diff --git a/.commitlintrc.json b/.commitlintrc.json new file mode 100644 index 0000000..c30e5a9 --- /dev/null +++ b/.commitlintrc.json @@ -0,0 +1,3 @@ +{ + "extends": ["@commitlint/config-conventional"] +} diff --git a/.eslintrc.json b/.eslintrc.json new file mode 100644 index 0000000..acece11 --- /dev/null +++ b/.eslintrc.json @@ -0,0 +1,10 @@ +{ + "extends": [ + "plugin:@typescript-eslint/recommended", + "standard-with-typescript", + "prettier" + ], + "parser": "@typescript-eslint/parser", + "plugins": ["@typescript-eslint"], + "rules": {} +} diff --git a/.github/ISSUE_TEMPLATE/BUG_REPORT.md b/.github/ISSUE_TEMPLATE/BUG_REPORT.md new file mode 100644 index 0000000..6fa9506 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/BUG_REPORT.md @@ -0,0 +1,30 @@ +--- +name: Bug Report +about: Report a bug in the project +title: "[BUG]" +labels: "needs confirmation" +assignees: "" +--- + +#### Expected Behavior + + + +#### Observed Behavior + + + +#### Steps to Reproduce + + + +#### Environment + + + +- LemLink Version: + +#### Additional Information + + + diff --git a/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md b/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md new file mode 100644 index 0000000..a8a75a4 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/FEATURE_REQUEST.md @@ -0,0 +1,29 @@ +--- +name: Feature Request +about: Suggest an idea for the project +title: "[FEATURE]" +labels: "enhancement" +assignees: "" +--- + +#### Requested Feature + + + + + +- a +- b +- c + +#### Current Implementation + + + +#### Motivation + + + +#### (Optional) Possible Implementations and Alternatives + + diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000..3a3cce5 --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,11 @@ +# To get started with Dependabot version updates, you'll need to specify which +# package ecosystems to update and where the package manifests are located. +# Please see the documentation for all configuration options: +# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates + +version: 2 +updates: + - package-ecosystem: "npm" # See documentation for possible values + directory: "/" # Location of package manifests + schedule: + interval: "weekly" diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml new file mode 100644 index 0000000..95a81e8 --- /dev/null +++ b/.github/workflows/ci.yml @@ -0,0 +1,69 @@ +name: ci +on: + pull_request: + branches: "*" + push: + branches: "*" + + workflow_dispatch: + +jobs: + build: + runs-on: ubuntu-latest + steps: + - name: Copy repository + uses: actions/checkout@v4 + + - name: Use Node.js + uses: actions/setup-node@v4 + with: + node-version: 20 + cache: "npm" + + - name: Install dependencies + run: npm i + + - name: Lint + run: npm run check-lint + + - name: Check formatting + run: npm run check-format + + - name: Build + run: npm run build + + - name: Test + run: npm test + release_and_publish: + if: github.ref == 'refs/heads/pre-release' || github.ref == 'refs/heads/stable' + runs-on: ubuntu-latest + environment: npm_publish_env + needs: build + permissions: + contents: write # to be able to publish a GitHub release + issues: write # to be able to comment on released issues + pull-requests: write # to be able to comment on released pull requests + id-token: write # to enable use of OIDC for npm provenance + + steps: + - name: Checkout code + uses: actions/checkout@v4 + + - name: Set up Node.js + uses: actions/setup-node@v4 + with: + node-version: 20 + cache: "npm" + registry-url: "https://registry.npmjs.org" + + - name: Install dependencies + run: npm ci + + - name: Build project + run: npm run build + + - name: Run Semantic Release + run: npx semantic-release + env: + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + NODE_AUTH_TOKEN: ${{ secrets.NPM_RELEASR_TOKEN }} diff --git a/.husky/commit-msg b/.husky/commit-msg new file mode 100755 index 0000000..c160a77 --- /dev/null +++ b/.husky/commit-msg @@ -0,0 +1,4 @@ +#!/usr/bin/env sh +. "$(dirname -- "$0")/_/husky.sh" + +npx --no -- commitlint --edit ${1} diff --git a/.husky/pre-commit b/.husky/pre-commit new file mode 100755 index 0000000..d4a43dd --- /dev/null +++ b/.husky/pre-commit @@ -0,0 +1,4 @@ +#!/usr/bin/env sh +. "$(dirname -- "$0")/_/husky.sh" + +npm run pre-commit diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 0000000..07d2252 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,2 @@ +node_modules +out \ No newline at end of file diff --git a/.prettierrc b/.prettierrc new file mode 100644 index 0000000..0967ef4 --- /dev/null +++ b/.prettierrc @@ -0,0 +1 @@ +{} diff --git a/babel.config.js b/babel.config.js index b38cf4a..7151106 100644 --- a/babel.config.js +++ b/babel.config.js @@ -1,11 +1,11 @@ module.exports = { - presets: [ - [ - "@babel/preset-env", - { - targets: { "node": true } - }, - "@babel/preset-typescript" - ] - ] -} \ No newline at end of file + presets: [ + [ + "@babel/preset-env", + { + targets: { node: true }, + }, + "@babel/preset-typescript", + ], + ], +}; diff --git a/examples/connect.ts b/examples/connect.ts index a590696..b638f11 100644 --- a/examples/connect.ts +++ b/examples/connect.ts @@ -1,10 +1,10 @@ import { serial } from "node-web-serial-ponyfill"; import { V5SerialDevice } from "../src"; -(async function() { - let device = new V5SerialDevice(serial); +void (async function () { + const device = new V5SerialDevice(serial); - await device.connect(); + await device.connect(); - console.log(device.brain.systemVersion); -})(); \ No newline at end of file + console.log(device.brain.systemVersion); +})(); diff --git a/examples/tsconfig.json b/examples/tsconfig.json index 8e64b9d..2981784 100644 --- a/examples/tsconfig.json +++ b/examples/tsconfig.json @@ -1,31 +1,25 @@ { - "compilerOptions": { - // - "allowSyntheticDefaultImports": true, - "experimentalDecorators": true, - // - "isolatedModules": false, - "module": "commonjs", - // - "noImplicitAny": true, - "noImplicitThis": true, - "noUnusedLocals": false, // it is ok for the example - "noUnusedParameters": false, - "removeComments": true, - "preserveConstEnums": true, - // - "moduleResolution": "node", - "emitDecoratorMetadata": true, - "esModuleInterop": true, // testing - "sourceMap": false, - "target": "es6", - "strictNullChecks": true, - "lib": [ - "es5", - "es2015", - "es2016", - "es2017", - "dom" - ] - } -} \ No newline at end of file + "compilerOptions": { + // + "allowSyntheticDefaultImports": true, + "experimentalDecorators": true, + // + "isolatedModules": false, + "module": "commonjs", + // + "noImplicitAny": true, + "noImplicitThis": true, + "noUnusedLocals": false, // it is ok for the example + "noUnusedParameters": false, + "removeComments": true, + "preserveConstEnums": true, + // + "moduleResolution": "node", + "emitDecoratorMetadata": true, + "esModuleInterop": true, // testing + "sourceMap": false, + "target": "es6", + "strictNullChecks": true, + "lib": ["es5", "es2015", "es2016", "es2017", "dom"] + } +} diff --git a/examples/upload.ts b/examples/upload.ts index 48e8460..d0deb01 100644 --- a/examples/upload.ts +++ b/examples/upload.ts @@ -1,34 +1,42 @@ import { serial } from "node-web-serial-ponyfill"; -import { ProgramIniConfig, V5SerialDevice, ZerobaseSlotNumber } from "../src"; +import { + ProgramIniConfig, + V5SerialDevice, + type ZerobaseSlotNumber, +} from "../src"; -import fs from 'fs'; +import fs from "fs"; function toUint8(b: Buffer): Uint8Array { - let ab = b.buffer.slice(b.byteOffset, b.byteOffset + b.byteLength); - return new Uint8Array(ab); + const ab = b.buffer.slice(b.byteOffset, b.byteOffset + b.byteLength); + return new Uint8Array(ab); } -(async function() { - let device = new V5SerialDevice(serial); - - await device.connect(); - - let slot = 2; - let bin = toUint8(fs.readFileSync("./examples/pros-demo-program/hot.package.bin")); - let cold = toUint8(fs.readFileSync("./examples/pros-demo-program/cold.package.bin")); - - let ini = new ProgramIniConfig(); - ini.autorun = true; - ini.baseName = "slot_" + slot; - ini.program.name = "PROS Demo"; - ini.program.slot = (slot - 1) as ZerobaseSlotNumber; - ini.program.icon = "USER902x.bmp"; - ini.program.description = "Demo"; - - const onProgress = (state: string, current: number, total: number) => { - console.log(state, current, total); - }; - - let isDone = await device.brain.uploadProgram(ini, bin, cold, onProgress); - console.log("done", isDone); -})(); \ No newline at end of file +void (async function () { + const device = new V5SerialDevice(serial); + + await device.connect(); + + const slot = 2; + const bin = toUint8( + fs.readFileSync("./examples/pros-demo-program/hot.package.bin"), + ); + const cold = toUint8( + fs.readFileSync("./examples/pros-demo-program/cold.package.bin"), + ); + + const ini = new ProgramIniConfig(); + ini.autorun = true; + ini.baseName = "slot_" + slot; + ini.program.name = "PROS Demo"; + ini.program.slot = (slot - 1) as ZerobaseSlotNumber; + ini.program.icon = "USER902x.bmp"; + ini.program.description = "Demo"; + + const onProgress = (state: string, current: number, total: number): void => { + console.log(state, current, total); + }; + + const isDone = await device.brain.uploadProgram(ini, bin, cold, onProgress); + console.log("done", isDone); +})(); diff --git a/jest.config.ts b/jest.config.ts index aa7b55c..f28dc67 100644 --- a/jest.config.ts +++ b/jest.config.ts @@ -4,13 +4,13 @@ */ export default { - preset: 'ts-jest', + preset: "ts-jest", - testEnvironment: 'node', + testEnvironment: "node", transform: { - '^.+\\.jsx?$': 'babel-jest', - '^.+\\.ts?$': 'ts-jest', + "^.+\\.jsx?$": "babel-jest", + "^.+\\.ts?$": "ts-jest", }, // Indicates whether the coverage information should be collected while executing the test @@ -20,5 +20,5 @@ export default { coverageDirectory: "coverage", // Indicates which provider should be used to instrument code for coverage - coverageProvider: "v8" + coverageProvider: "v8", }; diff --git a/package-lock.json b/package-lock.json index 0b5d608..13215eb 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,11 +1,11 @@ { - "name": "v5-serial-protocol", + "name": "@lemlib/v5-serial-protocol", "version": "0.5.0", "lockfileVersion": 2, "requires": true, "packages": { "": { - "name": "v5-serial-protocol", + "name": "@lemlib/v5-serial-protocol", "version": "0.5.0", "license": "MIT", "dependencies": { @@ -16,26 +16,45 @@ "@babel/core": "^7.18.2", "@babel/preset-env": "^7.18.2", "@babel/preset-typescript": "^7.17.12", + "@commitlint/cli": "^18.4.3", + "@commitlint/config-conventional": "^18.4.3", "@rollup/plugin-commonjs": "^22.0.0", "@rollup/plugin-json": "^4.1.0", "@rollup/plugin-node-resolve": "^13.3.0", "@rollup/plugin-typescript": "^8.3.2", "@types/jest": "^28.1.1", + "@typescript-eslint/eslint-plugin": "^6.12.0", + "@typescript-eslint/parser": "^6.12.0", "babel-jest": "^28.1.1", "crc": "^4.1.1", + "eslint": "^8.54.0", + "eslint-config-prettier": "^9.0.0", + "eslint-config-standard-with-typescript": "^40.0.0", + "husky": "^8.0.0", "jest": "^28.1.1", "node-web-serial-ponyfill": "^0.5.3", + "prettier": "^3.1.0", "rollup": "^2.75.6", "rollup-plugin-dts": "^4.2.2", 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"https://registry.npmjs.org/walker/-/walker-1.0.8.tgz", @@ -13675,6 +29236,40 @@ "isexe": "^2.0.0" } }, + "which-boxed-primitive": { + "version": "1.0.2", + "resolved": "https://registry.npmjs.org/which-boxed-primitive/-/which-boxed-primitive-1.0.2.tgz", + "integrity": "sha512-bwZdv0AKLpplFY2KZRX6TvyuN7ojjr7lwkg6ml0roIy9YeuSr7JS372qlNW18UQYzgYK9ziGcerWqZOmEn9VNg==", + "dev": true, + "peer": true, + "requires": { + "is-bigint": "^1.0.1", + "is-boolean-object": "^1.1.0", + "is-number-object": "^1.0.4", + "is-string": "^1.0.5", + "is-symbol": "^1.0.3" + } + }, + "which-typed-array": { + "version": "1.1.13", + "resolved": "https://registry.npmjs.org/which-typed-array/-/which-typed-array-1.1.13.tgz", + "integrity": "sha512-P5Nra0qjSncduVPEAr7xhoF5guty49ArDTwzJ/yNuPIbZppyRxFQsRCWrocxIY+CnMVG+qfbU2FmDKyvSGClow==", + "dev": true, + "peer": true, + "requires": { + "available-typed-arrays": "^1.0.5", + "call-bind": "^1.0.4", + "for-each": "^0.3.3", + "gopd": "^1.0.1", + "has-tostringtag": "^1.0.0" + } + }, + "wordwrap": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/wordwrap/-/wordwrap-1.0.0.tgz", + "integrity": "sha512-gvVzJFlPycKc5dZN4yPkP8w7Dc37BtP1yczEneOb4uq34pXZcvrtRTmWV8W+Ume+XCxKgbjM+nevkyFPMybd4Q==", + "dev": true + }, "wrap-ansi": { "version": "7.0.0", "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-7.0.0.tgz", @@ -13728,6 +29323,12 @@ "signal-exit": "^3.0.7" } }, + "xtend": { + "version": "4.0.2", + "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.2.tgz", + "integrity": "sha512-LKYU1iAXJXUgAXn9URjiu+MWhyUXHsvfp7mcuYm9dSUKK0/CjtrUwFAxD82/mCWbtLsGjFIad0wIsod4zrTAEQ==", + "dev": true + }, "y18n": { "version": "5.0.8", "resolved": "https://registry.npmjs.org/y18n/-/y18n-5.0.8.tgz", @@ -13766,6 +29367,12 @@ "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz", "integrity": "sha512-Ux4ygGWsu2c7isFWe8Yu1YluJmqVhxqK2cLXNQA5AcC3QfbGNpM7fu0Y8b/z16pXLnFxZYvWhd3fhBY9DLmC6Q==", "dev": true + }, + "yocto-queue": { + "version": "0.1.0", + "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", + "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", + "dev": true } } } diff --git a/package.json b/package.json index 862cdaa..730736d 100644 --- a/package.json +++ b/package.json @@ -1,5 +1,5 @@ { - "name": "v5-serial-protocol", + "name": "@lemlib/v5-serial-protocol", "version": "0.5.0", "description": "TODO", "main": "dist/v5-serial-protocol.cjs.js", @@ -10,7 +10,15 @@ "build": "tsc && NODE_ENV=production rollup -c", "dev": "rollup -c -w", "test": "jest", - "pretest": "npm run build" + "pretest": "npm run build", + "check-lint": "eslint \"src/**.ts\" --cache --cache-location node_modules/.cache/eslint/.eslintcache", + "check-format": "prettier . -c --cache", + "pre-commit": "npm run check-lint && npm run check-format", + "lint": "npm run check-lint -- --fix", + "format": "prettier . --write --cache", + "clean": "npm run lint && npm run format", + "semantic-release": "semantic-release", + "prepare": "husky install" }, "repository": { "type": "git", @@ -51,10 +59,32 @@ "ts-jest": "^28.0.4", "ts-node": "^10.8.1", "tslib": "^2.4.0", - "typescript": "^4.7.3" + "typescript": "^4.7.3", + "@commitlint/cli": "^18.4.3", + "@commitlint/config-conventional": "^18.4.3", + "@typescript-eslint/eslint-plugin": "^6.12.0", + "@typescript-eslint/parser": "^6.12.0", + "eslint": "^8.54.0", + "eslint-config-prettier": "^9.0.0", + "eslint-config-standard-with-typescript": "^40.0.0", + "prettier": "^3.1.0", + "semantic-release": "^22.0.8", + "husky": "^8.0.0" }, "dependencies": { "@types/dom-serial": "^1.0.2", "unzipit": "^1.4.0" + }, + "release": { + "branches": [ + "stable", + { + "name": "pre-release", + "prerelease": true + } + ] + }, + "publishConfig": { + "registry": "https://registry.npmjs.org/" } } diff --git a/rollup.config.js b/rollup.config.js index 73a2671..ea1108a 100644 --- a/rollup.config.js +++ b/rollup.config.js @@ -1,73 +1,72 @@ - // rollup.config.js -import commonjs from '@rollup/plugin-commonjs'; -import json from '@rollup/plugin-json'; -import resolve from '@rollup/plugin-node-resolve'; -import typescript from '@rollup/plugin-typescript'; +import commonjs from "@rollup/plugin-commonjs"; +import json from "@rollup/plugin-json"; +import resolve from "@rollup/plugin-node-resolve"; +import typescript from "@rollup/plugin-typescript"; // import { terser } from 'rollup-plugin-terser'; // import excludeDependenciesFromBundle from "rollup-plugin-exclude-dependencies-from-bundle"; -import license from 'rollup-plugin-license' -import dts from 'rollup-plugin-dts'; -import { version, main, module, author } from './package.json' +import license from "rollup-plugin-license"; +import dts from "rollup-plugin-dts"; +import { version, main, module, author } from "./package.json"; const name = "V5 Serial Protocol"; // const isProduction = process.env.NODE_ENV === 'production' const settings = { - globals: { }, + globals: {}, sourcemap: true, -} +}; const licenseConfig = license({ banner: ` ${name} v${version} Copyright 2022<%= moment().format('YYYY') > 2022 ? '-' + moment().format('YYYY') : null %> ${author} -` +`, }); export default [ { - input: './src/index.ts', + input: "./src/index.ts", output: [ { file: module, ...settings, name: name, - format: 'es' + format: "es", }, { file: main, ...settings, name: name, - format: 'cjs' - } + format: "cjs", + }, ], plugins: [ json(), resolve({ jsnext: true, - main: true + main: true, }), typescript({ - typescript: require('typescript') + typescript: require("typescript"), }), commonjs({ - include: 'node_modules/**', - extensions: ['.js'], + include: "node_modules/**", + extensions: [".js"], ignoreGlobal: false, - sourceMap: true + sourceMap: true, }), // excludeDependenciesFromBundle({ // dependencies: true // }), - licenseConfig - ] + licenseConfig, + ], }, { input: "dts/index.d.ts", output: [{ file: "index.d.ts", format: "es" }], plugins: [dts(), licenseConfig], }, -] +]; diff --git a/src/Vex.ts b/src/Vex.ts index e69328b..a3c458b 100644 --- a/src/Vex.ts +++ b/src/Vex.ts @@ -1,5 +1,5 @@ -import { VexFirmwareVersion } from "./VexFirmwareVersion"; -import { HostBoundPacket } from "./VexPacket"; +import { type VexFirmwareVersion } from "./VexFirmwareVersion"; +import { type HostBoundPacket } from "./VexPacket"; export const USER_PROG_CHUNK_SIZE = 4096; // chunk size export const USER_FLASH_START = 0x03000000; // start address of memory @@ -13,65 +13,65 @@ export const USER_FLASH_START_C = 0x30200000; // special app flash start export const USER_FLASH_END_C = 0x31000000; // special app flash end export interface ISmartDeviceInfo { - port: number; - type: SmartDeviceType; - status: number; - betaversion: number; - version: number; - bootversion: number; + port: number; + type: SmartDeviceType; + status: number; + betaversion: number; + version: number; + bootversion: number; } export interface IFileBasicInfo { - filename: string; - vendor: FileVendor; - loadAddress?: number; - size?: number; + filename: string; + vendor: FileVendor; + loadAddress?: number; + size?: number; } export interface IFileMetadata { - loadAddress: number; - size: number; - crc32: number; - type: string; - timestamp: number; - version: VexFirmwareVersion; + loadAddress: number; + size: number; + crc32: number; + type: string; + timestamp: number; + version: VexFirmwareVersion; } export interface IFileHandle extends IFileBasicInfo, IFileMetadata { - loadAddress: number - size: number; + loadAddress: number; + size: number; } export interface IFileEntry extends IFileMetadata { - index: number; - filename: string; + index: number; + filename: string; } export interface IFileWriteRequest { - filename: string; - vendor?: FileVendor; - loadAddress?: number; - buf?: Uint8Array; - downloadTarget: FileDownloadTarget; - exttype?: string; - autoRun: boolean; - linkedFile?: IFileWriteRequest; + filename: string; + vendor?: FileVendor; + loadAddress?: number; + buf?: Uint8Array; + downloadTarget: FileDownloadTarget; + exttype?: string; + autoRun: boolean; + linkedFile?: IFileWriteRequest; } export interface IProgramInfo { - name: string; - binfile: string, - size: number, - time: Date, - slot: number, - requestedSlot: number + name: string; + binfile: string; + size: number; + time: Date; + slot: number; + requestedSlot: number; } export interface IPacketCallback { - callback: (data: HostBoundPacket | ArrayBuffer | AckType) => void; - timeout: NodeJS.Timeout; - wantedCommandId: number | undefined; - wantedCommandExId: number | undefined; + callback: (data: HostBoundPacket | ArrayBuffer | AckType) => void; + timeout: NodeJS.Timeout; + wantedCommandId: number | undefined; + wantedCommandExId: number | undefined; } export type DataArray = ArrayBuffer | Uint8Array; @@ -79,145 +79,168 @@ export type DataArray = ArrayBuffer | Uint8Array; export type MatchMode = "driver" | "autonomous" | "disabled"; export enum FileVendor { // a.k.a vid - USER = 1, - SYS = 15, - DEV1 = 16, - DEV2 = 24, - DEV3 = 32, - DEV4 = 40, - DEV5 = 48, - DEV6 = 56, - VEXVM = 64, - VEX = 240, - UNDEFINED = 241 + USER = 1, + SYS = 15, + DEV1 = 16, + DEV2 = 24, + DEV3 = 32, + DEV4 = 40, + DEV5 = 48, + DEV6 = 56, + VEXVM = 64, + VEX = 240, + UNDEFINED = 241, } export enum FileDownloadTarget { - FILE_TARGET_DDR = 0, - FILE_TARGET_QSPI = 1, - FILE_TARGET_CBUF = 2, - FILE_TARGET_VBUF = 3, - FILE_TARGET_DDRC = 4, - FILE_TARGET_DDRE = 5, - FILE_TARGET_FLASH = 6, // for IQ2 - FILE_TARGET_RADIO = 7, // for IQ2 - FILE_TARGET_A1 = 13, - FILE_TARGET_B1 = 14, - FILE_TARGET_B2 = 15 + FILE_TARGET_DDR = 0, + FILE_TARGET_QSPI = 1, + FILE_TARGET_CBUF = 2, + FILE_TARGET_VBUF = 3, + FILE_TARGET_DDRC = 4, + FILE_TARGET_DDRE = 5, + FILE_TARGET_FLASH = 6, // for IQ2 + FILE_TARGET_RADIO = 7, // for IQ2 + FILE_TARGET_A1 = 13, + FILE_TARGET_B1 = 14, + FILE_TARGET_B2 = 15, } export enum FileInitAction { - WRITE = 1, - READ = 2 + WRITE = 1, + READ = 2, } export enum FileInitOption { - NONE = 0, - OVERWRITE = 1, + NONE = 0, + OVERWRITE = 1, } export enum FileLoadAction { - RUN = 0, - STOP = 128 + RUN = 0, + STOP = 128, } export enum FileExitAction { - EXIT_NONE = 0, - EXIT_RUN = 1, - EXIT_HALT = 3 + EXIT_NONE = 0, + EXIT_RUN = 1, + EXIT_HALT = 3, } export enum RadioChannelType { - PIT = 0, - DOWNLOAD = 1 + PIT = 0, + DOWNLOAD = 1, } export type SlotNumber = 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8; export type ZerobaseSlotNumber = 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7; -export type PortNumber = 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21; +export type PortNumber = + | 1 + | 2 + | 3 + | 4 + | 5 + | 6 + | 7 + | 8 + | 9 + | 10 + | 11 + | 12 + | 13 + | 14 + | 15 + | 16 + | 17 + | 18 + | 19 + | 20 + | 21; export enum AckType { - CDC2_ACK = 118, - CDC2_NACK = 255, - CDC2_NACK_PACKET_CRC = 206, - CDC2_NACK_CMD_LENGTH = 208, - CDC2_NACK_SIZE = 209, - CDC2_NACK_CRC = 210, - CDC2_NACK_FILE = 211, - CDC2_NACK_INIT = 212, - CDC2_NACK_FUNC = 213, - CDC2_NACK_ALIGN = 214, - CDC2_NACK_ADDR = 215, - CDC2_NACK_INCOMPLETE = 216, - CDC2_NACK_DIR_INDEX = 217, - CDC2_NACK_MAX_USER_FILES = 218, - CDC2_NACK_FILE_EXISTS = 219, - CDC2_NACK_FILE_SYS_FULL = 220, - TIMEOUT = 256, - WRITE_ERROR = 257 + CDC2_ACK = 118, + CDC2_NACK = 255, + CDC2_NACK_PACKET_CRC = 206, + CDC2_NACK_CMD_LENGTH = 208, + CDC2_NACK_SIZE = 209, + CDC2_NACK_CRC = 210, + CDC2_NACK_FILE = 211, + CDC2_NACK_INIT = 212, + CDC2_NACK_FUNC = 213, + CDC2_NACK_ALIGN = 214, + CDC2_NACK_ADDR = 215, + CDC2_NACK_INCOMPLETE = 216, + CDC2_NACK_DIR_INDEX = 217, + CDC2_NACK_MAX_USER_FILES = 218, + CDC2_NACK_FILE_EXISTS = 219, + CDC2_NACK_FILE_SYS_FULL = 220, + TIMEOUT = 256, + WRITE_ERROR = 257, } export enum SmartDeviceType { - EMPTY = 0, - V5_POWER = 1, - MOTOR = 2, - LED = 3, - ABS_ENCODER_SENSOR = 4, - CR_MOTOR = 5, - IMU_SENSOR = 6, - DISTANCE_SENSOR = 7, - RADIO_SENSOR = 8, - CONTROLLER = 9, - BRAIN = 10, - VISION_SENSOR = 11, - ADI = 12, - PARTNER_CONTROLLER = 13, - BATTERY = 14, - SOL = 15, - OPTICAL_SENSOR = 16, - MAGNET = 17, - GPS_SENSOR = 20, - UNDEFINED_SENSOR = 255 + EMPTY = 0, + V5_POWER = 1, + MOTOR = 2, + LED = 3, + ABS_ENCODER_SENSOR = 4, + CR_MOTOR = 5, + IMU_SENSOR = 6, + DISTANCE_SENSOR = 7, + RADIO_SENSOR = 8, + CONTROLLER = 9, + BRAIN = 10, + VISION_SENSOR = 11, + ADI = 12, + PARTNER_CONTROLLER = 13, + BATTERY = 14, + SOL = 15, + OPTICAL_SENSOR = 16, + MAGNET = 17, + GPS_SENSOR = 20, + UNDEFINED_SENSOR = 255, } export enum SerialDeviceType { - V5_BRAIN = 1281, - V5_BRAIN_DFU = 1282, - V5_CONTROLLER = 1283, + V5_BRAIN = 1281, + V5_BRAIN_DFU = 1282, + V5_CONTROLLER = 1283, - XILINX = 256, + XILINX = 256, - IQ_BRAIN = 2, - IQ_BRAIN2 = 3, - IQ_BRAIN_DFU = 255, + IQ_BRAIN = 2, + IQ_BRAIN2 = 3, + IQ_BRAIN_DFU = 255, - IQ2_BRAIN = 512, - IQ2_BRAIN_DFU = 527, - IQ2_CONTROLLER = 528, - IQ2_CONTROLLER_DFU = 543, + IQ2_BRAIN = 512, + IQ2_BRAIN_DFU = 527, + IQ2_CONTROLLER = 528, + IQ2_CONTROLLER_DFU = 543, - EXP_BRAIN = 1536, - EXP_BRAIN_DFU = 1551, + EXP_BRAIN = 1536, + EXP_BRAIN_DFU = 1551, - EXP_CONTROLLER = 1552, - EXP_CONTROLLER_DFU = 1567, + EXP_CONTROLLER = 1552, + EXP_CONTROLLER_DFU = 1567, - PIXY = 61440, - PIXY_DFU = 12, + PIXY = 61440, + PIXY_DFU = 12, - VEXCAM = 1287, - VEXCAM_DFU = 1288, + VEXCAM = 1287, + VEXCAM_DFU = 1288, - SENSOR_TEST = 1535, + SENSOR_TEST = 1535, - CORTEX_PROGCBL = 10, - CORTEX_BRAIN = 11, - CORTEX_JOYSTK = 12, + CORTEX_PROGCBL = 10, + CORTEX_BRAIN = 11, + // Jerry says this was copied from the official source code ¯\_(ツ)_/¯ + // eslint-disable-next-line @typescript-eslint/no-duplicate-enum-values + CORTEX_JOYSTK = 12, - VEXNET_KEY_20 = 7, - VEXNET_KEY_10 = 9587, + VEXNET_KEY_20 = 7, + VEXNET_KEY_10 = 9587, - PROLIFIC = 8963 + PROLIFIC = 8963, } diff --git a/src/VexCRC.ts b/src/VexCRC.ts index e593698..7bb9396 100644 --- a/src/VexCRC.ts +++ b/src/VexCRC.ts @@ -1,89 +1,96 @@ -let CRC16TABLE = [ - 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, - 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, - 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, - 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, - 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, - 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, - 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, - 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, - 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, - 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, - 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, - 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, - 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, - 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, - 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, - 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, - 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, - 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, - 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, - 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, - 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, - 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0, +const CRC16TABLE = [ + 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, + 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, + 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, + 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, + 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, + 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, + 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, + 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, + 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, + 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, + 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, + 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, + 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, + 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, + 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, + 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, + 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, + 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, + 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, + 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, + 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, + 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, + 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, + 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, + 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, + 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, + 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, + 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, + 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0, ]; export class CrcGenerator { - crc16Table: Uint32Array; - crc32Table: Uint32Array; - static POLYNOMIAL_CRC32 = 79764919; - static POLYNOMIAL_CRC16 = 4129; + crc16Table: Uint32Array; + crc32Table: Uint32Array; + static POLYNOMIAL_CRC32 = 79764919; + static POLYNOMIAL_CRC16 = 4129; - constructor() { - this.crc32Table = new Uint32Array(256); - this.crc32GenTable(); - } + constructor() { + this.crc32Table = new Uint32Array(256); + this.crc32GenTable(); + } - /** - * Calculate CRC16 for buffer - */ - crc16(buf: Uint8Array, initValue: number) { - const numberOfBytes = buf.byteLength; - let accumulator = initValue; - let i; - let j; + /** + * Calculate CRC16 for buffer + */ + crc16(buf: Uint8Array, initValue: number): number { + const numberOfBytes = buf.byteLength; + let accumulator = initValue; + let i; + let j; - // now calculate CRC16 - for (j = 0; j < numberOfBytes; j++) { - i = ((accumulator >>> 8) ^ buf[j]) & 0xFF; - accumulator = ((accumulator << 8) ^ CRC16TABLE[i]) >>> 0; - } - return (accumulator & 0xFFFF) >>> 0; + // now calculate CRC16 + for (j = 0; j < numberOfBytes; j++) { + i = ((accumulator >>> 8) ^ buf[j]) & 0xff; + accumulator = ((accumulator << 8) ^ CRC16TABLE[i]) >>> 0; } + return (accumulator & 0xffff) >>> 0; + } - /** - * Generate CRC32 reverse table - */ - crc32GenTable() { - var i; - var j; - var crc_accumulator; - for (i = 0; i < 256; i++) { - crc_accumulator = i << 24; - for (j = 0; j < 8; j++) { - if (crc_accumulator & 0x80000000) - crc_accumulator = (crc_accumulator << 1) ^ CrcGenerator.POLYNOMIAL_CRC32; - else - crc_accumulator = (crc_accumulator << 1); - } - this.crc32Table[i] = crc_accumulator; - } + /** + * Generate CRC32 reverse table + */ + crc32GenTable(): void { + let i; + let j; + let crcAccumulator; + for (i = 0; i < 256; i++) { + crcAccumulator = i << 24; + for (j = 0; j < 8; j++) { + if ((crcAccumulator & 0x80000000) !== 0) + crcAccumulator = + (crcAccumulator << 1) ^ CrcGenerator.POLYNOMIAL_CRC32; + else crcAccumulator = crcAccumulator << 1; + } + this.crc32Table[i] = crcAccumulator; } + } - /** - * Calculate CRC32 for buffer - */ - crc32(buf: Uint8Array, initValue: number) { - const numberOfBytes = buf.byteLength; - let crc_accumulator = initValue; - let i; - let j; + /** + * Calculate CRC32 for buffer + */ + crc32(buf: Uint8Array, initValue: number): number { + const numberOfBytes = buf.byteLength; + let crcAccumulator = initValue; + let i; + let j; - // now calculate CRC32 - for (j = 0; j < numberOfBytes; j++) { - i = ((crc_accumulator >>> 24) ^ buf[j]) & 0xFF; - crc_accumulator = ((crc_accumulator << 8) ^ this.crc32Table[i]) >>> 0; - } - return (crc_accumulator & 0xFFFFFFFF) >>> 0; + // now calculate CRC32 + for (j = 0; j < numberOfBytes; j++) { + i = ((crcAccumulator >>> 24) ^ buf[j]) & 0xff; + crcAccumulator = ((crcAccumulator << 8) ^ this.crc32Table[i]) >>> 0; } -} \ No newline at end of file + return (crcAccumulator & 0xffffffff) >>> 0; + } +} diff --git a/src/VexConnection.ts b/src/VexConnection.ts index b4ed647..4f2b37b 100644 --- a/src/VexConnection.ts +++ b/src/VexConnection.ts @@ -1,7 +1,58 @@ -import { AckType, FileDownloadTarget, FileExitAction, FileInitAction, FileInitOption, FileLoadAction, FileVendor, IFileBasicInfo, IFileWriteRequest, IPacketCallback, MatchMode, SerialDeviceType, SlotNumber, USER_FLASH_USR_CODE_START, USER_PROG_CHUNK_SIZE } from "./Vex"; +import { + AckType, + FileDownloadTarget, + FileExitAction, + FileInitAction, + FileInitOption, + FileLoadAction, + FileVendor, + type IFileBasicInfo, + type IFileWriteRequest, + type IPacketCallback, + type MatchMode, + SerialDeviceType, + type SlotNumber, + USER_FLASH_USR_CODE_START, + USER_PROG_CHUNK_SIZE, +} from "./Vex"; import { VexEventTarget } from "./VexEvent"; -import { ProgramIniConfig } from "./VexIniConfig"; -import { MatchStatusReplyD2HPacket, DeviceBoundPacket, GetMatchStatusH2DPacket, UpdateMatchModeH2DPacket, MatchModeReplyD2HPacket, GetSystemStatusReplyD2HPacket, GetSystemStatusH2DPacket, Packet, HostBoundPacket, InitFileTransferH2DPacket, InitFileTransferReplyD2HPacket, LinkFileH2DPacket, ExitFileTransferH2DPacket, ExitFileTransferReplyD2HPacket, WriteFileReplyD2HPacket, WriteFileH2DPacket, LinkFileReplyD2HPacket, ReadFileH2DPacket, ReadFileReplyD2HPacket, PacketEncoder, SystemVersionH2DPacket, SystemVersionReplyD2HPacket, Query1H2DPacket, Query1ReplyD2HPacket, LoadFileActionH2DPacket, LoadFileActionReplyD2HPacket, GetSystemFlagsH2DPacket, GetSystemFlagsReplyD2HPacket, GetRadioStatusH2DPacket, GetRadioStatusReplyD2HPacket, GetDeviceStatusH2DPacket, GetDeviceStatusReplyD2HPacket, SendDashTouchH2DPacket, SendDashTouchReplyD2HPacket } from "./VexPacket"; +import { type ProgramIniConfig } from "./VexIniConfig"; +import { + MatchStatusReplyD2HPacket, + DeviceBoundPacket, + GetMatchStatusH2DPacket, + UpdateMatchModeH2DPacket, + MatchModeReplyD2HPacket, + GetSystemStatusReplyD2HPacket, + GetSystemStatusH2DPacket, + type HostBoundPacket, + InitFileTransferH2DPacket, + InitFileTransferReplyD2HPacket, + LinkFileH2DPacket, + ExitFileTransferH2DPacket, + ExitFileTransferReplyD2HPacket, + WriteFileReplyD2HPacket, + WriteFileH2DPacket, + LinkFileReplyD2HPacket, + ReadFileH2DPacket, + ReadFileReplyD2HPacket, + PacketEncoder, + SystemVersionH2DPacket, + SystemVersionReplyD2HPacket, + Query1H2DPacket, + Query1ReplyD2HPacket, + LoadFileActionH2DPacket, + LoadFileActionReplyD2HPacket, + GetSystemFlagsH2DPacket, + GetSystemFlagsReplyD2HPacket, + GetRadioStatusH2DPacket, + GetRadioStatusReplyD2HPacket, + GetDeviceStatusH2DPacket, + GetDeviceStatusReplyD2HPacket, + SendDashTouchH2DPacket, + SendDashTouchReplyD2HPacket, +} from "./VexPacket"; +import { type VexFirmwareVersion } from "./VexFirmwareVersion"; const thePacketEncoder = PacketEncoder.getInstance(); @@ -10,508 +61,630 @@ const thePacketEncoder = PacketEncoder.getInstance(); * Emit events: connected, disconnected */ export class VexSerialConnection extends VexEventTarget { - filters: SerialPortFilter[] = [{ usbVendorId: 10376 }]; - - writer: WritableStreamDefaultWriter | undefined; - reader: ReadableStreamDefaultReader | undefined; - port: SerialPort | undefined; - serial: Serial; - - callbacksQueue: IPacketCallback[] = []; - - get isConnected() { - return this.port && this.reader && this.writer ? true : false; - } - - constructor(serial: Serial) { - super(); - this.serial = serial; - } - - async close() { - if (!this.isConnected) return; - - try { - await this.writer?.close(); - this.writer = undefined; - } catch (e) { } - - try { - await this.reader?.cancel(); - try { - while (true && this.reader) { - const { value, done } = await this.reader.read(); - if (done) break; - } - } catch (e) { } - this.reader = undefined; - } catch (e) { } - - try { - await new Promise(resolve => setTimeout(resolve, 1)); // HACK: wait for the lock to be released - await this.port?.close(); - this.port = undefined; - } catch (e) { - console.warn("Close port error.", e) - } finally { - this.emit("disconnected", undefined) - } - } - - async open(use: number | undefined = 0, askUser: boolean = true) { - if (this.port) - throw new Error("Already connected."); - - let port: SerialPort | undefined; - - if (use !== undefined) { - let ports = (await this.serial.getPorts()) - .filter((p => { - let info = p.getInfo(); - return this.filters.find(f => - (f.usbVendorId === undefined || f.usbVendorId === info.usbVendorId) && - (f.usbProductId === undefined || f.usbProductId === info.usbProductId) - ); - })) - .filter((e => !e.readable)); - - port = ports[use]; - } - - if (!port && askUser) { - try { - port = await this.serial.requestPort({ filters: this.filters }); - } catch (e) { - console.warn("No valid port selected."); - } + filters: SerialPortFilter[] = [{ usbVendorId: 10376 }]; + + writer: WritableStreamDefaultWriter | undefined; + reader: ReadableStreamDefaultReader | undefined; + port: SerialPort | undefined; + serial: Serial; + + callbacksQueue: IPacketCallback[] = []; + + get isConnected(): boolean { + return ( + this.port !== undefined && + this.reader !== undefined && + this.writer !== undefined + ); + } + + constructor(serial: Serial) { + super(); + this.serial = serial; + } + + async close(): Promise { + if (!this.isConnected) return; + + try { + await this.writer?.close(); + this.writer = undefined; + } catch (e) {} + + try { + await this.reader?.cancel(); + try { + while (this.reader != null) { + const { done } = await this.reader.read(); + if (done) break; } - - if (!port) return undefined; - - if (port.readable) return false; - - try { - await port.open({ baudRate: 115200 }); - - this.port = port; - - this.port.addEventListener("disconnect", (async () => { - await this.close(); - })); - - this.emit("connected", undefined); - - this.writer = this.port.writable.getWriter(); - this.reader = this.port.readable.getReader(); - this.startReader(); - - return true; - } catch (e) { - return false; - } - } - - writeData(rawData: DeviceBoundPacket | Uint8Array, resolve: ((data: HostBoundPacket | ArrayBuffer | AckType) => void), timeout: number = 1000) { - this.writeDataAsync(rawData, timeout).then(resolve); + } catch (e) {} + this.reader = undefined; + } catch (e) {} + + try { + await new Promise((resolve) => setTimeout(resolve, 1)); // HACK: wait for the lock to be released + await this.port?.close(); + this.port = undefined; + } catch (e) { + console.warn("Close port error.", e); + } finally { + this.emit("disconnected", undefined); } - - writeDataAsync(rawData: DeviceBoundPacket | Uint8Array, timeout: number = 1000) { - return new Promise(async done => { - if (this.writer === undefined) { - done(AckType.CDC2_NACK); - return; - } - - let data: Uint8Array = rawData instanceof DeviceBoundPacket ? rawData.data : rawData; - let cb = { - callback: done, - timeout: setTimeout(() => { this.callbacksQueue.shift()?.callback(AckType.TIMEOUT) }, timeout), - wantedCommandId: rawData instanceof DeviceBoundPacket ? (rawData.constructor as any).COMMAND_ID : undefined, - wantedCommandExId: rawData instanceof DeviceBoundPacket ? (rawData.constructor as any).COMMAND_EXTENDED_ID : undefined - }; - this.callbacksQueue.push(cb); - - try { - this.writer.write(data).then(() => { logData(data, 100); }); - } catch (error) { - this.callbacksQueue.splice(this.callbacksQueue.indexOf(cb), 1); - done(AckType.WRITE_ERROR); - return; - } - - }); + } + + async open( + use: number | undefined = 0, + askUser: boolean = true, + ): Promise { + if (this.port !== undefined) throw new Error("Already connected."); + + let port: SerialPort | undefined; + + if (use !== undefined) { + const ports = (await this.serial.getPorts()) + .filter((p) => { + const info = p.getInfo(); + return this.filters.find( + (f) => + (f.usbVendorId === undefined || + f.usbVendorId === info.usbVendorId) && + (f.usbProductId === undefined || + f.usbProductId === info.usbProductId), + ); + }) + .filter((e) => e.readable !== null); + + port = ports[use]; } - protected async readData(cache: Uint8Array, expectedSize: number) { - if (!this.reader) throw new Error("No reader"); - - while (cache.byteLength < expectedSize) { - const { value: readData, done: isDone } = await this.reader.read(); - - if (isDone) throw new Error("No data"); - - cache = binaryArrayJoin(cache, readData); - } - - return cache; + if (port == null && askUser) { + try { + port = await this.serial.requestPort({ filters: this.filters }); + } catch (e) { + console.warn("No valid port selected."); + } } - protected async startReader() { - let cache = new Uint8Array([]), sliceIdx = 0; - for (; ;) - try { - cache = await this.readData(cache, 5); - sliceIdx = 0; - - if (!thePacketEncoder.validateHeader(cache)) throw new Error("Invalid header"); - - const payloadExpectedSize = thePacketEncoder.getPayloadSize(cache); - const n = payloadExpectedSize > 128 ? 5 : 4; - const totalSize = n + payloadExpectedSize; - - cache = await this.readData(cache, totalSize); - sliceIdx = totalSize + 1; - - const cmdId = cache[2]; - const hasExtId = cmdId == 88 || cmdId == 86; - const cmdExId = hasExtId ? cache[n] : undefined; - - const ack = cache[n + 1]; - - if (hasExtId) { - if (!thePacketEncoder.validateMessageCdc(cache)) throw new Error("Invalid message CDC"); - } - - let callbackInfo: IPacketCallback | undefined; - let wantedCmdId: number | undefined; - let wantedCmdExId: number | undefined; - let tryIdx = 0; - while (callbackInfo = this.callbacksQueue[tryIdx++]) { - wantedCmdId = callbackInfo?.wantedCommandId; - wantedCmdExId = callbackInfo?.wantedCommandExId; - - if ((wantedCmdId !== undefined && wantedCmdId !== cmdId) || - (wantedCmdExId !== undefined && wantedCmdExId !