@robotical/webapp-types 3.7.8 → 3.7.9

package/dist-types/src/wrapper-app/utils/ColourSensorManualCalibratorMarty.js

@@ -0,0 +1,461 @@
+var __assign = (this && this.__assign) || function () {
+    __assign = Object.assign || function(t) {
+        for (var s, i = 1, n = arguments.length; i < n; i++) {
+            s = arguments[i];
+            for (var p in s) if (Object.prototype.hasOwnProperty.call(s, p))
+                t[p] = s[p];
+        }
+        return t;
+    };
+    return __assign.apply(this, arguments);
+};
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+var __generator = (this && this.__generator) || function (thisArg, body) {
+    var _ = { label: 0, sent: function() { if (t[0] & 1) throw t[1]; return t[1]; }, trys: [], ops: [] }, f, y, t, g;
+    return g = { next: verb(0), "throw": verb(1), "return": verb(2) }, typeof Symbol === "function" && (g[Symbol.iterator] = function() { return this; }), g;
+    function verb(n) { return function (v) { return step([n, v]); }; }
+    function step(op) {
+        if (f) throw new TypeError("Generator is already executing.");
+        while (g && (g = 0, op[0] && (_ = 0)), _) try {
+            if (f = 1, y && (t = op[0] & 2 ? y["return"] : op[0] ? y["throw"] || ((t = y["return"]) && t.call(y), 0) : y.next) && !(t = t.call(y, op[1])).done) return t;
+            if (y = 0, t) op = [op[0] & 2, t.value];
+            switch (op[0]) {
+                case 0: case 1: t = op; break;
+                case 4: _.label++; return { value: op[1], done: false };
+                case 5: _.label++; y = op[1]; op = [0]; continue;
+                case 7: op = _.ops.pop(); _.trys.pop(); continue;
+                default:
+                    if (!(t = _.trys, t = t.length > 0 && t[t.length - 1]) && (op[0] === 6 || op[0] === 2)) { _ = 0; continue; }
+                    if (op[0] === 3 && (!t || (op[1] > t[0] && op[1] < t[3]))) { _.label = op[1]; break; }
+                    if (op[0] === 6 && _.label < t[1]) { _.label = t[1]; t = op; break; }
+                    if (t && _.label < t[2]) { _.label = t[2]; _.ops.push(op); break; }
+                    if (t[2]) _.ops.pop();
+                    _.trys.pop(); continue;
+            }
+            op = body.call(thisArg, _);
+        } catch (e) { op = [6, e]; y = 0; } finally { f = t = 0; }
+        if (op[0] & 5) throw op[1]; return { value: op[0] ? op[1] : void 0, done: true };
+    }
+};
+import Logger from "../../services/logger/Logger";
+import { RICHWElemList_Str } from "@robotical/roboticaljs";
+import { RIC_WHOAMI_TYPE_CODE_ADDON_COLOUR } from "@robotical/ricjs-robotical-addons/dist/RICRoboticalAddOns";
+// colour sensor commands
+var GET_CALIBRATION_COMMAND = function (hwElemName) { return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=104020&numToRd=8&msgKey=1234"); };
+var GET_COLOUR_SENSOR_READING_COMMAND = function (hwElemName) { return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=&numToRd=5&msgKey=1"); };
+var CALIBRATE_COMMAND = function (hwElemName, baseAddr, highByte, lowByte, i) {
+    return "elem/".concat(hwElemName, "/json?cmd=raw&hexWr=ff4040").concat(baseAddr.toString(16)).concat(highByte).concat(lowByte, "&numToRd=0&msgKey=11").concat(i);
+};
+var MAX_CALIBRATION_ATTEMPTS = 5;
+var TOLERANCE = 3; // tolerance for difference between calibration values and colour sensor readings
+var SHOW_LOGS = true;
+var TAG = "ColourSensorManualCalibratorMarty";
+var ColourSensorManualCalibratorMarty = /** @class */ (function () {
+    function ColourSensorManualCalibratorMarty() {
+    }
+    ColourSensorManualCalibratorMarty.calibrate = function (raftConnector, retryTimes) {
+        if (retryTimes === void 0) { retryTimes = 0; }
+        return __awaiter(this, void 0, void 0, function () {
+            var isSame, error_1;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.info(SHOW_LOGS, TAG, "\n==== Calibration attempt ".concat(retryTimes + 1, " ===="));
+                        if (!this.prepareForCalibration(raftConnector)) {
+                            return [2 /*return*/, false];
+                        }
+                        _a.label = 1;
+                    case 1:
+                        _a.trys.push([1, 6, 7, 8]);
+                        return [4 /*yield*/, this.performCalibrationSequence()];
+                    case 2:
+                        if (!_a.sent()) return [3 /*break*/, 5];
+                        return [4 /*yield*/, this.compareCalibrationValues(this._calibrationValues, this._colourSensorReadings)];
+                    case 3:
+                        isSame = _a.sent();
+                        return [4 /*yield*/, this.handleCalibrationOutcome(isSame, raftConnector, retryTimes)];
+                    case 4: return [2 /*return*/, _a.sent()];
+                    case 5: return [2 /*return*/, this.handleMaxAttempts(retryTimes, raftConnector)];
+                    case 6:
+                        error_1 = _a.sent();
