`);
@@ -404,6 +425,13 @@ class RaftConnector {
      */
     onRxFileBlock(filePos, fileBlockData) {
         // RaftLog.info(`onRxFileBlock filePos ${filePos} fileBlockData ${RaftUtils.bufferToHex(fileBlockData)}`);
+        const streamID = (filePos >>> 24) & 0xff;
+        const streamFilePos = filePos & 0x00ffffff;
+        const streamCallback = this._rtStreamCallbacks.get(streamID);
+        if (streamID !== 0 && streamCallback) {
+            streamCallback(fileBlockData, streamFilePos, streamID);
+            return;
+        }
         this._raftFileHandler.onFileBlock(filePos, fileBlockData);
     }
     // Mark: Handling of other message types -----------------------------------------------------------------------------------------
@@ -446,6 +474,78 @@ class RaftConnector {
         }
         return false;
     }
+    /**
+     * openRtStream - open an indefinite bidirectional RT stream.
+     * The returned handle can send byte blocks and closes with ufEnd.
+     */
+    async openRtStream(options) {
+        var _a;
+        const cmdMsg = JSON.stringify({
+            cmdName: "ufStart",
+            reqStr: "ufStart",
+            fileType: "rtstream",
+            fileName: options.fileName,
+            endpoint: options.endpoint,
+            fileLen: 0,
+        });
+        const startResp = await this._raftMsgHandler.sendRICRESTCmdFrame(cmdMsg);
+        if (!startResp || startResp.rslt !== "ok" || startResp.streamID === undefined) {
+            throw new Error(`openRtStream failed ${(_a = startResp === null || startResp === void 0 ? void 0 : startResp.rslt) !== null && _a !== void 0 ? _a : "no response"}`);
+        }
+        const streamID = startResp.streamID;
+        const maxBlockSize = startResp.maxBlockSize || this._raftStreamHandler.maxBlockSize;
+        let txFilePos = 0;
+        let sendQueue = Promise.resolve();
+        this._rtStreamCallbacks.set(streamID, options.onData);
+        this._fallbackRtStreamCallback = { streamID, callback: options.onData };
+        const sendBytes = async (bytes) => {
+            let sentOk = false;
+            sendQueue = sendQueue
+                .catch(() => {
+                // Keep later terminal input flowing even if an earlier block failed.
+            })
+                .then(async () => {
+                sentOk = await this._raftMsgHandler.sendStreamBlock(bytes, txFilePos, streamID);
+                if (sentOk) {
+                    txFilePos = (txFilePos + bytes.length) & 0x00ffffff;
+                }
+            });
+            await sendQueue;
+            return sentOk;
+        };
+        const close = async () => {
+            var _a;
+            this._rtStreamCallbacks.delete(streamID);
+            if (((_a = this._fallbackRtStreamCallback) === null || _a === void 0 ? void 0 : _a.streamID) === streamID) {
+                this._fallbackRtStreamCallback = null;
+            }
+            const endMsg = JSON.stringify({
+                cmdName: "ufEnd",
+                reqStr: "ufEnd",
+                streamID,
+            });
+            try {
+                const endResp = await this._raftMsgHandler.sendRICRESTCmdFrame(endMsg);
+                return (endResp === null || endResp === void 0 ? void 0 : endResp.rslt) === "ok";
+            }
+            catch (error) {
+                RaftLog_1.default.warn(`closeRtStream failed ${streamID}: ${error}`);
+                return false;
+            }
+        };
+        // Some endpoints use an initial empty block as an attach signal.
+        // Keep this opt-in because older endpoints reject zero-length ufBlock frames.
+        if (options.sendInitialEmptyBlock) {
+            await sendBytes(new Uint8Array());
+        }
+        return {
+            streamID,
+            maxBlockSize,
+            sendBytes,
+            sendText: (text) => sendBytes(new TextEncoder().encode(text)),
+            close,
+        };
+    }
     /**
      * streamAudio - stream audio
      * @param streamContents audio data