== cmdExId)) { - continue; - } - break; - } - - - - if (callbackInfo === undefined) { - console.warn("Unexpected command", cmdId, cmdExId, ack); - // TODO: trigger event - continue; - } - - let data = cache.slice(0, sliceIdx); - let packageType = thePacketEncoder.allPacketsTable[wantedCmdId + " " + wantedCmdExId]; - if ((wantedCmdId === undefined && wantedCmdExId === undefined) || packageType === undefined) { - callbackInfo.callback(data); - } else { - if (!hasExtId || packageType.isValidPacket(data, n)) { - callbackInfo.callback(new packageType(data)); - } else { - console.warn("ack", ack); - - callbackInfo.callback(ack); - } - } - - clearTimeout(callbackInfo.timeout); - - this.callbacksQueue.splice(tryIdx - 1, 1); - } catch (e) { - console.warn("Read error.", e, cache); - - await this.close(); - break; - } finally { - cache = cache.slice(sliceIdx); - } - } + if (port == null) return undefined; - async query1() { - let result = await this.writeDataAsync(new Query1H2DPacket(), 100); - return result instanceof Query1ReplyD2HPacket ? result : null; - } + if (port.readable == null) return false; - async getSystemVersion() { - let result = await this.writeDataAsync(new SystemVersionH2DPacket()); - return result instanceof SystemVersionReplyD2HPacket ? result.version : null; - } -} + try { + await port.open({ baudRate: 115200 }); -export class V5SerialConnection extends VexSerialConnection { - filters: SerialPortFilter[] = [ - { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_BRAIN }, - { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_BRAIN_DFU }, - { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_CONTROLLER }, - ]; - - async getDeviceStatus() { - let result = await this.writeDataAsync(new GetDeviceStatusH2DPacket()); - return result instanceof GetDeviceStatusReplyD2HPacket ? result : null; - } + this.port = port; - async getRadioStatus() { - let result = await this.writeDataAsync(new GetRadioStatusH2DPacket()); - return result instanceof GetRadioStatusReplyD2HPacket ? result : null; - } + this.port.addEventListener("disconnect", () => { + void this.close(); + }); - async getSystemFlags() { - let result = await this.writeDataAsync(new GetSystemFlagsH2DPacket()); - return result instanceof GetSystemFlagsReplyD2HPacket ? result : null; - } + this.emit("connected", undefined); - async getSystemStatus(timeout = 1000) { - let result = await this.writeDataAsync(new GetSystemStatusH2DPacket(), timeout); - return result instanceof GetSystemStatusReplyD2HPacket ? result : null; - } + this.writer = this.port.writable.getWriter(); + this.reader = this.port.readable.getReader(); + void this.startReader(); - async getMatchStatus() { - let result = await this.writeDataAsync(new GetMatchStatusH2DPacket()); - return result instanceof MatchStatusReplyD2HPacket ? result : null; + return true; + } catch (e) { + return false; } - - async uploadProgramToDevice( - iniConfig: ProgramIniConfig, - binFileBuf: Uint8Array, - coldFileBuf: Uint8Array | undefined, - progressCallback: (state: string, current: number, total: number) => void) { - let iniFileBuffer = new TextEncoder().encode(iniConfig.createIni()); - - let basename = iniConfig.baseName; - - let iniRequest = { - filename: basename + '.ini', - buf: iniFileBuffer, - downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, - vid: FileVendor.USER, - autoRun: false, - }; - let r1 = await this.uploadFileToDevice(iniRequest, (current, total) => progressCallback("INI", current, total)); - if (!r1) return false; - - // let prjRequest = { filename: basename + '.prj', buf: prjfile, vid: FileVendor.USER, loadAddr: undefined, exttype: 0, linkedFile: undefined }; - // await this.uploadFileToDeviceAsync(prjRequest, onProgress); - - let coldRequest = coldFileBuf !== undefined - ? { - filename: basename + '_lib.bin', - buf: coldFileBuf, - downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, - vid: 24, // PROS vendor id - autoRun: false - } - : undefined; - if (coldRequest) { - let r2 = await this.uploadFileToDevice(coldRequest, (current, total) => progressCallback("COLD", current, total)); - if (!r2) return; + } + + writeData( + rawData: DeviceBoundPacket | Uint8Array, + resolve: (data: HostBoundPacket | ArrayBuffer | AckType) => void, + timeout: number = 1000, + ): void { + void this.writeDataAsync(rawData, timeout).then(resolve); + } + + async writeDataAsync( + rawData: DeviceBoundPacket | Uint8Array, + timeout: number = 1000, + ): Promise { + return await new Promise( + (resolve) => { + if (this.writer === undefined) { + resolve(AckType.CDC2_NACK); + return; } - let binRequest = { - filename: basename + '.bin', - buf: binFileBuf, - downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, - vid: FileVendor.USER, - loadAddress: coldFileBuf ? 0x07800000 : undefined, - autoRun: iniConfig.autorun, - linkedFile: coldRequest + const data: Uint8Array = + rawData instanceof DeviceBoundPacket ? rawData.data : rawData; + const cb = { + callback: resolve, + timeout: setTimeout(() => { + this.callbacksQueue.shift()?.callback(AckType.TIMEOUT); + }, timeout), + wantedCommandId: + rawData instanceof DeviceBoundPacket + ? // eslint-disable-next-line @typescript-eslint/no-explicit-any + (rawData.constructor as any).COMMAND_ID + : undefined, + wantedCommandExId: + rawData instanceof DeviceBoundPacket + ? // eslint-disable-next-line @typescript-eslint/no-explicit-any + (rawData.constructor as any).COMMAND_EXTENDED_ID + : undefined, }; - let r3 = await this.uploadFileToDevice(binRequest, (current, total) => progressCallback("BIN", current, total)); - - return r3; + this.callbacksQueue.push(cb); + + this.writer + .write(data) + .then(() => { + logData(data, 100); + }) + .catch(() => { + this.callbacksQueue.splice(this.callbacksQueue.indexOf(cb), 1); + resolve(AckType.WRITE_ERROR); + }); + }, + ); + } + + protected async readData( + cache: Uint8Array, + expectedSize: number, + ): Promise { + if (this.reader == null) throw new Error("No reader"); + + while (cache.byteLength < expectedSize) { + const { value: readData, done: isDone } = await this.reader.read(); + + if (isDone) throw new Error("No data"); + + cache = binaryArrayJoin(cache, readData as Uint8Array); } - async downloadFileToHost( - request: IFileBasicInfo, - downloadTarget = FileDownloadTarget.FILE_TARGET_QSPI, - progressCallback?: (current: number, total: number) => void) { - - // TODO assert that the device is connected - - let { filename, vendor, loadAddress, size } = request; - - let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START; - - let p1 = await this.writeDataAsync( - new InitFileTransferH2DPacket( - FileInitAction.READ, - downloadTarget, - vendor, - FileInitOption.NONE, - new Uint8Array(), - nextAddress, - filename, - "")); - - if (!(p1 instanceof InitFileTransferReplyD2HPacket)) throw new Error("InitFileTransferH2DPacket failed"); - - let fileSize = size ?? p1.fileSize; + return cache; + } - // console.log("size:", fileSize); + protected async startReader(): Promise { + let cache = new Uint8Array([]); + let sliceIdx = 0; + for (;;) + try { + cache = await this.readData(cache, 5); + sliceIdx = 0; + if (!thePacketEncoder.validateHeader(cache)) + throw new Error("Invalid header"); - let bufferChunkSize = (p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE) ? p1.windowSize : USER_PROG_CHUNK_SIZE; - let bufferOffset = 0; - let fileBuf = new Uint8Array(fileSize + bufferChunkSize); + const payloadExpectedSize = thePacketEncoder.getPayloadSize(cache); + const n = payloadExpectedSize > 128 ? 5 : 4; + const totalSize = n + payloadExpectedSize; - let lastBlock = false; + cache = await this.readData(cache, totalSize); + sliceIdx = totalSize + 1; - while (!lastBlock) { - if (fileSize <= bufferOffset + bufferChunkSize) { - lastBlock = true; - } + const cmdId = cache[2]; + const hasExtId = cmdId === 88 || cmdId === 86; + const cmdExId = hasExtId ? cache[n] : undefined; - let p2 = await this.writeDataAsync(new ReadFileH2DPacket(nextAddress, bufferChunkSize), 3000); + const ack = cache[n + 1]; - if (!(p2 instanceof ReadFileReplyD2HPacket)) throw new Error("ReadFileReplyD2HPacket failed"); - - fileBuf.set(new Uint8Array(p2.buf), bufferOffset); - - if (progressCallback) - progressCallback(bufferOffset, fileSize); - - // next chunk - bufferOffset += bufferChunkSize; - nextAddress += bufferChunkSize; + if (hasExtId) { + if (!thePacketEncoder.validateMessageCdc(cache)) + throw new Error("Invalid message CDC"); } - let p3 = await this.writeDataAsync(new ExitFileTransferH2DPacket(FileExitAction.EXIT_HALT), 30000); - // console.log(p3); - - fileBuf = fileBuf.slice(0, fileSize); - - return fileBuf; - } - - async uploadFileToDevice( - request: IFileWriteRequest, - progressCallback?: (current: number, total: number) => void) { - - let { filename, buf, downloadTarget, vendor, loadAddress, exttype, autoRun, linkedFile } = request; - - if (buf === undefined) { // TODO: check connection status - return false; + let callbackInfo: IPacketCallback | undefined; + let wantedCmdId: number | undefined; + let wantedCmdExId: number | undefined; + let tryIdx = 0; + while ((callbackInfo = this.callbacksQueue[tryIdx++]) !== null) { + wantedCmdId = callbackInfo?.wantedCommandId; + wantedCmdExId = callbackInfo?.wantedCommandExId; + + if ( + (wantedCmdId !== undefined && wantedCmdId !== cmdId) || + (wantedCmdExId !== undefined && wantedCmdExId !== cmdExId) + ) { + continue; + } + break; } - // no download to special capture or vision buffers - - // if (this.downloadTarget === VexDeviceWebSerial.FILE_TARGET_CBUF || this.downloadTarget === VexDeviceWebSerial.FILE_TARGET_VBUF) { - // // error ! - // if (doneCallback != undefined) { - // doneCallback(false); - // } - // return; - // } - - downloadTarget = downloadTarget ?? FileDownloadTarget.FILE_TARGET_QSPI; - vendor = vendor ?? FileVendor.USER; - - let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START; - - // TODO if downloadTarget is FILE_TARGET_A1, FactoryEnable - - // TODO if buf.length > USER_FLASH_MAX_FILE_SIZE and downloadTarget is FILE_TARGET_QSPI, change to FILE_TARGET_DDR - - console.log("init file transfer", filename); - - let p1 = await this.writeDataAsync( - new InitFileTransferH2DPacket( - FileInitAction.WRITE, - downloadTarget, - vendor, - FileInitOption.OVERWRITE, - buf, - nextAddress, - filename, - exttype)); - - if (!(p1 instanceof InitFileTransferReplyD2HPacket)) throw new Error("InitFileTransferH2DPacket failed"); - console.log(p1); - - if (linkedFile !== undefined) { - let p3 = await this.writeDataAsync( - new LinkFileH2DPacket((linkedFile.vendor ?? FileVendor.USER), linkedFile.filename, 0), 10000); - - if (!(p3 instanceof LinkFileReplyD2HPacket)) throw new Error("LinkFileH2DPacket failed"); + if (callbackInfo === undefined) { + console.warn("Unexpected command", cmdId, cmdExId, ack); + // TODO: trigger event + continue; } - let bufferChunkSize = (p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE) ? p1.windowSize : USER_PROG_CHUNK_SIZE; - let bufferOffset = 0; - - let lastBlock = false; - - while (!lastBlock) { - var tmpbuf; - if (buf.byteLength - bufferOffset > bufferChunkSize) { - tmpbuf = buf.subarray(bufferOffset, bufferOffset + bufferChunkSize); - } else { - // last chunk - // word align length - let length = (((buf.byteLength - bufferOffset) + 3) / 4) >>> 0; - tmpbuf = new Uint8Array(length * 4); - tmpbuf.set(buf.subarray(bufferOffset, buf.byteLength)); - lastBlock = true; - } - - let p2 = await this.writeDataAsync(new WriteFileH2DPacket(nextAddress, tmpbuf), 3000); - - if (!(p2 instanceof WriteFileReplyD2HPacket)) throw new Error("WriteFileReplyD2HPacket failed"); - - if (progressCallback) - progressCallback(bufferOffset, buf.byteLength); - - // next chunk - bufferOffset += bufferChunkSize; - nextAddress += bufferChunkSize; + const data = cache.slice(0, sliceIdx); + const PackageType = + thePacketEncoder.allPacketsTable[wantedCmdId + " " + wantedCmdExId]; + if ( + (wantedCmdId === undefined && wantedCmdExId === undefined) || + PackageType === undefined + ) { + callbackInfo.callback(data); + } else { + if (!hasExtId || PackageType.isValidPacket(data, n)) { + callbackInfo.callback(new PackageType(data)); + } else { + console.warn("ack", ack); + + callbackInfo.callback(ack); + } } - let p4 = await this.writeDataAsync(new ExitFileTransferH2DPacket(autoRun ? FileExitAction.EXIT_RUN : FileExitAction.EXIT_HALT), 30000); + clearTimeout(callbackInfo.timeout); + + this.callbacksQueue.splice(tryIdx - 1, 1); + } catch (e) { + console.warn("Read error.", e, cache); + + await this.close(); + break; + } finally { + cache = cache.slice(sliceIdx); + } + } + + async query1(): Promise { + const result = await this.writeDataAsync(new Query1H2DPacket(), 100); + return result instanceof Query1ReplyD2HPacket ? result : null; + } + + async getSystemVersion(): Promise { + const result = await this.writeDataAsync(new SystemVersionH2DPacket()); + return result instanceof SystemVersionReplyD2HPacket + ? result.version + : null; + } +} - return p4 instanceof ExitFileTransferReplyD2HPacket; +export class V5SerialConnection extends VexSerialConnection { + filters: SerialPortFilter[] = [ + { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_BRAIN }, + { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_BRAIN_DFU }, + { usbVendorId: 10376, usbProductId: SerialDeviceType.V5_CONTROLLER }, + ]; + + async getDeviceStatus(): Promise { + const result = await this.writeDataAsync(new GetDeviceStatusH2DPacket()); + return result instanceof GetDeviceStatusReplyD2HPacket ? result : null; + } + + async getRadioStatus(): Promise { + const result = await this.writeDataAsync(new GetRadioStatusH2DPacket()); + return result instanceof GetRadioStatusReplyD2HPacket ? result : null; + } + + async getSystemFlags(): Promise { + const result = await this.writeDataAsync(new GetSystemFlagsH2DPacket()); + return result instanceof GetSystemFlagsReplyD2HPacket ? result : null; + } + + async getSystemStatus( + timeout = 1000, + ): Promise { + const result = await this.writeDataAsync( + new GetSystemStatusH2DPacket(), + timeout, + ); + return result instanceof GetSystemStatusReplyD2HPacket ? result : null; + } + + async getMatchStatus(): Promise { + const result = await this.writeDataAsync(new GetMatchStatusH2DPacket()); + return result instanceof MatchStatusReplyD2HPacket ? result : null; + } + + async uploadProgramToDevice( + iniConfig: ProgramIniConfig, + binFileBuf: Uint8Array, + coldFileBuf: Uint8Array | undefined, + progressCallback: (state: string, current: number, total: number) => void, + ): Promise { + const iniFileBuffer = new TextEncoder().encode(iniConfig.createIni()); + + const basename = iniConfig.baseName; + + const iniRequest = { + filename: basename + ".ini", + buf: iniFileBuffer, + downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, + vid: FileVendor.USER, + autoRun: false, + }; + const r1 = await this.uploadFileToDevice(iniRequest, (current, total) => { + progressCallback("INI", current, total); + }); + if (!r1) return false; + + // let prjRequest = { filename: basename + '.prj', buf: prjfile, vid: FileVendor.USER, loadAddr: undefined, exttype: 0, linkedFile: undefined }; + // await this.uploadFileToDeviceAsync(prjRequest, onProgress); + + const coldRequest = + coldFileBuf !== undefined + ? { + filename: basename + "_lib.bin", + buf: coldFileBuf, + downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, + vid: 24, // PROS vendor id + autoRun: false, + } + : undefined; + if (coldRequest != null) { + const r2 = await this.uploadFileToDevice( + coldRequest, + (current, total) => { + progressCallback("COLD", current, total); + }, + ); + if (!r2) return; } - async setMatchMode(mode: MatchMode) { - let result = await this.writeDataAsync(new UpdateMatchModeH2DPacket(mode, 0)); - return result instanceof MatchModeReplyD2HPacket ? result : null; + const binRequest = { + filename: basename + ".bin", + buf: binFileBuf, + downloadTarget: FileDownloadTarget.FILE_TARGET_QSPI, + vid: FileVendor.USER, + loadAddress: coldFileBuf != null ? 0x07800000 : undefined, + autoRun: iniConfig.autorun, + linkedFile: coldRequest, + }; + const r3 = await this.uploadFileToDevice(binRequest, (current, total) => { + progressCallback("BIN", current, total); + }); + + return r3; + } + + async downloadFileToHost( + request: IFileBasicInfo, + downloadTarget = FileDownloadTarget.FILE_TARGET_QSPI, + progressCallback?: (current: number, total: number) => void, + ): Promise { + // TODO assert that the device is connected + + const { filename, vendor, loadAddress, size } = request; + + let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START; + + const p1 = await this.writeDataAsync( + new InitFileTransferH2DPacket( + FileInitAction.READ, + downloadTarget, + vendor, + FileInitOption.NONE, + new Uint8Array(), + nextAddress, + filename, + "", + ), + ); + + if (!(p1 instanceof InitFileTransferReplyD2HPacket)) + throw new Error("InitFileTransferH2DPacket failed"); + + const fileSize = size ?? p1.fileSize; + + // console.log("size:", fileSize); + + const bufferChunkSize = + p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE + ? p1.windowSize + : USER_PROG_CHUNK_SIZE; + let bufferOffset = 0; + let fileBuf = new Uint8Array(fileSize + bufferChunkSize); + + let lastBlock = false; + + while (!lastBlock) { + if (fileSize <= bufferOffset + bufferChunkSize) { + lastBlock = true; + } + + const p2 = await this.writeDataAsync( + new ReadFileH2DPacket(nextAddress, bufferChunkSize), + 3000, + ); + + if (!(p2 instanceof ReadFileReplyD2HPacket)) + throw new Error("ReadFileReplyD2HPacket failed"); + + fileBuf.set(new Uint8Array(p2.buf), bufferOffset); + + if (progressCallback != null) progressCallback(bufferOffset, fileSize); + + // next chunk + bufferOffset += bufferChunkSize; + nextAddress += bufferChunkSize; } - async loadProgram(value: SlotNumber | string) { - let result = await this.writeDataAsync(new LoadFileActionH2DPacket(FileVendor.USER, FileLoadAction.RUN, value)); - return result instanceof LoadFileActionReplyD2HPacket ? result : null; + await this.writeDataAsync( + new ExitFileTransferH2DPacket(FileExitAction.EXIT_HALT), + 30000, + ); + // console.log(p3); + + fileBuf = fileBuf.slice(0, fileSize); + + return fileBuf; + } + + async uploadFileToDevice( + request: IFileWriteRequest, + progressCallback?: (current: number, total: number) => void, + ): Promise { + let { + filename, + buf, + downloadTarget, + vendor, + loadAddress, + exttype, + autoRun, + linkedFile, + } = request; + + if (buf === undefined) { + // TODO: check connection status + return false; } - async stopProgram() { - let result = await this.writeDataAsync(new LoadFileActionH2DPacket(FileVendor.USER, FileLoadAction.STOP, "")); - return result instanceof LoadFileActionReplyD2HPacket ? result : null; + // no download to special capture or vision buffers + + // if (this.downloadTarget === VexDeviceWebSerial.FILE_TARGET_CBUF || this.downloadTarget === VexDeviceWebSerial.FILE_TARGET_VBUF) { + // // error ! + // if (doneCallback != undefined) { + // doneCallback(false); + // } + // return; + // } + + downloadTarget = downloadTarget ?? FileDownloadTarget.FILE_TARGET_QSPI; + vendor = vendor ?? FileVendor.USER; + + let nextAddress = loadAddress ?? USER_FLASH_USR_CODE_START; + + // TODO if downloadTarget is FILE_TARGET_A1, FactoryEnable + + // TODO if buf.length > USER_FLASH_MAX_FILE_SIZE and downloadTarget is FILE_TARGET_QSPI, change to FILE_TARGET_DDR + + console.log("init file transfer", filename); + + const p1 = await this.writeDataAsync( + new InitFileTransferH2DPacket( + FileInitAction.WRITE, + downloadTarget, + vendor, + FileInitOption.OVERWRITE, + buf, + nextAddress, + filename, + exttype, + ), + ); + + if (!(p1 instanceof InitFileTransferReplyD2HPacket)) + throw new Error("InitFileTransferH2DPacket failed"); + console.log(p1); + + if (linkedFile !== undefined) { + const p3 = await this.writeDataAsync( + new LinkFileH2DPacket( + linkedFile.vendor ?? FileVendor.USER, + linkedFile.filename, + 0, + ), + 10000, + ); + + if (!(p3 instanceof LinkFileReplyD2HPacket)) + throw new Error("LinkFileH2DPacket failed"); } - async mockTouch(x: number, y: number, press: boolean) { - let result = await this.writeDataAsync(new SendDashTouchH2DPacket(x, y, press)); - return result instanceof SendDashTouchReplyD2HPacket ? result : null; + const bufferChunkSize = + p1.windowSize > 0 && p1.windowSize <= USER_PROG_CHUNK_SIZE + ? p1.windowSize + : USER_PROG_CHUNK_SIZE; + let bufferOffset = 0; + + let lastBlock = false; + + while (!lastBlock) { + let tmpbuf; + if (buf.byteLength - bufferOffset > bufferChunkSize) { + tmpbuf = buf.subarray(bufferOffset, bufferOffset + bufferChunkSize); + } else { + // last chunk + // word align length + const length = ((buf.byteLength - bufferOffset + 3) / 4) >>> 0; + tmpbuf = new Uint8Array(length * 4); + tmpbuf.set(buf.subarray(bufferOffset, buf.byteLength)); + lastBlock = true; + } + + const p2 = await this.writeDataAsync( + new WriteFileH2DPacket(nextAddress, tmpbuf), + 3000, + ); + + if (!