+                        Logger.error(SHOW_LOGS, TAG, "Error calibrating colour sensor: " + JSON.stringify(error_1));
+                        return [2 /*return*/, false];
+                    case 7:
+                        this._isCalibrating = false;
+                        return [7 /*endfinally*/];
+                    case 8: return [2 /*return*/];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.prepareForCalibration = function (raftConnector) {
+        if (this._isCalibrating) {
+            return false;
+        }
+        this._raftConnector = raftConnector;
+        this._isCalibrating = true;
+        return true;
+    };
+    ColourSensorManualCalibratorMarty.performCalibrationSequence = function () {
+        return __awaiter(this, void 0, void 0, function () {
+            var names, calibration1Success, csReadingSuccess, calibration2Success;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0: return [4 /*yield*/, this.getColourSensorNames()];
+                    case 1:
+                        names = _a.sent();
+                        return [4 /*yield*/, this.turnOnServosIfRequired(names)];
+                    case 2:
+                        _a.sent();
+                        return [4 /*yield*/, this.getCalibration(names)];
+                    case 3:
+                        calibration1Success = _a.sent();
+                        return [4 /*yield*/, this.getColourSensorReading(names)];
+                    case 4:
+                        csReadingSuccess = _a.sent();
+                        return [4 /*yield*/, this.getCalibration(names)];
+                    case 5:
+                        calibration2Success = _a.sent();
+                        return [2 /*return*/, calibration1Success && csReadingSuccess && calibration2Success];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.handleCalibrationOutcome = function (isSame, raftConnector, retryTimes) {
+        return __awaiter(this, void 0, void 0, function () {
+            return __generator(this, function (_a) {
+                if (isSame) {
+                    return [2 /*return*/, true];
+                }
+                this._isCalibrating = false;
+                return [2 /*return*/, this.handleMaxAttempts(retryTimes, raftConnector)];
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.handleMaxAttempts = function (retryTimes, raftConnector) {
+        return __awaiter(this, void 0, void 0, function () {
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        if (retryTimes >= MAX_CALIBRATION_ATTEMPTS) {
+                            Logger.error(SHOW_LOGS, TAG, "Max calibration attempts reached");
+                            return [2 /*return*/, false];
+                        }
+                        this._isCalibrating = false;
+                        return [4 /*yield*/, this.calibrate(raftConnector, retryTimes + 1)];
+                    case 1: return [2 /*return*/, _a.sent()];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.almostEqual = function (v1, v2, tolerance) {
+        if (tolerance === void 0) { tolerance = TOLERANCE; }
+        return Math.abs(v1 - v2) <= tolerance;
+    };
+    ColourSensorManualCalibratorMarty.compareCalibrationValues = function (expected, actual) {
+        return __awaiter(this, void 0, void 0, function () {
+            var expectedKeys, actualKeys, _i, expectedKeys_1, key, expectedValue, actualValue;
+            return __generator(this, function (_a) {
+                Logger.info(SHOW_LOGS, TAG, "\n==== Comparing calibration values ====");
+                Logger.info(SHOW_LOGS, TAG, "CalibrationValues: " + JSON.stringify(this._calibrationValues));
+                Logger.info(SHOW_LOGS, TAG, "ColourSensorReadings: " + JSON.stringify(this._colourSensorReadings));
+                if (expected === null || actual === null) {
+                    return [2 /*return*/, false];
+                }
+                expectedKeys = Object.keys(expected);
+                actualKeys = Object.keys(actual);
+                if (expectedKeys.length !== actualKeys.length) {
+                    return [2 /*return*/, false];
+                }
+                for (_i = 0, expectedKeys_1 = expectedKeys; _i < expectedKeys_1.length; _i++) {
+                    key = expectedKeys_1[_i];
+                    if (!actualKeys.includes(key)) {
+                        return [2 /*return*/, false];
+                    }
+                    expectedValue = expected[key];
+                    actualValue = actual[key];
+                    if (!this.almostEqual(expectedValue.clear, actualValue.clear)) {
+                        return [2 /*return*/, false];
+                    }
+                    if (!this.almostEqual(expectedValue.red, actualValue.red)) {
+                        return [2 /*return*/, false];
+                    }
+                    if (!this.almostEqual(expectedValue.green, actualValue.green)) {
+                        return [2 /*return*/, false];