(p2 instanceof WriteFileReplyD2HPacket)) + throw new Error("WriteFileReplyD2HPacket failed"); + + if (progressCallback != null) + progressCallback(bufferOffset, buf.byteLength); + + // next chunk + bufferOffset += bufferChunkSize; + nextAddress += bufferChunkSize; } + + const p4 = await this.writeDataAsync( + new ExitFileTransferH2DPacket( + autoRun ? FileExitAction.EXIT_RUN : FileExitAction.EXIT_HALT, + ), + 30000, + ); + + return p4 instanceof ExitFileTransferReplyD2HPacket; + } + + async setMatchMode(mode: MatchMode): Promise { + const result = await this.writeDataAsync( + new UpdateMatchModeH2DPacket(mode, 0), + ); + return result instanceof MatchModeReplyD2HPacket ? result : null; + } + + async loadProgram( + value: SlotNumber | string, + ): Promise { + const result = await this.writeDataAsync( + new LoadFileActionH2DPacket(FileVendor.USER, FileLoadAction.RUN, value), + ); + return result instanceof LoadFileActionReplyD2HPacket ? result : null; + } + + async stopProgram(): Promise { + const result = await this.writeDataAsync( + new LoadFileActionH2DPacket(FileVendor.USER, FileLoadAction.STOP, ""), + ); + return result instanceof LoadFileActionReplyD2HPacket ? result : null; + } + + async mockTouch( + x: number, + y: number, + press: boolean, + ): Promise { + const result = await this.writeDataAsync( + new SendDashTouchH2DPacket(x, y, press), + ); + return result instanceof SendDashTouchReplyD2HPacket ? result : null; + } } -function logData(data: Uint8Array, limitedSize: number) { - if (data === undefined) return; +function logData(data: Uint8Array, limitedSize: number): void { + if (data === undefined) return; - limitedSize || (limitedSize = data.length); - let a = ""; - for (let n = 0; n < data.length && n < limitedSize; n++) - a += ("00" + data[n].toString(16)).substr(-2, 2) + " "; - limitedSize < data.length && (a += " ... ") + limitedSize ||= data.length; + let a = ""; + for (let n = 0; n < data.length && n < limitedSize; n++) + a += ("00" + data[n].toString(16)).substr(-2, 2) + " "; + limitedSize < data.length && (a += " ... "); - // console.log(a); + // console.log(a); - // XXX: NOT USED? + // XXX: NOT USED? } -function binaryArrayJoin(left: Uint8Array | ArrayBuffer | null, right: Uint8Array | ArrayBuffer | null): Uint8Array { - const leftSize = left ? left.byteLength : 0; - const rightSize = right ? right.byteLength : 0; - const all = new Uint8Array(leftSize + rightSize); - return 0 === all.length ? new Uint8Array() : (left && all.set(new Uint8Array(left), 0), right && all.set(new Uint8Array(right), leftSize), all); +function binaryArrayJoin( + left: Uint8Array | ArrayBuffer | null, + right: Uint8Array | ArrayBuffer | null, +): Uint8Array { + const leftSize = left != null ? left.byteLength : 0; + const rightSize = right != null ? right.byteLength : 0; + const all = new Uint8Array(leftSize + rightSize); + return all.length === 0 + ? new Uint8Array() + : (left != null && all.set(new Uint8Array(left), 0), + right != null && all.set(new Uint8Array(right), leftSize), + all); } diff --git a/src/VexDevice.ts b/src/VexDevice.ts index db3d106..0dd02ed 100644 --- a/src/VexDevice.ts +++ b/src/VexDevice.ts @@ -1,973 +1,1123 @@ import { unzip } from "unzipit"; -import { MatchMode, SerialDeviceType, SlotNumber, ISmartDeviceInfo, SmartDeviceType, FileVendor, IProgramInfo, FileExitAction, IFileHandle, FileDownloadTarget, USER_FLASH_USR_CODE_START, IFileBasicInfo, IFileWriteRequest, RadioChannelType } from "./Vex"; +import { + type MatchMode, + SerialDeviceType, + type SlotNumber, + type ISmartDeviceInfo, + SmartDeviceType, + FileVendor, + type IProgramInfo, + FileExitAction, + type IFileHandle, + FileDownloadTarget, + USER_FLASH_USR_CODE_START, + type IFileBasicInfo, + type IFileWriteRequest, + RadioChannelType, +} from "./Vex"; import { V5SerialConnection } from "./VexConnection"; import { VexEventTarget } from "./VexEvent"; import { VexFirmwareVersion } from "./VexFirmwareVersion"; -import { ProgramIniConfig } from "./VexIniConfig"; -import { EraseFileH2DPacket, EraseFileReplyD2HPacket, ExitFileTransferH2DPacket, ExitFileTransferReplyD2HPacket, FactoryEnableH2DPacket, FactoryEnableReplyD2HPacket, FactoryStatusH2DPacket, FactoryStatusReplyD2HPacket, FileClearUpH2DPacket, FileClearUpReplyD2HPacket, FileControlH2DPacket, FileControlReplyD2HPacket, GetDirectoryEntryH2DPacket, GetDirectoryEntryReplyD2HPacket, GetDirectoryFileCountH2DPacket, GetDirectoryFileCountReplyD2HPacket, GetProgramSlotInfoH2DPacket, GetProgramSlotInfoReplyD2HPacket, ReadKeyValueH2DPacket, ReadKeyValueReplyD2HPacket, WriteKeyValueH2DPacket, WriteKeyValueReplyD2HPacket } from "./VexPacket"; - -export function downloadFileFromInternet(link: string) { - return new Promise((resolve, reject) => { - var oReq = new XMLHttpRequest(); - oReq.open("GET", link, true); - oReq.responseType = "arraybuffer"; - - oReq.onload = function (_oEvent) { - var arrayBuffer = oReq.response; // Note: not oReq.responseText - resolve(arrayBuffer); - }; - - oReq.onerror = function (oEvent) { - reject(oEvent); - }; - - oReq.send(null); - }); +import { type ProgramIniConfig } from "./VexIniConfig"; +import { + EraseFileH2DPacket, + EraseFileReplyD2HPacket, + ExitFileTransferH2DPacket, + ExitFileTransferReplyD2HPacket, + FactoryEnableH2DPacket, + FactoryEnableReplyD2HPacket, + FactoryStatusH2DPacket, + FactoryStatusReplyD2HPacket, + FileClearUpH2DPacket, + FileClearUpReplyD2HPacket, + FileControlH2DPacket, + FileControlReplyD2HPacket, + GetDirectoryEntryH2DPacket, + GetDirectoryEntryReplyD2HPacket, + GetDirectoryFileCountH2DPacket, + GetDirectoryFileCountReplyD2HPacket, + GetProgramSlotInfoH2DPacket, + GetProgramSlotInfoReplyD2HPacket, + ReadKeyValueH2DPacket, + ReadKeyValueReplyD2HPacket, + WriteKeyValueH2DPacket, + WriteKeyValueReplyD2HPacket, +} from "./VexPacket"; + +export async function downloadFileFromInternet( + link: string, +): Promise { + return await new Promise((resolve, reject) => { + const oReq = new XMLHttpRequest(); + oReq.open("GET", link, true); + oReq.responseType = "arraybuffer"; + + oReq.onload = function (_oEvent) { + const arrayBuffer = oReq.response; // Note: not oReq.responseText + resolve(arrayBuffer); + }; + + oReq.onerror = function (oEvent) { + reject(oEvent); + }; + + oReq.send(null); + }); } - -export function sleepUntil(f: (...args: any[]) => any, timeout: number, interval = 20) { - return new Promise((resolve) => { - const timeWas = new Date().getTime(); - const wait = setInterval(async function () { - if (await f()) { - clearInterval(wait); - resolve(true); - } else if (new Date().getTime() - timeWas > timeout) { // Timeout - clearInterval(wait); - resolve(false); - } - }, interval); - }); +export async function sleepUntilAsync( + f: () => Promise, + timeout: number, + interval = 20, +): Promise { + return await new Promise((resolve) => { + let lastTime = new Date().getTime(); + let stopped = false; + const stopper = setTimeout(() => { + stopped = true; + resolve(false); + }, timeout); + const checker = (val: boolean): void => { + if (stopped) return; + + if (val) { + clearTimeout(stopper); + resolve(true); + } else if (new Date().getTime() - lastTime > interval) { + lastTime = new Date().getTime(); + void f().then(checker); + } else + setTimeout(() => { + lastTime = new Date().getTime(); + void f().then(checker); + }, new Date().getTime() - lastTime); + }; + void f().then(checker); + }); } -export function sleep(ms: number) { - return new Promise(resolve => setTimeout(resolve, ms)); +export async function sleepUntil( + f: () => boolean, + timeout: number, + interval = 20, +): Promise { + return await new Promise((resolve) => { + const timeWas = new Date().getTime(); + const wait = setInterval(function () { + if (f()) { + clearInterval(wait); + resolve(true); + } else if (new Date().getTime() - timeWas > timeout) { + // Timeout + clearInterval(wait); + resolve(false); + } + }, interval); + }); } -function shallowEqual(object1: any, object2: any) { - const keys1 = Object.keys(object1); - const keys2 = Object.keys(object2); - if (keys1.length !== keys2.length) { - return false; - } - for (let key of keys1) { - if (object1[key] !== object2[key]) { - return false; - } - } - return true; +export async function sleep(ms: number): Promise { + return await new Promise((resolve) => setTimeout(resolve, ms)); } export abstract class VexSerialDevice extends VexEventTarget { - connection: V5SerialConnection | undefined; - defaultSerial: Serial; - - get isConnected() { - return this.connection ? this.connection.isConnected : false; - } - - get deviceType(): SerialDeviceType | undefined { - return this.isConnected ? this.connection?.port?.getInfo().usbProductId : undefined; - } - - constructor(defaultSerial: Serial) { - super(); - this.defaultSerial = defaultSerial; - } - - abstract connect(conn?: V5SerialConnection): Promise; - - abstract disconnect(): void; -} - - - -class V5SerialDeviceProxyHandler implements ProxyHandler<{}> { - device?: V5SerialDevice; - parent?: V5SerialDeviceProxyHandler; - rootkey?: string - - constructor(device?: V5SerialDevice, parent?: V5SerialDeviceProxyHandler, rootkey?: string) { - this.device = device; - this.parent = parent; - this.rootkey = rootkey; - } + connection: V5SerialConnection | undefined; + defaultSerial: Serial; - get(target: any, key: any): any { - if ( - typeof target[key] === 'object' && - target[key] !== null && - (typeof key !== "string" ? true : !key.startsWith("_"))) { - return new Proxy(target[key], new V5SerialDeviceProxyHandler(this.device, this, key)); - } else { - return target[key]; - } - } + get isConnected(): boolean { + return this.connection != null ? this.connection.isConnected : false; + } - set(target: any, key: any, value: any): boolean { - let oldValue = (target as any)[key]; - if (oldValue === value) { - return true; - } else if ( - typeof oldValue === "object" && - typeof value === "object" && - oldValue !== null && value !== null) { - if (shallowEqual(oldValue, value)) return true; - } - - (target as any)[key] = value; + get deviceType(): SerialDeviceType | undefined { + return this.isConnected + ? this.connection?.port?.getInfo().usbProductId + : undefined; + } - this.parent?.childSet(this.rootkey, key, value); + constructor(defaultSerial: Serial) { + super(); + this.defaultSerial = defaultSerial; + } - return true; - } + abstract connect(conn?: V5SerialConnection): Promise; - childSet(rootkey: string | undefined, subkey: string, value: any) { - if (this.parent) - this.parent.childSet(this.rootkey, rootkey + '.' + subkey, value); - else - console.log("changed", rootkey + '.' + subkey, value); // TODO - } + abstract disconnect(): void; } class V5SerialDeviceState { - _instance: V5SerialDevice; - _isFileTransferring = false; - - brain = { - activeProgram: 0, - battery: { - batteryPercent: 0, - isCharging: false - }, - button: { - isPressed: false, - isDoublePressed: false - }, - cpu0Version: VexFirmwareVersion.allZero(), - cpu1Version: VexFirmwareVersion.allZero(), - isAvailable: false, - settings: { - isScreenReversed: false, - isWhiteTheme: false, - usingLanguage: 0 - }, - systemVersion: VexFirmwareVersion.allZero(), - uniqueId: 0 - } - controllers = [ - { - battery: 0, - isAvailable: false, - isCharging: false - }, - { - battery: 0, - isAvailable: false - } - ]; - devices: ISmartDeviceInfo[] = []; - isFieldControllerConnected = false; - matchMode: MatchMode = "disabled"; - radio = { - channel: 0, - isAvailable: false, - isConnected: false, - isVexNet: false, - isRadioData: false, - latency: 0, - signalQuality: 0, - signalStrength: 0 - } - - constructor(instance: V5SerialDevice) { - this._instance = instance; - } + _instance: V5SerialDevice; + _isFileTransferring = false; + + brain = { + activeProgram: 0, + battery: { + batteryPercent: 0, + isCharging: false, + }, + button: { + isPressed: false, + isDoublePressed: false, + }, + cpu0Version: VexFirmwareVersion.allZero(), + cpu1Version: VexFirmwareVersion.allZero(), + isAvailable: false, + settings: { + isScreenReversed: false, + isWhiteTheme: false, + usingLanguage: 0, + }, + systemVersion: VexFirmwareVersion.allZero(), + uniqueId: 0, + }; + + controllers = [ + { + battery: 0, + isAvailable: false, + isCharging: false, + }, + { + battery: 0, + isAvailable: false, + }, + ]; + + devices: Array = []; + isFieldControllerConnected = false; + matchMode: MatchMode = "disabled"; + radio = { + channel: 0, + isAvailable: false, + isConnected: false, + isVexNet: false, + isRadioData: false, + latency: 0, + signalQuality: 0, + signalStrength: 0, + }; + + constructor(instance: V5SerialDevice) { + this._instance = instance; + } } export class V5Brain { - private state: V5SerialDeviceState; + private readonly state: V5SerialDeviceState; + + constructor(state: V5SerialDeviceState) { + this.state = state; + } + + get isRunningProgram(): boolean { + return this.activeProgram !== 0; + } + + get activeProgram(): number { + return this.state.brain.activeProgram; + } + + set activeProgram(value) { + void (async () => { + if (this.state.brain.activeProgram === value) return; + + const conn = this.state._instance.connection; + if (conn == null) return; + + const fn = + value === 0 + ? await conn.stopProgram() + : await conn.loadProgram(value as SlotNumber); + + if (fn != null) this.state.brain.activeProgram = value; + })(); + } + + get battery(): V5Battery { + return new V5Battery(this.state); + } + + get button(): V5BrainButton { + return new V5BrainButton(this.state); + } + + get cpu0Version(): VexFirmwareVersion { + return this.state.brain.cpu0Version; + } + + get cpu1Version(): VexFirmwareVersion { + return this.state.brain.cpu1Version; + } + + get isAvailable(): boolean { + return this.state.brain.isAvailable; + } + + get settings(): V5BrainSettings { + return new V5BrainSettings(this.state); + } + + get systemVersion(): VexFirmwareVersion { + return this.state.brain.systemVersion; + } + + get uniqueId(): number { + return this.state.brain.uniqueId; + } + + async getValue(key: string): Promise { + const result = await this.state._instance.connection?.writeDataAsync( + new ReadKeyValueH2DPacket(key), + ); + return result instanceof ReadKeyValueReplyD2HPacket + ? result.value + : undefined; + } + + async setValue(key: string, value: string): Promise { + const result = await this.state._instance.connection?.writeDataAsync( + new WriteKeyValueH2DPacket(key, value), + ); + return result instanceof WriteKeyValueReplyD2HPacket; + } + + async listFiles( + vendor = FileVendor.USER, + ): Promise { + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return; + + const result = await conn.writeDataAsync( + new GetDirectoryFileCountH2DPacket(vendor), + ); + if (!(result instanceof GetDirectoryFileCountReplyD2HPacket)) return; + + const files: IFileHandle[] = []; + for (let i = 0; i < result.count; i++) { + const result2 = await conn.writeDataAsync( + new GetDirectoryEntryH2DPacket(i), + ); + if (!(result2 instanceof GetDirectoryEntryReplyD2HPacket)) return; + + // .file is undefined if the file is not found + // .file is a file entry but not a file handle + if (result2.file != null) { + files.push({ + filename: result2.file.filename, + vendor, + loadAddress: result2.file.loadAddress, + + size: result2.file.size, + crc32: result2.file.crc32, + + type: result2.file.type, + timestamp: result2.file.timestamp, + version: result2.file.version, + }); + } + } + + return files; + } + + async listProgram(): Promise { + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return; + + const files = await this.listFiles(FileVendor.USER); + if (files === undefined) return; + + const programList: IProgramInfo[] = []; + const iniFiles = files.filter( + (file) => file?.filename.search(/.ini$/) > 0 ?? false, + ); + + for (let i = 0; i < iniFiles.length; i++) { + const ini = iniFiles[i]; + if (ini.size === 0) continue; + + const programName = /(.+?)(\.[^.]*$|$)/.exec(ini.filename)?.[1] ?? ""; + const bin = files.filter( + (e) => e != null && e.filename === programName + ".bin", + )[0]; + if (bin?.timestamp === 0 || bin.size === 0) continue; + + const n = new Date(); + n.setTime(1000 * bin.timestamp); + const program: IProgramInfo = { + name: programName, + binfile: bin.filename, + size: ini.size + bin.size, + slot: -1, + time: n, + requestedSlot: -1, + }; + + const result2 = await conn?.writeDataAsync( + new GetProgramSlotInfoH2DPacket(FileVendor.USER, program.binfile), + ); + if (result2 instanceof GetProgramSlotInfoReplyD2HPacket) { + program.slot = result2.slot; + program.requestedSlot = result2.requestedSlot; + } + programList.push(program); + } + return programList; + } + + async readFile( + request: IFileBasicInfo | string, + downloadTarget = FileDownloadTarget.FILE_TARGET_QSPI, + progressCallback?: (current: number, total: number) => void, + ): Promise { + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return; + + this.state._isFileTransferring = true; + + let handle: IFileBasicInfo; + + // If request is a string, then it is a filename + if (typeof request === "string") { + handle = { filename: request, vendor: FileVendor.USER }; + } else { + handle = request; + } + + try { + return await conn.downloadFileToHost( + handle, + downloadTarget, + progressCallback, + ); + } catch (e) { + this.state._isFileTransferring = false; + throw e; + } + } + + async removeFile( + request: IFileBasicInfo | string, + ): Promise { + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return; + + let vendor: FileVendor, filename: string; + + // If request is a string, then it is a filename + if (typeof request === "string") { + vendor = FileVendor.USER; + filename = request; + } else { + vendor = request.vendor; + filename = request.filename; + } + + const result = await conn.writeDataAsync( + new EraseFileH2DPacket(vendor, filename), + ); + const result2 = await conn.writeDataAsync( + new ExitFileTransferH2DPacket(FileExitAction.EXIT_HALT), + ); + + if (!(result instanceof EraseFileReplyD2HPacket)) return false; + if (!(result2 instanceof ExitFileTransferReplyD2HPacket)) return false; - constructor(state: V5SerialDeviceState) { - this.state = state; - } + return true; + } - get isRunningProgram() { - return this.activeProgram !== 0; - } + async removeAllFiles(): Promise { + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return undefined; - get activeProgram() { return this.state.brain.activeProgram; } + const result = await conn.writeDataAsync( + new FileClearUpH2DPacket(FileVendor.USER), + 30000, + ); + return result instanceof FileClearUpReplyD2HPacket; + } - set activeProgram(value) { - (async () => { - if (this.state.brain.activeProgram === value) return; + async uploadFirmware( + publicUrl = "https://content.vexrobotics.com/vexos/public/V5/", + usingVersion?: string, + progressCallback?: (state: string, current: number, total: number) => void, + ): Promise { + const device = this.state._instance; + const conn = device.connection; + if (conn == null || !conn.isConnected) return; - let conn = this.state._instance.connection; - if (!conn) return; + const pcb = progressCallback ?? (() => {}); - let fn = value === 0 - ? await conn.stopProgram() - : await conn.loadProgram(value as SlotNumber); + let vexos: ArrayBuffer, bootBin: ArrayBuffer, assertBin: ArrayBuffer; - if (fn) this.state.brain.activeProgram = value; - })(); - } + try { + if (usingVersion === undefined) { + pcb("FETCH CATALOG", 0, 1); - get battery() { return new V5Battery(this.state); } + const catalog = await downloadFileFromInternet( + publicUrl + "catalog.txt", + ); + const latestVersion = new TextDecoder().decode(catalog); + usingVersion = latestVersion; - get button() { return new V5BrainButton(this.state); } + pcb("FETCH CATALOG", 1, 1); - get cpu0Version() { return this.state.brain.cpu0Version; } + console.log("fetched catalog.txt", latestVersion); + } - get cpu1Version() { return this.state.brain.cpu1Version; } + pcb("FETCH VEXOS", 0, 1); - get isAvailable() { return this.state.brain.isAvailable; } + vexos = await downloadFileFromInternet( + publicUrl + usingVersion + ".vexos", + ); - get settings() { return new V5BrainSettings(this.state); } + pcb("FETCH VEXOS", 1, 1); + pcb("UNZIP VEXOS", 0, 1); - get systemVersion() { return this.state.brain.systemVersion; } + const { entries } = await unzip(vexos); - get uniqueId() { return this.state.brain.uniqueId; } + bootBin = await entries[usingVersion + "/BOOT.bin"].arrayBuffer(); + assertBin = await entries[usingVersion + "/assets.bin"].arrayBuffer(); - async getValue(key: string) { - let result = await this.state._instance.connection?.writeDataAsync(new ReadKeyValueH2DPacket(key)); - return result instanceof ReadKeyValueReplyD2HPacket ? result.value : undefined; + pcb("UNZIP VEXOS", 1, 1); + } catch (e) { + return undefined; } - async setValue(key: string, value: string) { - let result = await this.state._instance.connection?.writeDataAsync(new WriteKeyValueH2DPacket(key, value)); - return result instanceof WriteKeyValueReplyD2HPacket ? true : false; - } + try { + this.state._isFileTransferring = true; - async listFiles(vendor = FileVendor.USER) { - let conn = this.state._instance.connection; - if (!conn) return undefined; - - let result = await conn.writeDataAsync(new GetDirectoryFileCountH2DPacket(vendor)); - if (!(result instanceof GetDirectoryFileCountReplyD2HPacket)) return undefined; - - let files: IFileHandle[] = []; - for (let i = 0; i < result.count; i++) { - let result2 = await conn.writeDataAsync(new GetDirectoryEntryH2DPacket(i)); - if (!(result2 instanceof GetDirectoryEntryReplyD2HPacket)) return undefined; - - // .file is undefined if the file is not found - // .file is a file entry but not a file handle - if (result2.file) { - files.push({ - filename: result2.file.filename, - vendor, - loadAddress: result2.file.loadAddress, - - size: result2.file.size, - crc32: result2.file.crc32, - - type: result2.file.type, - timestamp: result2.file.timestamp, - version: result2.file.version - }); - } - } + pcb("FACTORY ENB BOOT", 0, 0); - return files; - } + const result = await conn.writeDataAsync(new FactoryEnableH2DPacket()); + if (!(result instanceof FactoryEnableReplyD2HPacket)) return false; - async listProgram() { - let conn = this.state._instance.connection; - if (!conn?.isConnected) return undefined; - - let files = await this.listFiles(FileVendor.USER); - if (files === undefined) return undefined; - - let programList: IProgramInfo[] = []; - let iniFiles = files.filter((file => file && file.filename.search(/.ini$/) > 0)) as IFileHandle[]; - - for (let i = 0; i < iniFiles.length; i++) { - let ini = iniFiles[i]; - if (!ini.size) continue; - - let programName = (/(.+?)(\.[^.]*$|$)/.exec(ini.filename) || "")[1]; - let bin = files.filter((e => e && e.filename === programName + ".bin"))[0]; - if (!bin || !bin.timestamp || !bin.size) continue; - - let n = new Date(); - n.setTime(1000 * bin.timestamp); - let program: IProgramInfo = { - name: programName, - binfile: bin.filename, - size: ini.size + bin.size, - slot: -1, - time: n, - requestedSlot: -1 - }; - - let result2 = await conn.writeDataAsync(new GetProgramSlotInfoH2DPacket(FileVendor.USER, program.binfile)); - if (result2 instanceof GetProgramSlotInfoReplyD2HPacket) { - program.slot = result2.slot; - program.requestedSlot = result2.requestedSlot; - } - programList.push(program); - } - return programList; - } - - async readFile( - request: IFileBasicInfo | string, - downloadTarget = FileDownloadTarget.FILE_TARGET_QSPI, - progressCallback?: (current: number, total: number) => void) { - - let conn = this.state._instance.connection; - if (!conn?.isConnected) return undefined; + const bootWriteRequest: IFileWriteRequest = { + filename: "null.bin", + vendor: FileVendor.USER, + loadAddress: USER_FLASH_USR_CODE_START, + buf: new Uint8Array(bootBin), + downloadTarget: FileDownloadTarget.FILE_TARGET_B1, + exttype: "bin", + autoRun: true, // need to set EXIT_RUN + linkedFile: undefined, + }; - this.state._isFileTransferring = true; - - let handle: IFileBasicInfo; - - // If request is a string, then it is a filename - if (typeof request === "string") { - handle = { filename: request, vendor: FileVendor.USER }; + const result2 = await conn.uploadFileToDevice( + bootWriteRequest, + (c, t) => { + pcb("UPLOAD BOOT", c, t); + }, + ); + if (!result2) return false; + + while (true) { + const result3 = await conn.writeDataAsync( + new FactoryStatusH2DPacket(), + 10000, + ); + if (result3 instanceof FactoryStatusReplyD2HPacket) { + switch (result3.status) { + case 2: + pcb("ERASE BOOT", result3.percent, 100); + break; + case 3: + pcb("WRITE BOOT", result3.percent, 100); + break; + case 4: + pcb("VERIFY BOOT", result3.percent, 100); + break; + case 8: + pcb("FINISHING BOOT", result3.percent, 100); + break; + } + if (result3.status === 0 && result3.percent === 100) break; } else { - handle = request; + return false; } - - try { return conn.downloadFileToHost(handle, downloadTarget, progressCallback); } - catch (e) { throw e; } - finally { this.state._isFileTransferring = false; } - - - } - - async removeFile(request: IFileBasicInfo | string) { - let conn = this.state._instance.connection; - if (!conn?.isConnected) return undefined; - - let vendor: FileVendor, filename: string; - - // If request is a string, then it is a filename - if (typeof request === "string") { - vendor = FileVendor.USER; - filename = request; + await sleep(500); + } + + pcb("FACTORY ENB ASSERT", 0, 0); + + const result5 = await conn.writeDataAsync(new FactoryEnableH2DPacket()); + if (!(result5 instanceof FactoryEnableReplyD2HPacket)) return false; + + const assertWriteRequest: IFileWriteRequest = { + filename: "null.bin", + vendor: FileVendor.USER, + loadAddress: USER_FLASH_USR_CODE_START, + buf: new Uint8Array(assertBin), + downloadTarget: FileDownloadTarget.FILE_TARGET_A1, + exttype: "bin", + autoRun: true, // need to set EXIT_RUN + linkedFile: undefined, + }; + + const result6 = await conn.uploadFileToDevice( + assertWriteRequest, + (c, t) => { + pcb("UPLOAD ASSERT", c, t); + }, + ); + if (!result6) return false; + + while (true) { + const result7 = await conn.writeDataAsync( + new FactoryStatusH2DPacket(), + 10000, + ); + if (result7 instanceof FactoryStatusReplyD2HPacket) { + switch (result7.status) { + case 2: + pcb("ERASE ASSERT", result7.percent, 100); + break; + case 3: + pcb("WRITE ASSERT", result7.percent, 100); + break; + case 4: + pcb("VERIFY ASSERT", result7.percent, 100); + break; + case 8: + pcb("FINISHING ASSERT", result7.percent, 100); + break; + } + + if (result7.status === 0 && result7.percent === 100) break; } else { - vendor = request.vendor; - filename = request.filename; - } - - let result = await conn.writeDataAsync(new EraseFileH2DPacket(vendor, filename)); - let result2 = await conn.writeDataAsync(new ExitFileTransferH2DPacket(FileExitAction.EXIT_HALT)); - - if (!(result instanceof EraseFileReplyD2HPacket)) return false; - if (!(result2 instanceof ExitFileTransferReplyD2HPacket)) return false; - - return true; - } - - async removeAllFiles() { - let conn = this.state._instance.connection; - if (!conn?.isConnected) return undefined; - - let result = await conn.writeDataAsync(new FileClearUpH2DPacket(FileVendor.USER), 30000); - return result instanceof FileClearUpReplyD2HPacket ? true : false; - } - - async uploadFirmware( - publicUrl = "https://content.vexrobotics.com/vexos/public/V5/", - usingVersion?: string, - progressCallback?: (state: string, current: number, total: number) => void) { - - let device = this.state._instance; - let conn = device.connection; - if (!conn?.isConnected) return undefined; - - const pcb = progressCallback ?? (() => { }); - - let vexos: ArrayBuffer, bootBin: ArrayBuffer, assertBin: ArrayBuffer; - - try { - if (usingVersion === undefined) { - pcb("FETCH CATALOG", 0, 1); - - const catalog = await downloadFileFromInternet(publicUrl + "catalog.txt"); - let latestVersion = new TextDecoder().decode(catalog); - usingVersion = latestVersion; - - pcb("FETCH CATALOG", 1, 1); - - console.log("fetched catalog.txt", latestVersion); - } - - pcb("FETCH VEXOS", 0, 1); - - vexos = await downloadFileFromInternet(publicUrl + usingVersion + ".vexos"); - - pcb("FETCH VEXOS", 1, 1); - pcb("UNZIP VEXOS", 0, 1); - - let { entries } = await unzip(vexos); - - bootBin = await entries[usingVersion + "/BOOT.bin"].arrayBuffer(); - assertBin = await entries[usingVersion + "/assets.bin"].arrayBuffer(); - - pcb("UNZIP VEXOS", 1, 1); - } catch (e) { - return undefined; - } - - try { - this.state._isFileTransferring = true; - - pcb("FACTORY ENB BOOT", 0, 0); - - let result = await conn.writeDataAsync(new FactoryEnableH2DPacket()); - if (!(result instanceof FactoryEnableReplyD2HPacket)) return false; - - let bootWriteRequest: IFileWriteRequest = { - filename: "null.bin", - vendor: FileVendor.USER, - loadAddress: USER_FLASH_USR_CODE_START, - buf: new Uint8Array(bootBin), - downloadTarget: FileDownloadTarget.FILE_TARGET_B1, - exttype: "bin", - autoRun: true, // need to set EXIT_RUN - linkedFile: undefined - }; - - let result2 = await conn.uploadFileToDevice(bootWriteRequest, (c, t) => pcb("UPLOAD BOOT", c, t)); - if (!result2) return false; - - while (true) { - let result3 = await conn.writeDataAsync(new FactoryStatusH2DPacket(), 10000); - if (result3 instanceof FactoryStatusReplyD2HPacket) { - switch (result3.status) { - case 2: - pcb("ERASE BOOT", result3.percent, 100); - break; - case 3: - pcb("WRITE BOOT", result3.percent, 100); - break; - case 4: - pcb("VERIFY BOOT", result3.percent, 100); - break; - case 8: - pcb("FINISHING BOOT", result3.percent, 100); - break; - } - if (result3.status === 0 && result3.percent === 100) break; - } else { - return false; - } - await sleep(500); - } - - pcb("FACTORY ENB ASSERT", 0, 0); - - let result5 = await conn.writeDataAsync(new FactoryEnableH2DPacket()); - if (!(result5 instanceof FactoryEnableReplyD2HPacket)) return false; - - let assertWriteRequest: IFileWriteRequest = { - filename: "null.bin", - vendor: FileVendor.USER, - loadAddress: USER_FLASH_USR_CODE_START, - buf: new Uint8Array(assertBin), - downloadTarget: FileDownloadTarget.FILE_TARGET_A1, - exttype: "bin", - autoRun: true, // need to set EXIT_RUN - linkedFile: undefined - } - - let result6 = await conn.uploadFileToDevice(assertWriteRequest, (c, t) => pcb("UPLOAD ASSERT", c, t)); - if (!result6) return false; - - while (true) { - let result7 = await conn.writeDataAsync(new FactoryStatusH2DPacket(), 10000); - if (result7 instanceof FactoryStatusReplyD2HPacket) { - switch (result7.status) { - case 2: - pcb("ERASE ASSERT", result7.percent, 100); - break; - case 3: - pcb("WRITE ASSERT", result7.percent, 100); - break; - case 4: - pcb("VERIFY ASSERT", result7.percent, 100); - break; - case 8: - pcb("FINISHING ASSERT", result7.percent, 100); - break; - } - - if (result7.status === 0 && result7.percent === 100) break; - } else { - return false; - } - await sleep(500); - } - - } - catch (e) { throw e; } - finally { this.state._isFileTransferring = false; } - - return true; - } - - async uploadProgram( - iniConfig: ProgramIniConfig, - binFileBuf: Uint8Array, - coldFileBuf: Uint8Array | undefined, - progressCallback: (state: string, current: number, total: number) => void) { - - let device = this.state._instance; - let conn = device.connection; - if (!conn?.isConnected) return undefined; - - this.state._isFileTransferring = true; - - try { - if (device.isV5Controller) { - await sleep(250); - - // V5 Controller doesn\'t appear to be connected to a V5 Brain - if (!device.refresh()) return undefined; - - console.log("Transferring to download channel"); - - let p1 = await device.radio.changeChannel(RadioChannelType.DOWNLOAD); - if (!p1) return false; - - await sleep(250); - await sleepUntil(async () => await conn?.getSystemStatus(150), 10000, 200); - - console.log("Transferred to download channel"); - } - - let p2 = await conn.uploadProgramToDevice(iniConfig, binFileBuf, coldFileBuf, progressCallback); - if (!p2) return false; - - if (device.isV5Controller) { - // Disconnected - if (!device.brain.isAvailable) return false; - - console.log("Transferring back to pit channel"); - - let p3 = await device.radio.changeChannel(RadioChannelType.PIT); - if (!p3) return false; - - await sleep(250); - await sleepUntil(async () => await conn?.getSystemStatus(150), 10000, 200); - - console.log("All done"); - } - - return true; + return false; } - catch (e) { throw e; } - finally { this.state._isFileTransferring = false; } + await sleep(500); + } + } catch (e) { + this.state._isFileTransferring = false; + throw e; } - async writeFile( - request: IFileWriteRequest, - progressCallback?: (current: number, total: number) => void) { - - this.state._isFileTransferring = true; - - let conn = this.state._instance.connection; - if (!conn?.isConnected) return undefined; - - try { return conn.uploadFileToDevice(request, progressCallback); } - catch (e) { throw e; } - finally { this.state._isFileTransferring = false; } - } + return true; + } + + async uploadProgram( + iniConfig: ProgramIniConfig, + binFileBuf: Uint8Array, + coldFileBuf: Uint8Array | undefined, + progressCallback: (state: string, current: number, total: number) => void, + ): Promise { + const device = this.state._instance; + const conn = device.connection; + if (conn == null || !conn.isConnected) return; + + this.state._isFileTransferring = true; + + try { + if (device.isV5Controller) { + await sleep(250); + + // V5 Controller doesn\'t appear to be connected to a V5 Brain + if (!(await device.refresh())) return; + + console.log("Transferring to download channel"); + + const p1 = await device.radio.changeChannel(RadioChannelType.DOWNLOAD); + if (!p1) return false; + + await sleep(250); + await sleepUntilAsync( + async () => (await conn?.getSystemStatus(150)) != null, + 10000, + 200, + ); + + console.log("Transferred to download channel"); + } + + const p2 = await conn.uploadProgramToDevice( + iniConfig, + binFileBuf, + coldFileBuf, + progressCallback, + ); + if (!(p2 ?? false)) return false; + + if (device.isV5Controller) { + // Disconnected + if (!device.brain.isAvailable) return false; + + console.log("Transferring back to pit channel"); + + const p3 = await device.radio.changeChannel(RadioChannelType.PIT); + if (!p3) return false; + + await sleep(250); + await sleepUntilAsync( + async () => (await conn?.getSystemStatus(150)) != null, + 10000, + 200, + ); + + console.log("All done"); + } + + return true; + } catch (e) { + this.state._isFileTransferring = false; + throw e; + } + } + + async writeFile( + request: IFileWriteRequest, + progressCallback?: (current: number, total: number) => void, + ): Promise { + this.state._isFileTransferring = true; + + const conn = this.state._instance.connection; + if (conn == null || !conn.isConnected) return undefined; + + try { + return await conn.uploadFileToDevice(request, progressCallback); + } catch (e) { + this.state._isFileTransferring = false; + throw e; + } + } } export class V5Battery { - private state: V5SerialDeviceState; + private readonly state: V5SerialDeviceState; - constructor(state: V5SerialDeviceState) { - this.state = state; - } + constructor(state: V5SerialDeviceState) { + this.state = state; + } - get batteryPercent() { - return this.state.brain.battery.batteryPercent; - } + get batteryPercent(): number { + return this.state.brain.battery.batteryPercent; + } - get isCharging() { - return this.state.brain.battery.isCharging; - } + get isCharging(): boolean { + return this.state.brain.battery.isCharging; + } } export class V5BrainButton { - private state: V5SerialDeviceState; + private readonly state: V5SerialDeviceState; - constructor(state: V5SerialDeviceState) { - this.state = state; - } + constructor(state: V5SerialDeviceState) { + this.state = state; + } - get isPressed() { - return this.state.brain.button.isPressed; - } + get isPressed(): boolean { + return this.state.brain.button.isPressed; + } - get isDoublePressed() { - return this.state.brain.button.isDoublePressed; - } + get isDoublePressed(): boolean { + return this.state.brain.button.isDoublePressed; + } } export class V5BrainSettings { - private state: V5SerialDeviceState; + private readonly state: V5SerialDeviceState; - constructor(state: V5SerialDeviceState) { - this.state = state; - } + constructor(state: V5SerialDeviceState) { + this.state = state; + } - get isScreenReversed() { - return this.state.brain.settings.isScreenReversed; - } + get isScreenReversed(): boolean { + return this.state.brain.settings.isScreenReversed; + } - get isWhiteTheme() { - return this.state.brain.settings.isWhiteTheme; - } + get isWhiteTheme(): boolean { + return this.state.brain.settings.isWhiteTheme; + } - get usingLanguage() { - return this.state.brain.settings.usingLanguage; - } + get usingLanguage(): number { + return this.state.brain.settings.usingLanguage; + } } export class V5Controller { - private state: V5SerialDeviceState; - private controllerIndex: number; + private readonly state: V5SerialDeviceState; + private readonly controllerIndex: number; - constructor(state: V5SerialDeviceState, controllerIndex: number) { - this.state = state; - this.controllerIndex = controllerIndex; - } + constructor(state: V5SerialDeviceState, controllerIndex: number) { + this.state = state; + this.controllerIndex = controllerIndex; + } - get batteryPercent() { - return this.state.controllers[this.controllerIndex].battery; - } + get batteryPercent(): number { + return this.state.controllers[this.controllerIndex].battery; + } - get isMasterController() { - return this.controllerIndex === 0; - } + get isMasterController(): boolean { + return this.controllerIndex === 0; + } - get isAvailable() { - return this.state.controllers[this.controllerIndex].isAvailable; - } + get isAvailable(): boolean { + return this.state.controllers[this.controllerIndex].isAvailable; + } - get isCharging(): boolean | undefined { - return this.state.controllers[this.controllerIndex].isCharging; - } + get isCharging(): boolean | undefined { + return this.state.controllers[this.controllerIndex].isCharging; + } } export class V5SmartDevice { - private state: V5SerialDeviceState; - private deviceIndex: number; + private readonly state: V5SerialDeviceState; + private readonly deviceIndex: number; - constructor(state: V5SerialDeviceState, index: number) { - this.state = state; - this.deviceIndex = index; - } + constructor(state: V5SerialDeviceState, index: number) { + this.state = state; + this.deviceIndex = index; + } - get isAvailable() { - return this.state.devices[this.deviceIndex] !== undefined; - } + protected getDeviceInfo(): ISmartDeviceInfo | undefined { + return this.state.devices[this.deviceIndex]; + } - get port() { - return this.deviceIndex; - } + get isAvailable(): boolean { + return this.getDeviceInfo() !== undefined; + } - get type() { - return this.isAvailable ? this.state.devices[this.deviceIndex].type : SmartDeviceType.EMPTY; - } + get port(): number { + return this.deviceIndex; + } - get version() { - return this.isAvailable ? this.state.devices[this.deviceIndex].version : 0; - } + get type(): SmartDeviceType { + return this.getDeviceInfo()?.type ?? SmartDeviceType.EMPTY; + } + + get version(): number { + return this.getDeviceInfo()?.version ?? 0; + } } export class V5Radio { - private state: V5SerialDeviceState; - - constructor(state: V5SerialDeviceState) { - this.state = state; - } - - get channel() { - return this.state.radio.channel; - } - - get isAvailable() { - return this.state.radio.isAvailable; - } - - get isConnected() { - return this.state.radio.isConnected; - } - - get isVexNet() { - return this.state.radio.isVexNet; - } - - get isRadioData() { - return this.state.radio.isRadioData; - } - - get latency() { - return this.state.radio.latency; - } - - async changeChannel(channel: RadioChannelType) { - let result = await this.state._instance.connection?.writeDataAsync(new FileControlH2DPacket(1, channel)); - return result instanceof FileControlReplyD2HPacket ? true : false; - } + private readonly state: V5SerialDeviceState; + + constructor(state: V5SerialDeviceState) { + this.state = state; + } + + get channel(): number { + return this.state.radio.channel; + } + + get isAvailable(): boolean { + return this.state.radio.isAvailable; + } + + get isConnected(): boolean { + return this.state.radio.isConnected; + } + + get isVexNet(): boolean { + return this.state.radio.isVexNet; + } + + get isRadioData(): boolean { + return this.state.radio.isRadioData; + } + + get latency(): number { + return this.state.radio.latency; + } + + async changeChannel(channel: RadioChannelType): Promise { + const result = await this.state._instance.connection?.writeDataAsync( + new FileControlH2DPacket(1, channel), + ); + return result instanceof FileControlReplyD2HPacket; + } } export class V5SerialDevice extends VexSerialDevice { - autoReconnect = true; - autoRefresh = true; - pauseRefreshOnFileTransfer = true; - - protected _isReconnecting = false; - protected proxy = new V5SerialDeviceProxyHandler(this); - state = new Proxy(new V5SerialDeviceState(this), this.proxy); - - constructor(defaultSerial: Serial) { - super(defaultSerial); - - setInterval(() => { - if (this.autoRefresh) { - if (!this.isConnected) { - this.state.brain.isAvailable = false; - return; - } - - if (this.pauseRefreshOnFileTransfer && !this.state._isFileTransferring) { - this.refresh(); - } - } - }, 200); - } + autoReconnect = true; + autoRefresh = true; + pauseRefreshOnFileTransfer = true; - get isV5Controller() { - return this.deviceType === SerialDeviceType.V5_CONTROLLER; - } + protected _isReconnecting = false; + state: V5SerialDeviceState = new V5SerialDeviceState(this); - get brain() { - return new V5Brain(this.state); - } - - get controllers() { - return [new V5Controller(this.state, 0), new V5Controller(this.state, 1)]; - } + constructor(defaultSerial: Serial) { + super(defaultSerial); - get devices() { - let rtn = []; - for (let i = 1; i <= this.state.devices.length; i++) { - if (this.state.devices[i]) - rtn.push(new V5SmartDevice(this.state, i)); + setInterval(() => { + if (this.autoRefresh) { + if (!this.isConnected) { + this.state.brain.isAvailable = false; + return; } - return rtn; - } - - get isFieldControllerConnected() { - return this.state.isFieldControllerConnected; - } - - get matchMode() { return this.state.matchMode; } - - set matchMode(value) { - (async () => { - if (await this.connection?.setMatchMode(value)) - this.state.matchMode = value; - })(); - } - get radio() { return new V5Radio(this.state); } - - async mockTouch(x: number, y: number, press: boolean) { - return (await this.connection?.mockTouch(x, y, press)) ? true : false; - } - - async connect(conn?: V5SerialConnection): Promise { - if (this.isConnected) return true; - - if (conn?.isConnected) { - if (await conn.query1() === null) return false; - - this.connection = conn; - } else { - let tryIdx = 0; - while (true) { - let c = new V5SerialConnection(this.defaultSerial); - - let result = await c.open(tryIdx++, true); - if (result === undefined) return false; // no port left - if (result === false) { // has been opened - await c.close(); - continue; - } - - if (await c.query1() === null) { // no response - await c.close(); - continue; - } - - this.connection = c; - break; - } + if ( + this.pauseRefreshOnFileTransfer && + !this.state._isFileTransferring + ) { + void this.refresh(); + } + } + }, 200); + } + + get isV5Controller(): boolean { + return this.deviceType === SerialDeviceType.V5_CONTROLLER; + } + + get brain(): V5Brain { + return new V5Brain(this.state); + } + + get controllers(): [V5Controller, V5Controller] { + return [new V5Controller(this.state, 0), new V5Controller(this.state, 1)]; + } + + get devices(): V5SmartDevice[] { + const rtn = []; + for (let i = 1; i <= this.state.devices.length; i++) { + if (this.state.devices[i] != null) + rtn.push(new V5SmartDevice(this.state, i)); + } + return rtn; + } + + get isFieldControllerConnected(): boolean { + return this.state.isFieldControllerConnected; + } + + get matchMode(): MatchMode { + return this.state.matchMode; + } + + set matchMode(value) { + void (async () => { + if ((await this.connection?.setMatchMode(value)) != null) + this.state.matchMode = value; + })(); + } + + get radio(): V5Radio { + return new V5Radio(this.state); + } + + async mockTouch(x: number, y: number, press: boolean): Promise { + return !