+                    }
+                    if (!this.almostEqual(expectedValue.blue, actualValue.blue)) {
+                        return [2 /*return*/, false];
+                    }
+                }
+                return [2 /*return*/, true];
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.turnOnServosIfRequired = function (names) {
+        var _a;
+        return __awaiter(this, void 0, void 0, function () {
+            var _i, names_1, name_1, hwElemList, hwElem;
+            return __generator(this, function (_b) {
+                switch (_b.label) {
+                    case 0:
+                        if (names.length === 0)
+                            return [2 /*return*/];
+                        _i = 0, names_1 = names;
+                        _b.label = 1;
+                    case 1:
+                        if (!(_i < names_1.length)) return [3 /*break*/, 8];
+                        name_1 = names_1[_i];
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler()
+                                .sendRICRESTURL("hwstatus/status/".concat(name_1))];
+                    case 2:
+                        hwElemList = _b.sent();
+                        if (!((hwElemList === null || hwElemList === void 0 ? void 0 : hwElemList.rslt) === "ok" && ((_a = hwElemList.hw) === null || _a === void 0 ? void 0 : _a.length) > 0)) return [3 /*break*/, 5];
+                        hwElem = hwElemList.hw[0];
+                        if (!!hwElem.commsOk) return [3 /*break*/, 5];
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL("pwrctrl/5von")];
+                    case 3:
+                        _b.sent();
+                        return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 4000); })];
+                    case 4:
+                        _b.sent();
+                        return [2 /*return*/];
+                    case 5: return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 200); })];
+                    case 6:
+                        _b.sent();
+                        _b.label = 7;
+                    case 7:
+                        _i++;
+                        return [3 /*break*/, 1];
+                    case 8: return [2 /*return*/];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.getColourSensorNames = function () {
+        var _a;
+        return __awaiter(this, void 0, void 0, function () {
+            var names, hwElemList_Str, hwElems, hwElemList, _i, _b, hwElem, e_1;
+            return __generator(this, function (_c) {
+                switch (_c.label) {
+                    case 0:
+                        Logger.info(SHOW_LOGS, TAG, "\n==== getColourSensorNames ====");
+                        names = [];
+                        _c.label = 1;
+                    case 1:
+                        _c.trys.push([1, 6, , 7]);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler()
+                                .sendRICRESTURL("hwstatus/strstat/?filterByType=".concat(RIC_WHOAMI_TYPE_CODE_ADDON_COLOUR))];
+                    case 2:
+                        hwElemList_Str = _c.sent();
+                        hwElems = hwElemList_Str.hw;
+                        hwElemList = void 0;
+                        if (!hwElems.length) return [3 /*break*/, 5];
+                        if (!(typeof hwElems[0] !== "object")) return [3 /*break*/, 4];
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL("hwstatus?filterByType=".concat(RIC_WHOAMI_TYPE_CODE_ADDON_COLOUR))];
+                    case 3:
+                        // we are on a fw version that doesn't supports strstat
+                        hwElemList = _c.sent();
+                        return [3 /*break*/, 5];
+                    case 4:
+                        // we are on the fw version that supports strstat
+                        hwElemList = RICHWElemList_Str.expand(hwElemList_Str);
+                        _c.label = 5;
+                    case 5:
+                        if ((hwElemList === null || hwElemList === void 0 ? void 0 : hwElemList.rslt) === "ok" && ((_a = hwElemList.hw) === null || _a === void 0 ? void 0 : _a.length) > 0) {
+                            for (_i = 0, _b = hwElemList.hw; _i < _b.length; _i++) {
+                                hwElem = _b[_i];
+                                names.push(hwElem.name);
+                            }
+                        }
+                        Logger.info(SHOW_LOGS, TAG, "Colour sensor names: " + JSON.stringify(names));
+                        return [2 /*return*/, names];
+                    case 6:
+                        e_1 = _c.sent();
+                        new Error("Error getting colour sensor names: " + JSON.stringify(e_1));
+                        return [2 /*return*/, []];
+                    case 7: return [2 /*return*/];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.getCalibration = function (names) {
+        return __awaiter(this, void 0, void 0, function () {