((await this.connection?.mockTouch(x, y, press)) == null); + } + + async connect(conn?: V5SerialConnection): Promise { + if (this.isConnected) return true; + + if (conn != null && !conn.isConnected) { + if ((await conn.query1()) === null) return false; + + this.connection = conn; + } else { + let tryIdx = 0; + while (true) { + const c = new V5SerialConnection(this.defaultSerial); + + const result = await c.open(tryIdx++, true); + if (result === undefined) return false; // no port left + if (!result) { + // has been opened + await c.close(); + continue; } - if (!this.isConnected) return false; - - await this.doAfterConnect(); - - return true; - } + if ((await c.query1()) === null) { + // no response + await c.close(); + continue; + } - async disconnect() { - await this.connection?.close(); - this.connection = undefined; + this.connection = c; + break; + } } - async reconnect(timeout: number = 0): Promise { - if (this.isConnected) return true; - if (timeout < 0) return false; + if (!this.isConnected) return false; - let endTime = new Date().getTime() + timeout; + await this.doAfterConnect(); - if (this._isReconnecting) { - let successB4Timeout; - do { - successB4Timeout = await sleepUntil(() => !this._isReconnecting, timeout || 1000); - } while (timeout === 0 && !successB4Timeout); - - if (this.isConnected) return true; - if (!successB4Timeout) return false; + return true; + } + + async disconnect(): Promise { + await this.connection?.close(); + this.connection = undefined; + } + + /** + * @param timeout defaults to 0. If timeout is 0, then it will attempt to reconnect forever + * @returns + */ + async reconnect(timeout: number = 0): Promise { + if (this.isConnected) return true; + if (timeout < 0) return false; + + const endTime = new Date().getTime() + timeout; + + if (this._isReconnecting) { + let successBeforeTimeout; + do { + successBeforeTimeout = await sleepUntil( + () => !this._isReconnecting, + timeout === 0 ? 1000 : timeout, + ); + // eslint-disable-next-line no-unmodified-loop-condition + } while (timeout === 0 && !successBeforeTimeout); + + if (this.isConnected) return true; + if (!successBeforeTimeout) return false; + } + + this._isReconnecting = true; + + // eslint-disable-next-line no-unmodified-loop-condition + while (timeout === 0 || new Date().getTime() < endTime) { + // console.log("try to reconnect"); + + let tryIdx = 0; + while (true) { + const c = new V5SerialConnection(this.defaultSerial); + + const result = await c.open(tryIdx++, false); + + if (result === undefined) break; // no port left + if (!result) { + // has been opened + await c.close(); + continue; } - this._isReconnecting = true; - - while (timeout === 0 || new Date().getTime() > endTime) { - // console.log("try to reconnect"); - - let tryIdx = 0; - while (true) { - let c = new V5SerialConnection(this.defaultSerial); - - let result = await c.open(tryIdx++, false); - - if (result === undefined) break; // no port left - if (result === false) { // has been opened - await c.close(); - continue; - } - - let result2 = await c.getSystemStatus(200); - if (result2 === null) { // no response - await c.close(); - continue; - } - - if (this.brain.uniqueId !== 0 && result2.uniqueId !== this.brain.uniqueId) { // uuid not match - await c.close(); - continue; - } - - this.connection = c; - break; - } - - if (this.isConnected) break; - - // try again every second or when the number of ports is different - let getPortCount = async () => (await this.defaultSerial.getPorts()).length; - let portsCount = await getPortCount(); - await sleepUntil(async () => await getPortCount() !== portsCount, 1000); + const result2 = await c.getSystemStatus(200); + if (result2 === null) { + // no response + await c.close(); + continue; } - this._isReconnecting = false; + if ( + this.brain.uniqueId !== 0 && + result2.uniqueId !== this.brain.uniqueId + ) { + // uuid not match + await c.close(); + continue; + } - if (!this.isConnected) return false; + this.connection = c; + break; + } - this.doAfterConnect(); + if (this.isConnected) break; - return true; + // try again every second or when the number of ports is different + const getPortCount = async (): Promise => + (await this.defaultSerial.getPorts()).length; + const portsCount = await getPortCount(); + await sleepUntilAsync( + async () => (await getPortCount()) !== portsCount, + 1000, + ); } - private async doAfterConnect() { - if (!this.connection) return; + this._isReconnecting = false; - console.log("doAfterConnect"); + if (!this.isConnected) return false; - this.connection.on("disconnected", (_data) => { - if (this.autoReconnect) this.reconnect(); - }); + void this.doAfterConnect(); - await this.refresh(); - } + return true; + } - async refresh() { - let ssPacket = await this.connection?.getSystemStatus(); - if (!ssPacket) { - this.state.brain.isAvailable = false; - return false; - } + private async doAfterConnect(): Promise { + if (this.connection == null) return; - this.state.brain.cpu0Version = ssPacket.cpu0Version; - this.state.brain.cpu1Version = ssPacket.cpu1Version; - this.state.brain.systemVersion = ssPacket.systemVersion; - - let flags2 = ssPacket.sysflags[2]; - this.state.controllers[0].isCharging = (flags2 & 0b10000000) !== 0; - this.state.matchMode = flags2 & 0b00100000 ? "disabled" : (flags2 & 0b01000000 ? "autonomous" : "driver"); - this.state.isFieldControllerConnected = (flags2 & 0b00010000) !== 0; - - let flags4 = ssPacket.sysflags[4]; - this.state.brain.settings.usingLanguage = (flags4 & 0b11110000) >> 4; - this.state.brain.settings.isWhiteTheme = (flags4 & 0b00000100) !== 0; - this.state.brain.settings.isScreenReversed = (flags4 & 0b00000001) === 0; - - this.state.brain.uniqueId = ssPacket.uniqueId; - - let sfPacket = await this.connection?.getSystemFlags(); - if (!sfPacket) return false; - - let flags5 = sfPacket.flags; // Math.pow(2, 32 - i); - this.state.radio.isRadioData = (flags5 & Math.pow(2, 32 - 12)) !== 0; - this.state.brain.button.isDoublePressed = (flags5 & Math.pow(2, 32 - 14)) !== 0; - this.state.brain.battery.isCharging = (flags5 & Math.pow(2, 32 - 15)) !== 0; - this.state.brain.button.isPressed = (flags5 & Math.pow(2, 32 - 17)) !== 0; - this.state.radio.isVexNet = (flags5 & Math.pow(2, 32 - 18)) !== 0; - this.state.controllers[1].isAvailable = (flags5 & Math.pow(2, 32 - 19)) !== 0; - this.state.radio.isConnected = (flags5 & Math.pow(2, 32 - 22)) !== 0; - this.state.radio.isAvailable = (flags5 & Math.pow(2, 32 - 23)) !== 0; - this.state.brain.battery.batteryPercent = sfPacket.battery || 0; - this.state.controllers[0].isAvailable = this.state.radio.isConnected || this.state.controllers[0].isCharging; - this.state.controllers[0].battery = sfPacket.controllerBatteryPercent || 0; - this.state.controllers[1].battery = sfPacket.partnerControllerBatteryPercent || 0; - this.state.brain.activeProgram = sfPacket.currentProgram; - this.state.brain.isAvailable = !this.isV5Controller || this.state.radio.isConnected; - - let rdPacket = await this.connection?.getRadioStatus(); - if (!rdPacket) return false; - - this.state.radio.channel = rdPacket.channel; - this.state.radio.latency = rdPacket.timeslot; - this.state.radio.signalQuality = rdPacket.quality; - this.state.radio.signalStrength = rdPacket.strength; - - let dsPacket = await this.connection?.getDeviceStatus(); - if (!dsPacket) return false; - - let missingPorts = this.state.devices.map((d) => d?.port).filter((p) => p !== undefined); - - for (let i = 0; i < dsPacket.devices.length; i++) { - let device = dsPacket.devices[i]; - this.state.devices[device.port] = device; - - // remove device port from missing ports - missingPorts = missingPorts.filter((p) => p !== device.port); - } + console.log("doAfterConnect"); - missingPorts.forEach((port) => delete this.state.devices[port]); + this.connection.on("disconnected", (_data) => { + if (this.autoReconnect) void this.reconnect(); + }); - return true; - } -} \ No newline at end of file + await this.refresh(); + } + + async refresh(): Promise { + const ssPacket = await this.connection?.getSystemStatus(); + if (ssPacket == null) { + this.state.brain.isAvailable = false; + return false; + } + + this.state.brain.cpu0Version = ssPacket.cpu0Version; + this.state.brain.cpu1Version = ssPacket.cpu1Version; + this.state.brain.systemVersion = ssPacket.systemVersion; + + const flags2 = ssPacket.sysflags[2]; + this.state.controllers[0].isCharging = (flags2 & 0b10000000) !== 0; + this.state.matchMode = + (flags2 & 0b00100000) !== 0 + ? "disabled" + : (flags2 & 0b01000000) !== 0 + ? "autonomous" + : "driver"; + this.state.isFieldControllerConnected = (flags2 & 0b00010000) !== 0; + + const flags4 = ssPacket.sysflags[4]; + this.state.brain.settings.usingLanguage = (flags4 & 0b11110000) >> 4; + this.state.brain.settings.isWhiteTheme = (flags4 & 0b00000100) !== 0; + this.state.brain.settings.isScreenReversed = (flags4 & 0b00000001) === 0; + + this.state.brain.uniqueId = ssPacket.uniqueId; + + const sfPacket = await this.connection?.getSystemFlags(); + if (sfPacket == null) return false; + + const flags5 = sfPacket.flags; // Math.pow(2, 32 - i); + this.state.radio.isRadioData = (flags5 & Math.pow(2, 32 - 12)) !== 0; + this.state.brain.button.isDoublePressed = + (flags5 & Math.pow(2, 32 - 14)) !== 0; + this.state.brain.battery.isCharging = (flags5 & Math.pow(2, 32 - 15)) !== 0; + this.state.brain.button.isPressed = (flags5 & Math.pow(2, 32 - 17)) !== 0; + this.state.radio.isVexNet = (flags5 & Math.pow(2, 32 - 18)) !== 0; + this.state.controllers[1].isAvailable = + (flags5 & Math.pow(2, 32 - 19)) !== 0; + this.state.radio.isConnected = (flags5 & Math.pow(2, 32 - 22)) !== 0; + this.state.radio.isAvailable = (flags5 & Math.pow(2, 32 - 23)) !== 0; + this.state.brain.battery.batteryPercent = sfPacket.battery ?? 0; + this.state.controllers[0].isAvailable = + this.state.radio.isConnected || this.state.controllers[0].isCharging; + this.state.controllers[0].battery = sfPacket.controllerBatteryPercent ?? 0; + this.state.controllers[1].battery = + sfPacket.partnerControllerBatteryPercent ?? 0; + this.state.brain.activeProgram = sfPacket.currentProgram; + this.state.brain.isAvailable = + !this.isV5Controller || this.state.radio.isConnected; + + const rdPacket = await this.connection?.getRadioStatus(); + if (rdPacket == null) return false; + + this.state.radio.channel = rdPacket.channel; + this.state.radio.latency = rdPacket.timeslot; + this.state.radio.signalQuality = rdPacket.quality; + this.state.radio.signalStrength = rdPacket.strength; + + const dsPacket = await this.connection?.getDeviceStatus(); + if (dsPacket == null) return false; + + let missingPorts = this.state.devices + .map((d) => d?.port) + .filter((p): p is number => p !== undefined); + + for (let i = 0; i < dsPacket.devices.length; i++) { + const device = dsPacket.devices[i]; + this.state.devices[device.port] = device; + + // remove device port from missing ports + missingPorts = missingPorts.filter((p) => p !== device.port); + } + + missingPorts.forEach((port) => { + this.state.devices[port] = undefined; + }); + + return true; + } +} diff --git a/src/VexEvent.ts b/src/VexEvent.ts index e469f0d..40fe76b 100644 --- a/src/VexEvent.ts +++ b/src/VexEvent.ts @@ -1,50 +1,68 @@ - export class VexEventEmitter { - handlers: { [key: string | symbol]: ((...args: any[]) => void)[] }; + handlerMap: Map void>>; - constructor() { - this.handlers = {}; - } - on(eventName: string | symbol, listener: (...args: any[]) => void) { - this.handlers[eventName] = this.handlers[eventName] || []; - this.handlers[eventName].push(listener); - } - remove(eventName: string | symbol, listener: (...args: any[]) => void) { - this.handlers[eventName] = this.handlers[eventName] || []; + constructor() { + this.handlerMap = new Map void>>(); + } - let index = this.handlers[eventName].indexOf(listener); - if (index > -1) { - this.handlers[eventName].splice(index, 1); - } - } - emit(eventName: string | symbol, data: any) { - (this.handlers[eventName] || []).forEach((callback => { - callback(data); - })) - } - clearListeners() { - Object.keys(this.handlers).forEach((e => { - delete this.handlers[e]; - })) + on(eventName: string | symbol, listener: (...args: unknown[]) => void): void { + let listeners = this.handlerMap.get(eventName); + listeners ??= []; + + listeners.push(listener); + + this.handlerMap.set(eventName, listeners); + } + + remove( + eventName: string | symbol, + listener: (...args: unknown[]) => void, + ): void { + let listeners = this.handlerMap.get(eventName); + listeners ??= []; + + const index = listeners.indexOf(listener); + if (index > -1) { + listeners.splice(index, 1); } + + this.handlerMap.set(eventName, listeners); + } + + emit(eventName: string | symbol, data: unknown): void { + (this.handlerMap.get(eventName) ?? []).forEach((callback) => { + callback(data); + }); + } + + clearListeners(): void { + this.handlerMap.clear(); + } } export class VexEventTarget { - emitter: VexEventEmitter; + emitter: VexEventEmitter; - constructor() { - this.emitter = new VexEventEmitter(); - } - emit(eventName: string | symbol, data: any) { - this.emitter.emit(String(eventName), data); - } - on(eventName: string | symbol, listener: (...args: any[]) => void) { - this.emitter.on(String(eventName), listener); - } - remove(eventName: string | symbol, listener: (...args: any[]) => void) { - this.emitter.remove(String(eventName), listener); - } - clearListeners() { - this.emitter.clearListeners(); - } -} \ No newline at end of file + constructor() { + this.emitter = new VexEventEmitter(); + } + + emit(eventName: string | symbol, data: unknown): void { + this.emitter.emit(String(eventName), data); + } + + on(eventName: string | symbol, listener: (...args: unknown[]) => void): void { + this.emitter.on(String(eventName), listener); + } + + remove( + eventName: string | symbol, + listener: (...args: unknown[]) => void, + ): void { + this.emitter.remove(String(eventName), listener); + } + + clearListeners(): void { + this.emitter.clearListeners(); + } +} diff --git a/src/VexFirmwareVersion.ts b/src/VexFirmwareVersion.ts index 409273f..d49886f 100644 --- a/src/VexFirmwareVersion.ts +++ b/src/VexFirmwareVersion.ts @@ -1,121 +1,124 @@ - /** * This is a class to make it easier to handle passing the VEXos version * information around in the application. This provides ways to get any * form of the string representation and quickly compare versions. */ export class VexFirmwareVersion { - major: number; - minor: number; - build: number; - beta: number; + major: number; + minor: number; + build: number; + beta: number; - constructor(major: number, minor: number, build: number, beta: number) { - this.major = major; - this.minor = minor; - this.build = build; - this.beta = beta; - } + constructor(major: number, minor: number, build: number, beta: number) { + this.major = major; + this.minor = minor; + this.build = build; + this.beta = beta; + } - /** - * Take a a string of MAJOR.MINOR.BUILD.bBETA and converts it to a - * VexFirmwareVersion instance - * @param version the string to process - * @returns a VexFirmwareVersion representing the provided string - */ - static fromString(version: string) { - const parts = version - .toLowerCase() - .replace(/b/g, "") - .split(".") - .map((x) => parseInt(x, 10)); - while (parts.length < 4) { - parts.push(0); - } - return new VexFirmwareVersion(parts[0], parts[1], parts[2], parts[3]); + /** + * Take a a string of MAJOR.MINOR.BUILD.bBETA and converts it to a + * VexFirmwareVersion instance + * @param version the string to process + * @returns a VexFirmwareVersion representing the provided string + */ + static fromString(version: string): VexFirmwareVersion { + const parts = version + .toLowerCase() + .replace(/b/g, "") + .split(".") + .map((x) => parseInt(x, 10)); + while (parts.length < 4) { + parts.push(0); } + return new VexFirmwareVersion(parts[0], parts[1], parts[2], parts[3]); + } - /** - * Take a a Uint8Array and converts it to a VexFirmwareVersion instance - * @param data the array to process - * @param offset the offset to start at - * @returns a VexFirmwareVersion representing the provided string - */ - static fromUint8Array(data: Uint8Array, offset: number = 0, reverse: boolean = false) { - return new VexFirmwareVersion( - data[offset + (reverse ? 3 : 0)], - data[offset + (reverse ? 2 : 1)], - data[offset + (reverse ? 1 : 2)], - data[offset + (reverse ? 0 : 3)] - ); - } + /** + * Take a a Uint8Array and converts it to a VexFirmwareVersion instance + * @param data the array to process + * @param offset the offset to start at + * @returns a VexFirmwareVersion representing the provided string + */ + static fromUint8Array( + data: Uint8Array, + offset: number = 0, + reverse: boolean = false, + ): VexFirmwareVersion { + return new VexFirmwareVersion( + data[offset + (reverse ? 3 : 0)], + data[offset + (reverse ? 2 : 1)], + data[offset + (reverse ? 1 : 2)], + data[offset + (reverse ? 0 : 3)], + ); + } - static allZero() { - return new VexFirmwareVersion(0, 0, 0, 0); - } + static allZero(): VexFirmwareVersion { + return new VexFirmwareVersion(0, 0, 0, 0); + } - /** - * Take a a string of MAJOR_MINOR_BUILD_BETA and converts it to a - * VexFirmwareVersion instance - * @param version the string to process - * @returns a VexFirmwareVersion representing the provided string - */ - static fromCatalogString(version: string) { - return VexFirmwareVersion.fromString(version.replace(/_/g, ".")); - } + /** + * Take a a string of MAJOR_MINOR_BUILD_BETA and converts it to a + * VexFirmwareVersion instance + * @param version the string to process + * @returns a VexFirmwareVersion representing the provided string + */ + static fromCatalogString(version: string): VexFirmwareVersion { + return VexFirmwareVersion.fromString(version.replace(/_/g, ".")); + } - isBeta() { - return this.beta !== 0; - } + isBeta(): boolean { + return this.beta !== 0; + } - /** - * returns version as Uint Array - */ - toUint8Array(reverse: boolean = false) { - const data = new Uint8Array(4); - data[reverse ? 3 : 0] = this.major; - data[reverse ? 2 : 1] = this.minor; - data[reverse ? 1 : 2] = this.build; - data[reverse ? 0 : 3] = this.beta; - return data; - } + /** + * returns version as Uint Array + */ + toUint8Array(reverse: boolean = false): Uint8Array { + const data = new Uint8Array(4); + data[reverse ? 3 : 0] = this.major; + data[reverse ? 2 : 1] = this.minor; + data[reverse ? 1 : 2] = this.build; + data[reverse ? 0 : 3] = this.beta; + return data; + } - /** - * returns version as major.minor.build - */ - toUserString() { - return `${this.major}.${this.minor}.${this.build}`; - } + /** + * returns version as major.minor.build + */ + toUserString(): string { + return `${this.major}.${this.minor}.${this.build}`; + } - /** - * returns version as ${major}.${minor}.4{build}.b${beta} - */ - toInternalString() { - return `${this.toUserString()}.b${this.beta}`; - } + /** + * returns version as ${major}.${minor}.{build}.b${beta} + */ + toInternalString(): string { + return `${this.toUserString()}.b${this.beta}`; + } - /** - * compares this version to the provided version. - * * if this < b: negative - * * if this = b: 0 - * * if this > b: positive - * @param that the version to compare again - */ - compare(that: VexFirmwareVersion) { - const majorComp = this.major - that.major; - const minorComp = this.minor - that.minor; - const buildComp = this.build - that.build; - const betaComp = this.beta - that.beta; + /** + * compares this version to the provided version. + * * if this < b: negative + * * if this = b: 0 + * * if this > b: positive + * @param that the version to compare again + */ + compare(that: VexFirmwareVersion): number { + const majorComp = this.major - that.major; + const minorComp = this.minor - that.minor; + const buildComp = this.build - that.build; + const betaComp = this.beta - that.beta; - if (majorComp !== 0) { - return majorComp; - } else if (minorComp !== 0) { - return minorComp; - } else if (buildComp !== 0) { - return buildComp; - } else if (betaComp !== 0) { - return betaComp; - } - return 0; + if (majorComp !== 0) { + return majorComp; + } else if (minorComp !== 0) { + return minorComp; + } else if (buildComp !== 0) { + return buildComp; + } else if (betaComp !