+            var REPORT_MSG_KEY, reports, _i, names_2, hwElemName, command, _a, reports_1, report, dataRead, clear, red, green, blue;
+            var _b;
+            return __generator(this, function (_c) {
+                switch (_c.label) {
+                    case 0:
+                        Logger.info(SHOW_LOGS, TAG, "\n==== getCalibration ====");
+                        REPORT_MSG_KEY = "GET_CALIBRATION";
+                        reports = [];
+                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksSet(REPORT_MSG_KEY, function (report) {
+                            reports.push(report);
+                            Logger.debug(SHOW_LOGS, TAG, "Report callback ".concat(JSON.stringify(report)));
+                        });
+                        _i = 0, names_2 = names;
+                        _c.label = 1;
+                    case 1:
+                        if (!(_i < names_2.length)) return [3 /*break*/, 4];
+                        hwElemName = names_2[_i];
+                        command = GET_CALIBRATION_COMMAND(hwElemName);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                    case 2:
+                        _c.sent();
+                        _c.label = 3;
+                    case 3:
+                        _i++;
+                        return [3 /*break*/, 1];
+                    case 4: 
+                    // Wait for report messages to be received
+                    return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 2000); })];
+                    case 5:
+                        // Wait for report messages to be received
+                        _c.sent();
+                        this._raftConnector.getRaftMsgHandler().reportMsgCallbacksDelete(REPORT_MSG_KEY);
+                        if (reports.length === 0) {
+                            Logger.info(SHOW_LOGS, TAG, "No reports received");
+                            return [2 /*return*/, false];
+                        }
+                        // Process reports
+                        for (_a = 0, reports_1 = reports; _a < reports_1.length; _a++) {
+                            report = reports_1[_a];
+                            if (report.hexRd && report.elemName) {
+                                dataRead = report.hexRd;
+                                clear = parseInt(dataRead.slice(0, 4), 16);
+                                red = parseInt(dataRead.slice(4, 8), 16);
+                                green = parseInt(dataRead.slice(8, 12), 16);
+                                blue = parseInt(dataRead.slice(12, 16), 16);
+                                Logger.info(SHOW_LOGS, TAG, "Calibration Report -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
+                                this._calibrationValues = __assign(__assign({}, this._calibrationValues), (_b = {}, _b[report.elemName] = { clear: clear, red: red, green: green, blue: blue }, _b));
+                            }
+                        }
+                        return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.getColourSensorReading = function (names) {
+        return __awaiter(this, void 0, void 0, function () {
+            var REPORT_MSG_KEY, reports, _i, names_3, hwElemName, command, _a, reports_2, report, dataRead, clear, red, green, blue;
+            var _b;
+            return __generator(this, function (_c) {
+                switch (_c.label) {
+                    case 0:
+                        REPORT_MSG_KEY = "GET_COLOUR_SENSOR_READING";
+                        Logger.info(SHOW_LOGS, TAG, "\n==== getColourSensorReading ====");
+                        reports = [];
+                        this._raftConnector.getRaftMsgHandler()
+                            .reportMsgCallbacksSet(REPORT_MSG_KEY, function (report) {
+                            reports.push(report);
+                            Logger.debug(SHOW_LOGS, TAG, "getHWElemCB Report callback ".concat(JSON.stringify(report)));
+                        });
+                        _i = 0, names_3 = names;
+                        _c.label = 1;
+                    case 1:
+                        if (!(_i < names_3.length)) return [3 /*break*/, 4];
+                        hwElemName = names_3[_i];
+                        command = GET_COLOUR_SENSOR_READING_COMMAND(hwElemName);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                    case 2:
+                        _c.sent();
+                        _c.label = 3;
+                    case 3:
+                        _i++;
+                        return [3 /*break*/, 1];
+                    case 4: 
+                    // wait a couple of seconds for any report messages to be received
+                    return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 2000); })];
+                    case 5:
+                        // wait a couple of seconds for any report messages to be received