== 0) { + return betaComp; } -} \ No newline at end of file + return 0; + } +} diff --git a/src/VexIniConfig.ts b/src/VexIniConfig.ts index 4850b6b..96f8054 100644 --- a/src/VexIniConfig.ts +++ b/src/VexIniConfig.ts @@ -1,120 +1,166 @@ -import { ZerobaseSlotNumber } from "./Vex"; +// hey this code seemed really goofy to me, so I changed it, +// see https://github.com/LemLib/v5-serial-protocol/blob/ef8df5019a5504b5b96fc887ef1587d9ecaa84ea/src/VexIniConfig.ts +// for unchanged code +// -@meisZWFLZ -export class ProgramIniConfig { - baseName = "slot_1"; - autorun = false; - project = { version: "1", ide: "Unknown", file: "none" }; - program = { - version: "1", - name: "program", - slot: 0 as ZerobaseSlotNumber, - icon: "default.bmp", - iconalt: "", - description: "", - date: "", - timezone: "0", - }; - config: { [key: number]: string } = {}; // { port_22: "..." } - controller1: { [key: string]: string } = {}; - controller2: { [key: string]: string } = {}; - // private options: { [key: string]: string } = {}; - - constructor() { - this.config = { - 22: "adi", - }; - } +import { type ZerobaseSlotNumber } from "./Vex"; +class BaseIniBuilder { + protected str = ""; + protected addLine(line: string): void { + this.str += line + "\n"; + } + + public addComment(comment: string): this { + this.addLine("; " + comment); + return this; + } + + public getContent(): string { + return this.str; + } +} + +class IniSectionBuilder< + O extends Record, +> extends BaseIniBuilder { + constructor( + public readonly name: string, + private readonly object: O, + private readonly keyTransform: (k: keyof O) => string = (k) => k.toString(), + ) { + super(); + } + + private addSingleObjProperty(key: keyof O, maxValueLength?: number): void { + // if property is empty or nullish, skip it + if (this.object[key] == null || this.object[key].toString().length === 0) + return; + + const formattedKey = this.keyTransform(key).padEnd(12).slice(0, 12); + const trimmedVal = this.object[key].toString().slice(0, maxValueLength); + + this.addLine(`${formattedKey} = "${trimmedVal}"`); + } - setProgramDate(date: Date) { - const d = date; - this.program.date = d.toISOString(); - const tzo = Math.abs(d.getTimezoneOffset()); - const tzh = tzo / 60 >>> 0; - const tzm = tzo - (tzh * 60); - this.program.timezone = (d.getTimezoneOffset() > 0 ? "-" : "+") + this.dec2(tzh) + ":" + this.dec2(tzm); + public addObjProperty( + key: keyof O | Array, + maxValueLength?: number, + ): this { + const keys = Array.isArray(key) ? key : [key]; + for (const k of keys) { + this.addSingleObjProperty(k, maxValueLength); } + return this; + } - createIni() { - const str = []; - if (!this.program.date) { - this.setProgramDate(new Date()); - } - str.push(";" + "\n"); - str.push("; VEX program ini file" + "\n"); - str.push("; Generated by Vex V5 Serial Protocol Library" + "\n"); - str.push(";" + "\n"); - str.push("[project]" + "\n"); - let projectProperty; - for (projectProperty in this.project) { - if (this.project.hasOwnProperty(projectProperty)) { - const s = (projectProperty + " ").substr(0, 12); - let t = (this.project as any)[projectProperty]; - if (s.match("ide")) { - t = t.substr(0, 16); - } - str.push(s + ' = "' + t + '"\n'); - } - } - str.push(";" + "\n"); - str.push("[program]" + "\n"); - let programProperty; - for (programProperty in this.program) { - if (this.program.hasOwnProperty(programProperty)) { - const s = (programProperty + " ").substr(0, 12); - let t = (this.program as any)[programProperty]; - // skip new alternate icon if it is not set - if (s.match("name")) { - t = t.substr(0, 32); - } else if (s.match("description")) { - t = t.substr(0, 256); - } else if (s.match("icon")) { - t = t.substr(0, 16); - } else if (s.match("iconalt")) { - if (t == "") continue; - t = t.substr(0, 16); - } - str.push(s + ' = "' + t + '"\n'); - } - } - str.push(";" + "\n"); - str.push("[config]" + "\n"); - let configProperty; - for (configProperty in this.config) { - if (this.config.hasOwnProperty(configProperty)) { - const s = ("port_" + this.dec2(parseInt(configProperty)) + " ").substr(0, 12); - const t = this.config[configProperty]; - str.push(s + ' = "' + t + '"\n'); - } - } - if (Object.keys(this.controller1).length) { - str.push(";" + "\n"); - str.push("[controller_1]" + "\n"); - for (const property in this.controller1) { - if (this.controller1.hasOwnProperty(property)) { - const s = (property + " ").substr(0, 12); - const t = this.controller1[property]; - str.push(s + ' = "' + t + '"\n'); - } - } - } - if (Object.keys(this.controller2).length) { - str.push(";" + "\n"); - str.push("[controller_2]" + "\n"); - for (const property in this.controller2) { - if (this.controller2.hasOwnProperty(property)) { - const s = (property + " ").substr(0, 12); - const t = this.controller2[property]; - str.push(s + ' = "' + t + '"\n'); - } - } - } - const s = str.join(""); - console.log(s); - return s; + public addAllObjProps(maxValueLength?: number): this { + const keys = Object.keys(this.object); + for (const k of keys) { + this.addSingleObjProperty(k, maxValueLength); } + return this; + } +} +class IniFileBuilder extends BaseIniBuilder { + public addSection( + section: IniSectionBuilder>, + ): this { + this.addLine(`[${section.name}]`); + this.str += section.getContent(); - dec2(value: number) { - const str = ("00" + value.toString(10)).substr(-2, 2); - return str.toUpperCase(); + return this; + } +} + +export class ProgramIniConfig { + baseName = "slot_1"; + autorun = false; + project = { version: "1", ide: "Unknown", file: "none" }; + program = { + version: "1", + name: "program", + slot: 0 as ZerobaseSlotNumber, + icon: "default.bmp", + iconalt: "", + description: "", + date: "", + timezone: "0", + }; + + config: Record = {}; // { port_22: "..." } + controller1: Record = {}; + controller2: Record = {}; + // private options: { [key: string]: string } = {}; + + constructor() { + this.config = { + 22: "adi", + }; + } + + setProgramDate(date: Date): void { + const d = date; + this.program.date = d.toISOString(); + const tzo = Math.abs(d.getTimezoneOffset()); + const tzh = (tzo / 60) >>> 0; + const tzm = tzo - tzh * 60; + this.program.timezone = + (d.getTimezoneOffset() > 0 ? "-" : "+") + + this.dec2(tzh) + + ":" + + this.dec2(tzm); + } + + createIni(): string { + if (this.program.date.length === 0) { + this.setProgramDate(new Date()); } -} \ No newline at end of file + return new IniFileBuilder() + .addComment("") + .addComment("VEX program ini file") + .addComment("Generated by Vex V5 Serial Protocol Library") + .addComment("") + .addSection( + new IniSectionBuilder("project", this.project).addObjProperty( + "ide", + 16, + ), + ) + .addComment("") + .addSection( + new IniSectionBuilder("program", this.program) + .addObjProperty("name", 32) + .addObjProperty("description", 256) + .addObjProperty("icon", 16) + .addObjProperty("iconalt", 16), + ) + .addComment("") + .addSection( + new IniSectionBuilder( + "config", + this.config, + (k) => "port_" + this.dec2(k), + ).addAllObjProps(), + ) + .addComment("") + .addSection( + new IniSectionBuilder( + "controller_1", + this.controller1, + ).addAllObjProps(), + ) + .addComment("") + .addSection( + new IniSectionBuilder( + "controller_2", + this.controller2, + ).addAllObjProps(), + ) + .getContent(); + } + + dec2(value: number): string { + const str = ("00" + value.toString(10)).substr(-2, 2); + return str.toUpperCase(); + } +} diff --git a/src/VexPacket.ts b/src/VexPacket.ts index cfae6cb..caee036 100644 --- a/src/VexPacket.ts +++ b/src/VexPacket.ts @@ -2,1264 +2,1321 @@ import { PacketView } from "./VexPacketView"; import { CrcGenerator } from "./VexCRC"; import * as AllPackets from "./VexPacket"; -import { AckType, DataArray, FileDownloadTarget, FileExitAction, FileInitAction, FileInitOption, FileLoadAction, FileVendor, IFileEntry, IFileMetadata, ISmartDeviceInfo, MatchMode, SlotNumber } from "./Vex"; +import { + AckType, + type DataArray, + type FileDownloadTarget, + type FileExitAction, + FileInitAction, + type FileInitOption, + type FileLoadAction, + type FileVendor, + type IFileEntry, + type IFileMetadata, + type ISmartDeviceInfo, + type MatchMode, + type SlotNumber, +} from "./Vex"; import { VexFirmwareVersion } from "./VexFirmwareVersion"; export class PacketEncoder { - static HEADERS_LENGTH = 4; - static HEADER_TO_DEVICE = [201, 54, 184, 71]; - static HEADER_TO_HOST = [170, 85]; - - static J2000_EPOCH = 946684800; - - vexVersion: number; - - crcgen: CrcGenerator; - allPacketsTable: { [key: string]: typeof HostBoundPacket } = {}; - - static getInstance() { - if (Packet.ENCODER === undefined) { - Packet.ENCODER = new PacketEncoder(); - } - return Packet.ENCODER; - } - - private constructor() { - this.vexVersion = 0; - this.crcgen = new CrcGenerator(); - - Object.values(AllPackets).forEach(packet => { - if (packet.prototype instanceof HostBoundPacket) { - this.allPacketsTable[(packet as any).COMMAND_ID + " " + (packet as any).COMMAND_EXTENDED_ID] = packet as typeof HostBoundPacket; - } - }); - } - - /** - * Create the vex CDC header - * @param buf the bytes to send - */ - createHeader(buf: ArrayBuffer | undefined) { - // create a buffer if is is not defined - if (buf === undefined || buf.byteLength < PacketEncoder.HEADERS_LENGTH) { - buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH); - } - const h = new Uint8Array(buf); - h.set(PacketEncoder.HEADER_TO_DEVICE); - return (h); - } - - /** - * Create the vex CDC simple message - * @param cmd the CDC command byte - */ - cdcCommand(cmd: number) { - const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 1); - const h = this.createHeader(buf); - h.set([cmd], PacketEncoder.HEADERS_LENGTH); - return h; - } - - /** - * Create the vex CDC simple message - * @param cmd the CDC command byte - * @param data the data to send - */ - cdcCommandWithData(cmd: number, data: Uint8Array) { - const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 2 + data.length); - const h = this.createHeader(buf); - // add command and length bytes - h.set([cmd, data.length], PacketEncoder.HEADERS_LENGTH); - // add the message data - h.set(data, PacketEncoder.HEADERS_LENGTH + 2); - return h; - } - - /** - * Create the vex CDC extended message - * @param cmd the CDC command byte - * @param ext the CDC extended command byte - * @return a message - */ - cdc2Command(cmd: number, ext: number) { - const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 5); - const h = this.createHeader(buf); - h.set([cmd, ext, 0], PacketEncoder.HEADERS_LENGTH); - // Add CRC - const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0) >>> 0; - h.set([crc >>> 8, crc & 0xFF], buf.byteLength - 2); - return h; - } - - /** - * Calculate buffer length for new CDC extended command - * @param data the CDC extended command payload - * @returns the required buffer length of the command message - */ - cdc2CommandBufferLength(data: Uint8Array) { - // New command use header + 1 byte command - // + 1 byte function - // + 1 byte data length - let length = PacketEncoder.HEADERS_LENGTH + data.length + 3 + 2; - // If data length is > 127 bytes then an additional data length byte is added - if (data.length > 127) - length += 1; - return (length); - } - - /** - * Create the vex CDC extended message with some data - * @param cmd the CDC command byte - * @param ext the CDC extended command byte - * @param data the CDC extended command payload - * @return a message - */ - cdc2CommandWithData(cmd: number, ext: number, data: Uint8Array) { - const buf = new ArrayBuffer(this.cdc2CommandBufferLength(data)); - const h = this.createHeader(buf); - // add command and length bytes - if (data.length < 128) { - h.set([cmd, ext, data.length], PacketEncoder.HEADERS_LENGTH); - // add the message data - h.set(data, PacketEncoder.HEADERS_LENGTH + 3); - } - else { - const length_msb = ((data.length >>> 8) | 0x80) >>> 0; - const length_lsb = (data.length & 0xFF) >>> 0; - h.set([cmd, ext, length_msb, length_lsb], PacketEncoder.HEADERS_LENGTH); - // add the message data - h.set(data, PacketEncoder.HEADERS_LENGTH + 4); - } - // Add CRC (little endian) - const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0); - h.set([crc >>> 8, crc & 0xFF], buf.byteLength - 2); - return h; - } - - validateHeader(data: Uint8Array) { - return !(data[0] !== PacketEncoder.HEADER_TO_HOST[0] || data[1] !== PacketEncoder.HEADER_TO_HOST[1]) - } - - validateMessageCdc(data: Uint8Array) { - let message = data.subarray(0, data.byteLength - 2); - let lastTwoBytes = (data[data.byteLength - 2] << 8) + data[data.byteLength - 1]; - return this.crcgen.crc16(message, 0) === lastTwoBytes; - } - - getPayloadSize(data: Uint8Array) { - let t = 0, a = data[3]; - if (128 & a) { - t = 127 & a; - a = data[4]; - } - return (t << 8) + a - } + static HEADERS_LENGTH = 4; + static HEADER_TO_DEVICE = [201, 54, 184, 71]; + static HEADER_TO_HOST = [170, 85]; + + static J2000_EPOCH = 946684800; + + vexVersion: number; + + crcgen: CrcGenerator; + allPacketsTable: Record = {}; + + static getInstance(): AllPackets.PacketEncoder { + if (Packet.ENCODER === undefined) { + Packet.ENCODER = new PacketEncoder(); + } + return Packet.ENCODER; + } + + private constructor() { + this.vexVersion = 0; + this.crcgen = new CrcGenerator(); + + Object.values(AllPackets).forEach((packet) => { + if (packet.prototype instanceof HostBoundPacket) { + this.allPacketsTable[ + // eslint-disable-next-line @typescript-eslint/no-explicit-any + (packet as any).COMMAND_ID + " " + (packet as any).COMMAND_EXTENDED_ID + ] = packet as typeof HostBoundPacket; + } + }); + } + + /** + * Create the vex CDC header + * @param buf the bytes to send + */ + createHeader(buf: ArrayBuffer | undefined): Uint8Array { + // create a buffer if is is not defined + if (buf === undefined || buf.byteLength < PacketEncoder.HEADERS_LENGTH) { + buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH); + } + const h = new Uint8Array(buf); + h.set(PacketEncoder.HEADER_TO_DEVICE); + return h; + } + + /** + * Create the vex CDC simple message + * @param cmd the CDC command byte + */ + cdcCommand(cmd: number): Uint8Array { + const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 1); + const h = this.createHeader(buf); + h.set([cmd], PacketEncoder.HEADERS_LENGTH); + return h; + } + + /** + * Create the vex CDC simple message + * @param cmd the CDC command byte + * @param data the data to send + */ + cdcCommandWithData(cmd: number, data: Uint8Array): Uint8Array { + const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 2 + data.length); + const h = this.createHeader(buf); + // add command and length bytes + h.set([cmd, data.length], PacketEncoder.HEADERS_LENGTH); + // add the message data + h.set(data, PacketEncoder.HEADERS_LENGTH + 2); + return h; + } + + /** + * Create the vex CDC extended message + * @param cmd the CDC command byte + * @param ext the CDC extended command byte + * @return a message + */ + cdc2Command(cmd: number, ext: number): Uint8Array { + const buf = new ArrayBuffer(PacketEncoder.HEADERS_LENGTH + 5); + const h = this.createHeader(buf); + h.set([cmd, ext, 0], PacketEncoder.HEADERS_LENGTH); + // Add CRC + const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0) >>> 0; + h.set([crc >>> 8, crc & 0xff], buf.byteLength - 2); + return h; + } + + /** + * Calculate buffer length for new CDC extended command + * @param data the CDC extended command payload + * @returns the required buffer length of the command message + */ + cdc2CommandBufferLength(data: Uint8Array): number { + // New command use header + 1 byte command + // + 1 byte function + // + 1 byte data length + let length = PacketEncoder.HEADERS_LENGTH + data.length + 3 + 2; + // If data length is > 127 bytes then an additional data length byte is added + if (data.length > 127) length += 1; + return length; + } + + /** + * Create the vex CDC extended message with some data + * @param cmd the CDC command byte + * @param ext the CDC extended command byte + * @param data the CDC extended command payload + * @return a message + */ + cdc2CommandWithData(cmd: number, ext: number, data: Uint8Array): Uint8Array { + const buf = new ArrayBuffer(this.cdc2CommandBufferLength(data)); + const h = this.createHeader(buf); + // add command and length bytes + if (data.length < 128) { + h.set([cmd, ext, data.length], PacketEncoder.HEADERS_LENGTH); + // add the message data + h.set(data, PacketEncoder.HEADERS_LENGTH + 3); + } else { + const lengthMsb = ((data.length >>> 8) | 0x80) >>> 0; + const lengthLsb = (data.length & 0xff) >>> 0; + h.set([cmd, ext, lengthMsb, lengthLsb], PacketEncoder.HEADERS_LENGTH); + // add the message data + h.set(data, PacketEncoder.HEADERS_LENGTH + 4); + } + // Add CRC (little endian) + const crc = this.crcgen.crc16(h.subarray(0, buf.byteLength - 2), 0); + h.set([crc >>> 8, crc & 0xff], buf.byteLength - 2); + return h; + } + + validateHeader(data: Uint8Array): boolean { + return !( + data[0] !== PacketEncoder.HEADER_TO_HOST[0] || + data[1] !== PacketEncoder.HEADER_TO_HOST[1] + ); + } + + validateMessageCdc(data: Uint8Array): boolean { + const message = data.subarray(0, data.byteLength - 2); + const lastTwoBytes = + (data[data.byteLength - 2] << 8) + data[data.byteLength - 1]; + return this.crcgen.crc16(message, 0) === lastTwoBytes; + } + + getPayloadSize(data: Uint8Array): number { + let t = 0; + let a = data[3]; + if ((128 & a) !== 0) { + t = 127 & a; + a = data[4]; + } + return (t << 8) + a; + } } export abstract class Packet { - data: Uint8Array; // the buffer sent to the device or received from the device + data: Uint8Array; // the buffer sent to the device or received from the device - static ENCODER: PacketEncoder; + static ENCODER: PacketEncoder; - constructor(rawData: DataArray) { - this.data = rawData instanceof ArrayBuffer ? new Uint8Array(rawData) : rawData; - } + constructor(rawData: DataArray) { + this.data = + rawData instanceof ArrayBuffer ? new Uint8Array(rawData) : rawData; + } } export class DeviceBoundPacket extends Packet { - constructor(payload?: Uint8Array) { - super(new Uint8Array()); - - let me = (this as any).__proto__.constructor; - - if (me.COMMAND_EXTENDED_ID === undefined) { - if (payload === undefined) { - this.data = Packet.ENCODER.cdcCommand(me.COMMAND_ID); - } else { - this.data = Packet.ENCODER.cdcCommandWithData(me.COMMAND_ID, payload); - } - } else { - if (payload === undefined) { - this.data = Packet.ENCODER.cdc2Command(me.COMMAND_ID, me.COMMAND_EXTENDED_ID); - } else { - this.data = Packet.ENCODER.cdc2CommandWithData(me.COMMAND_ID, me.COMMAND_EXTENDED_ID, payload); - } - } - } + constructor(payload?: Uint8Array) { + super(new Uint8Array()); + // eslint-disable-next-line no-proto, @typescript-eslint/no-explicit-any + const me = (this as any).__proto__.constructor; + + if (me.COMMAND_EXTENDED_ID === undefined) { + if (payload === undefined) { + this.data = Packet.ENCODER.cdcCommand(me.COMMAND_ID); + } else { + this.data = Packet.ENCODER.cdcCommandWithData(me.COMMAND_ID, payload); + } + } else { + if (payload === undefined) { + this.data = Packet.ENCODER.cdc2Command( + me.COMMAND_ID, + me.COMMAND_EXTENDED_ID, + ); + } else { + this.data = Packet.ENCODER.cdc2CommandWithData( + me.COMMAND_ID, + me.COMMAND_EXTENDED_ID, + payload, + ); + } + } + } } export class Query1H2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 33; - static COMMAND_EXTENDED_ID = undefined; + static COMMAND_ID = 33; + static COMMAND_EXTENDED_ID = undefined; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class SystemVersionH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 164; - static COMMAND_EXTENDED_ID = undefined; + static COMMAND_ID = 164; + static COMMAND_EXTENDED_ID = undefined; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class UpdateMatchModeH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 88; - static COMMAND_EXTENDED_ID = 193; - - constructor(mode: MatchMode, matchClock: number) { - let bit1; - switch (mode) { - case "autonomous": - bit1 = 10; - break; - case "driver": - bit1 = 8; - break; - case "disabled": - bit1 = 11; - } - - const payload = new Uint8Array(5), view = new DataView(payload.buffer); - payload[0] = (15 & bit1) >>> 0; - - view.setUint32(1, matchClock, true); - - super(payload); + static COMMAND_ID = 88; + static COMMAND_EXTENDED_ID = 193; + + constructor(mode: MatchMode, matchClock: number) { + let bit1; + switch (mode) { + case "autonomous": + bit1 = 10; + break; + case "driver": + bit1 = 8; + break; + case "disabled": + bit1 = 11; } + + const payload = new Uint8Array(5); + const view = new DataView(payload.buffer); + payload[0] = (15 & bit1) >>> 0; + + view.setUint32(1, matchClock, true); + + super(payload); + } } export class GetMatchStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 88; - static COMMAND_EXTENDED_ID = 194; + static COMMAND_ID = 88; + static COMMAND_EXTENDED_ID = 194; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class GetRadioModeH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 88; - static COMMAND_EXTENDED_ID = 65; + static COMMAND_ID = 88; + static COMMAND_EXTENDED_ID = 65; - constructor(mode: number) { - const payload = new Uint8Array(1); - payload[0] = mode; + constructor(mode: number) { + const payload = new Uint8Array(1); + payload[0] = mode; - super(payload); - } + super(payload); + } } export class FileControlH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 16; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 16; - constructor(a: number, b: number) { - const payload = new Uint8Array(2); - payload.set([a, b], 0); + constructor(a: number, b: number) { + const payload = new Uint8Array(2); + payload.set([a, b], 0); - super(payload); - } + super(payload); + } } export class InitFileTransferH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 17; - - constructor( - operation: FileInitAction, - target: FileDownloadTarget, - vendor: FileVendor, - options: FileInitOption, - binary: Uint8Array, - addr: number, - name: string, - type?: string, - version: VexFirmwareVersion = new VexFirmwareVersion(1, 0, 0, 0)) { - - const payload = new Uint8Array(52); - const view = new DataView(payload.buffer); - - view.setUint8(0, operation); - view.setUint8(1, target); - view.setUint8(2, vendor); - view.setUint8(3, options); - view.setUint32(4, binary.length, true); - view.setUint32(8, addr, true); - view.setUint32(12, operation === FileInitAction.WRITE ? Packet.ENCODER.crcgen.crc32(binary, 0) : 0, true); - - const re = /(?:\.