+                        _c.sent();
+                        // remove report callback
+                        this._raftConnector
+                            .getRaftMsgHandler()
+                            .reportMsgCallbacksDelete(REPORT_MSG_KEY);
+                        if (reports.length === 0) {
+                            Logger.info(SHOW_LOGS, TAG, "No reports received");
+                            return [2 /*return*/, false];
+                        }
+                        _a = 0, reports_2 = reports;
+                        _c.label = 6;
+                    case 6:
+                        if (!(_a < reports_2.length)) return [3 /*break*/, 9];
+                        report = reports_2[_a];
+                        if (!(report.hexRd && report.elemName)) return [3 /*break*/, 8];
+                        dataRead = report.hexRd;
+                        clear = parseInt(dataRead.slice(2, 4), 16);
+                        red = parseInt(dataRead.slice(4, 6), 16);
+                        green = parseInt(dataRead.slice(6, 8), 16);
+                        blue = parseInt(dataRead.slice(8, 10), 16);
+                        // Logger.info(SHOW_LOGS, TAG, "getColourSensorReading", "clear", clear, "red", red, "green", green, "blue", blue);
+                        Logger.info(SHOW_LOGS, TAG, "getColourSensorReading -- " + "clear: " + clear + " red: " + red + " green: " + green + " blue: " + blue);
+                        this._colourSensorReadings = __assign(__assign({}, this._colourSensorReadings), (_b = {}, _b[report.elemName] = { clear: clear, red: red, green: green, blue: blue }, _b));
+                        return [4 /*yield*/, this.calibrateCS(report.elemName, { clear: clear, red: red, green: green, blue: blue })];
+                    case 7:
+                        if (!(_c.sent())) {
+                            return [2 /*return*/, false];
+                        }
+                        _c.label = 8;
+                    case 8:
+                        _a++;
+                        return [3 /*break*/, 6];
+                    case 9: return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty.calibrateCS = function (name, reading) {
+        return __awaiter(this, void 0, void 0, function () {
+            var baseAddr, channels, i, channel, highByte, lowByte, command, rslt;
+            return __generator(this, function (_a) {
+                switch (_a.label) {
+                    case 0:
+                        Logger.info(SHOW_LOGS, TAG, "\n==== calibrateCS ====");
+                        baseAddr = 0x20;
+                        channels = [reading.clear, reading.red, reading.green, reading.blue];
+                        i = 0;
+                        _a.label = 1;
+                    case 1:
+                        if (!(i < channels.length)) return [3 /*break*/, 5];
+                        channel = channels[i];
+                        Logger.info(SHOW_LOGS, TAG, "Setting 0x".concat(baseAddr.toString(16), " to ").concat(channel));
+                        highByte = (channel >> 8).toString(16).padStart(2, "0");
+                        lowByte = (channel & 0xff).toString(16).padStart(2, "0");
+                        command = CALIBRATE_COMMAND(name, baseAddr, highByte, lowByte, i);
+                        return [4 /*yield*/, this._raftConnector.getRaftMsgHandler().sendRICRESTURL(command)];
+                    case 2:
+                        rslt = _a.sent();
+                        // Logger.info(SHOW_LOGS, TAG, "rslt:" + JSON.stringify(rslt));
+                        if (rslt.rslt !== "ok") {
+                            Logger.info(SHOW_LOGS, TAG, "Error setting calibration");
+                            return [2 /*return*/, false];
+                        }
+                        baseAddr += 2;
+                        return [4 /*yield*/, new Promise(function (resolve) { return setTimeout(resolve, 1000); })];
+                    case 3:
+                        _a.sent();
+                        _a.label = 4;
+                    case 4:
+                        i++;
+                        return [3 /*break*/, 1];
+                    case 5:
+                        Logger.info(SHOW_LOGS, TAG, "Calibration completed successfully.");
+                        return [2 /*return*/, true];
+                }
+            });
+        });
+    };
+    ColourSensorManualCalibratorMarty._isCalibrating = false;
+    ColourSensorManualCalibratorMarty._calibrationValues = null;
+    ColourSensorManualCalibratorMarty._colourSensorReadings = null;
+    return ColourSensorManualCalibratorMarty;
+}());
+export default ColourSensorManualCalibratorMarty;

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@robotical/webapp-types",
-  "version": "3.7.8",
+  "version": "3.7.9",
   "description": "Type definitions for the Application Manager",
   "main": "dist/application-manager.d.ts",
   "types": "dist/application-manager.d.ts",