([^.]+))?$/; - const reResult = re.exec(name); - let ext = reResult ? reResult[1] : undefined; - ext = (ext === undefined ? '' : ext); - // files with gz extension are also type bin - ext = (ext === 'gz' ? 'bin' : ext); - payload.set(new TextEncoder().encode(type ?? ext), 16); - - const timestamp = ((Date.now() / 1000) >>> 0) - PacketEncoder.J2000_EPOCH; - view.setUint32(20, timestamp, true); - - payload.set(version.toUint8Array(), 24); - - // filename - const nameEncoded = new TextEncoder().encode(name); - let offset = nameEncoded.length - 23; - if (offset < 0) offset = 0; - payload.set(nameEncoded.subarray(offset, offset + 23), 28); - view.setUint8(51, 0); - - super(payload); - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 17; + + constructor( + operation: FileInitAction, + target: FileDownloadTarget, + vendor: FileVendor, + options: FileInitOption, + binary: Uint8Array, + addr: number, + name: string, + type?: string, + version: VexFirmwareVersion = new VexFirmwareVersion(1, 0, 0, 0), + ) { + const payload = new Uint8Array(52); + const view = new DataView(payload.buffer); + + view.setUint8(0, operation); + view.setUint8(1, target); + view.setUint8(2, vendor); + view.setUint8(3, options); + view.setUint32(4, binary.length, true); + view.setUint32(8, addr, true); + view.setUint32( + 12, + operation === FileInitAction.WRITE + ? Packet.ENCODER.crcgen.crc32(binary, 0) + : 0, + true, + ); + + const re = /(?:\.([^.]+))?$/; + const reResult = re.exec(name); + let ext = reResult != null ? reResult[1] : undefined; + ext ??= ""; + // files with gz extension are also type bin + ext = ext === "gz" ? "bin" : ext; + payload.set(new TextEncoder().encode(type ?? ext), 16); + + const timestamp = ((Date.now() / 1000) >>> 0) - PacketEncoder.J2000_EPOCH; + view.setUint32(20, timestamp, true); + + payload.set(version.toUint8Array(), 24); + + // filename + const nameEncoded = new TextEncoder().encode(name); + let offset = nameEncoded.length - 23; + if (offset < 0) offset = 0; + payload.set(nameEncoded.subarray(offset, offset + 23), 28); + view.setUint8(51, 0); + + super(payload); + } } export class ExitFileTransferH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 18; - - constructor(action: FileExitAction) { + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 18; - let payload = new Uint8Array(1); - payload[0] = action; + constructor(action: FileExitAction) { + const payload = new Uint8Array(1); + payload[0] = action; - super(payload); - } + super(payload); + } } export class WriteFileH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 19; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 19; - constructor(addr: number, buf: Uint8Array) { - const payload = new Uint8Array(4 + buf.length); - const view = new DataView(payload.buffer); - view.setUint32(0, addr, true); - payload.set(buf, 4); + constructor(addr: number, buf: Uint8Array) { + const payload = new Uint8Array(4 + buf.length); + const view = new DataView(payload.buffer); + view.setUint32(0, addr, true); + payload.set(buf, 4); - super(payload); - } + super(payload); + } } export class ReadFileH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 20; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 20; - constructor(addr: number, size: number) { - const payload = new Uint8Array(6); - const view = new DataView(payload.buffer); - view.setUint32(0, addr, true); - view.setUint16(4, size, true); + constructor(addr: number, size: number) { + const payload = new Uint8Array(6); + const view = new DataView(payload.buffer); + view.setUint32(0, addr, true); + view.setUint16(4, size, true); - super(payload); - } + super(payload); + } } - export class LinkFileH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 21; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 21; - constructor(vendor: FileVendor, fileName: string, options: number) { - const str = new TextEncoder().encode(fileName); + constructor(vendor: FileVendor, fileName: string, options: number) { + const str = new TextEncoder().encode(fileName); - let payload = new Uint8Array(26); - payload.set([vendor, options], 0); - payload.set(str.subarray(0, 23), 2); + const payload = new Uint8Array(26); + payload.set([vendor, options], 0); + payload.set(str.subarray(0, 23), 2); - super(payload); - } + super(payload); + } } export class GetDirectoryFileCountH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 22; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 22; - constructor(vendor: FileVendor) { - let payload = new Uint8Array(2); - payload.set([vendor, 0], 0); + constructor(vendor: FileVendor) { + const payload = new Uint8Array(2); + payload.set([vendor, 0], 0); - super(payload); - } + super(payload); + } } export class GetDirectoryEntryH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 23; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 23; - constructor(index: number) { - let payload = new Uint8Array(2); - payload.set([index, 0], 0); + constructor(index: number) { + const payload = new Uint8Array(2); + payload.set([index, 0], 0); - super(payload); - } + super(payload); + } } export class LoadFileActionH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 24; - - constructor(vendor: FileVendor, actionId: FileLoadAction, fileNameOrSlotNumber: SlotNumber | string) { - let fileName; - if (typeof fileNameOrSlotNumber === "string") { - fileName = fileNameOrSlotNumber; - } else { - fileName = "___s_" + (fileNameOrSlotNumber-1) + ".bin"; - } - - let encodedName = (new TextEncoder()).encode(fileName), payload = new Uint8Array(26); - payload.set([vendor, actionId], 0); - payload.set(encodedName.subarray(0, 23), 2); - - super(payload); + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 24; + + constructor( + vendor: FileVendor, + actionId: FileLoadAction, + fileNameOrSlotNumber: SlotNumber | string, + ) { + let fileName; + if (typeof fileNameOrSlotNumber === "string") { + fileName = fileNameOrSlotNumber; + } else { + fileName = "___s_" + (fileNameOrSlotNumber - 1) + ".bin"; } + + const encodedName = new TextEncoder().encode(fileName); + const payload = new Uint8Array(26); + payload.set([vendor, actionId], 0); + payload.set(encodedName.subarray(0, 23), 2); + + super(payload); + } } export class GetFileMetadataH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 25; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 25; - constructor(vendor: FileVendor, fileName: string, options: number) { - let encodedName = new TextEncoder().encode(fileName); + constructor(vendor: FileVendor, fileName: string, options: number) { + const encodedName = new TextEncoder().encode(fileName); - let payload = new Uint8Array(26); - payload.set([vendor, options], 0); - payload.set(encodedName.subarray(0, 23), 2); + const payload = new Uint8Array(26); + payload.set([vendor, options], 0); + payload.set(encodedName.subarray(0, 23), 2); - super(payload); - } + super(payload); + } } -export class SetFileMetadataH2DPacket extends DeviceBoundPacket { // DOES NOT WORK - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 26; +export class SetFileMetadataH2DPacket extends DeviceBoundPacket { + // DOES NOT WORK + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 26; - constructor(vendor: FileVendor, fileName: string, fileInfo: IFileMetadata, options: number) { - let encodedName = new TextEncoder().encode(fileName); - let encodedType = new TextEncoder().encode(fileInfo.type); + constructor( + vendor: FileVendor, + fileName: string, + fileInfo: IFileMetadata, + options: number, + ) { + const encodedName = new TextEncoder().encode(fileName); + const encodedType = new TextEncoder().encode(fileInfo.type); - let payload = new Uint8Array(42); - let view = new DataView(payload.buffer); - view.setUint8(0, vendor); - view.setUint8(1, options); - view.setUint32(2, fileInfo.loadAddress, true); - payload.set(encodedType.subarray(0, 4), 6); - let timestamp = fileInfo.timestamp - PacketEncoder.J2000_EPOCH + 100; // XXX: + 100 TEST ONLY - view.setUint32(10, timestamp, true); - payload.set(fileInfo.version.toUint8Array(), 14); - payload.set(encodedName.subarray(0, 23), 18); + const payload = new Uint8Array(42); + const view = new DataView(payload.buffer); + view.setUint8(0, vendor); + view.setUint8(1, options); + view.setUint32(2, fileInfo.loadAddress, true); + payload.set(encodedType.subarray(0, 4), 6); + const timestamp = fileInfo.timestamp - PacketEncoder.J2000_EPOCH + 100; // XXX: + 100 TEST ONLY + view.setUint32(10, timestamp, true); + payload.set(fileInfo.version.toUint8Array(), 14); + payload.set(encodedName.subarray(0, 23), 18); - super(payload); - } + super(payload); + } } export class EraseFileH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 27; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 27; - constructor(vendor: FileVendor, fileName: string) { - let encodedName = new TextEncoder().encode(fileName); + constructor(vendor: FileVendor, fileName: string) { + const encodedName = new TextEncoder().encode(fileName); - let payload = new Uint8Array(26); - payload.set([vendor, 128], 0); - payload.set(encodedName.subarray(0, 23), 2); + const payload = new Uint8Array(26); + payload.set([vendor, 128], 0); + payload.set(encodedName.subarray(0, 23), 2); - super(payload); - } + super(payload); + } } export class GetProgramSlotInfoH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 28; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 28; - constructor(vendor: FileVendor, fileName: string) { - let encodedName = new TextEncoder().encode(fileName); + constructor(vendor: FileVendor, fileName: string) { + const encodedName = new TextEncoder().encode(fileName); - let payload = new Uint8Array(26); - payload.set([vendor, 0], 0); - payload.set(encodedName.subarray(0, 23), 2); + const payload = new Uint8Array(26); + payload.set([vendor, 0], 0); + payload.set(encodedName.subarray(0, 23), 2); - super(payload); - } + super(payload); + } } export class FileClearUpH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 30; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 30; - constructor(vendor: FileVendor) { - let payload = new Uint8Array(2); - payload.set([vendor, 0], 0); + constructor(vendor: FileVendor) { + const payload = new Uint8Array(2); + payload.set([vendor, 0], 0); - super(payload); - } + super(payload); + } } export class FileFormatH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 31; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 31; - constructor() { - let payload = new Uint8Array(4); - payload.set([68, 67, 66, 65], 0); + constructor() { + const payload = new Uint8Array(4); + payload.set([68, 67, 66, 65], 0); - super(payload); - } + super(payload); + } } export class GetSystemFlagsH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 32; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 32; } export class GetDeviceStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 33; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 33; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class GetSystemStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 34; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 34; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class GetFdtStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 35; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 35; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class GetLogCountH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 36; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 36; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class ReadLogPageH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 37; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 37; - constructor(offset: number, count: number) { - let payload = new Uint8Array(8); - let view = new DataView(payload.buffer); - view.setUint32(0, offset, true); - view.setUint32(4, count, true); + constructor(offset: number, count: number) { + const payload = new Uint8Array(8); + const view = new DataView(payload.buffer); + view.setUint32(0, offset, true); + view.setUint32(4, count, true); - super(payload); - } + super(payload); + } } export class GetRadioStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 38; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 38; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } -export class GetUserDataH2DPacket extends DeviceBoundPacket { // UNCONFIRMED - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 39; +export class GetUserDataH2DPacket extends DeviceBoundPacket { + // UNCONFIRMED + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 39; - constructor(e?: Uint8Array) { - let len = e?.length || 0; - if (len > 244) len = 244; + constructor(e?: Uint8Array) { + let len = e?.length ?? 0; + if (len > 244) len = 244; - let payload = new Uint8Array(2 + len); - payload[0] = 1; - payload[1] = len; - payload.set(e || new Uint8Array(0), 2); + const payload = new Uint8Array(2 + len); + payload[0] = 1; + payload[1] = len; + payload.set(e ?? new Uint8Array(0), 2); - super(payload); - } + super(payload); + } } export class ScreenCaptureH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 40; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 40; - constructor(e: number) { - let payload = new Uint8Array(1); - payload[0] = e; + constructor(e: number) { + const payload = new Uint8Array(1); + payload[0] = e; - super(payload); - } + super(payload); + } } - export class SendDashTouchH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 42; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 42; - constructor(x: number, y: number, press: boolean) { - let payload = new Uint8Array(6); - let view = new DataView(payload.buffer); - view.setUint16(0, x, true); - view.setUint16(2, y, true); - view.setUint16(4, press ? 1 : 0, true); + constructor(x: number, y: number, press: boolean) { + const payload = new Uint8Array(6); + const view = new DataView(payload.buffer); + view.setUint16(0, x, true); + view.setUint16(2, y, true); + view.setUint16(4, press ? 1 : 0, true); - super(payload); - } + super(payload); + } } -export class SelectDashH2DPacket extends DeviceBoundPacket { // UNSURE - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 43; +export class SelectDashH2DPacket extends DeviceBoundPacket { + // UNSURE + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 43; - constructor(screen: number, port: number) { - let payload = new Uint8Array(2); - payload[0] = screen; - payload[1] = port; + constructor(screen: number, port: number) { + const payload = new Uint8Array(2); + payload[0] = screen; + payload[1] = port; - super(payload); - } + super(payload); + } } -export class EnableDashH2DPacket extends DeviceBoundPacket { // UNSURE - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 44; +export class EnableDashH2DPacket extends DeviceBoundPacket { + // UNSURE + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 44; - constructor(unknown1?: number) { - if (unknown1 === undefined) { - super(undefined); - } else { - let payload = new Uint8Array(1); - payload[0] = unknown1; - - super(payload); - } + constructor(unknown1?: number) { + if (unknown1 === undefined) { + super(undefined); + } else { + const payload = new Uint8Array(1); + payload[0] = unknown1; + + super(payload); } + } } -export class DisableDashH2DPacket extends DeviceBoundPacket { // UNSURE - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 45; +export class DisableDashH2DPacket extends DeviceBoundPacket { + // UNSURE + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 45; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } -export class ReadKeyValueH2DPacket extends DeviceBoundPacket { // UNSURE - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 46; +export class ReadKeyValueH2DPacket extends DeviceBoundPacket { + // UNSURE + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 46; - constructor(key: string) { - let payload = new Uint8Array(32); - payload.set(new TextEncoder().encode(key), 0); - - super(payload); - } + constructor(key: string) { + const payload = new Uint8Array(32); + payload.set(new TextEncoder().encode(key), 0); + + super(payload); + } } -export class WriteKeyValueH2DPacket extends DeviceBoundPacket { // UNSURE - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 47; +export class WriteKeyValueH2DPacket extends DeviceBoundPacket { + // UNSURE + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 47; - constructor(key: string, value: string) { - let strk = new TextEncoder().encode(key); - const strv = new TextEncoder().encode(value); + constructor(key: string, value: string) { + let strk = new TextEncoder().encode(key); + const strv = new TextEncoder().encode(value); - if (strk.byteLength > 31) strk = strk.subarray(0, 31); + if (strk.byteLength > 31) strk = strk.subarray(0, 31); - let payload = new Uint8Array(strk.length + strv.length + 20); - payload.set(strk, 0); - payload.set(strv, strk.length + 1); - - super(payload); - } + const payload = new Uint8Array(strk.length + strv.length + 20); + payload.set(strk, 0); + payload.set(strv, strk.length + 1); + + super(payload); + } } export class GetSlot1to4InfoH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 49; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 49; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class GetSlot5to8InfoH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 50; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 50; - constructor() { - super(undefined); - } + constructor() { + super(undefined); + } } export class FactoryStatusH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 241; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 241; } export class FactoryEnableH2DPacket extends DeviceBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 255; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 255; - constructor() { - let payload = new Uint8Array(4); - payload.set([77, 76, 75, 74], 0); + constructor() { + const payload = new Uint8Array(4); + payload.set([77, 76, 75, 74], 0); - super(payload); - } + super(payload); + } } export class HostBoundPacket extends Packet { - ack: AckType = AckType.CDC2_NACK; - payloadSize: number; - ackIndex: number; + ack: AckType = AckType.CDC2_NACK; + payloadSize: number; + ackIndex: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - this.payloadSize = Packet.ENCODER.getPayloadSize(this.data); - const n = this.payloadSize > 128 ? 5 : 4; + this.payloadSize = Packet.ENCODER.getPayloadSize(this.data); + const n = this.payloadSize > 128 ? 5 : 4; - // skip command id check + // skip command id check - this.ack = this.data[this.ackIndex = n + 1]; - } + this.ack = this.data[(this.ackIndex = n + 1)]; + } - static isValidPacket(data: Uint8Array, n: number) { - const ack = data[n + 1]; - return ack === AckType.CDC2_ACK || ack === 167; // XXX: got 167 from MatchStatusReplyD2HPacket - } + static isValidPacket(data: Uint8Array, n: number): boolean { + const ack = data[n + 1]; + return ack === AckType.CDC2_ACK || ack === 167; // XXX: got 167 from MatchStatusReplyD2HPacket + } } export class Query1ReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 33; - static COMMAND_EXTENDED_ID = undefined; - joystickFlag1: number; - joystickFlag2: number; - brainFlag1: number; - brainFlag2: number; - bootloadFlag1: number; - bootloadFlag2: number; - - constructor(data: DataArray) { - super(data); - - this.joystickFlag1 = this.data[4]; - this.joystickFlag2 = this.data[5]; - this.brainFlag1 = this.data[6]; // a.k.a vex version - this.brainFlag2 = this.data[7]; - this.bootloadFlag1 = this.data[10]; - this.bootloadFlag2 = this.data[11]; - } + static COMMAND_ID = 33; + static COMMAND_EXTENDED_ID = undefined; + joystickFlag1: number; + joystickFlag2: number; + brainFlag1: number; + brainFlag2: number; + bootloadFlag1: number; + bootloadFlag2: number; + + constructor(data: DataArray) { + super(data); + + this.joystickFlag1 = this.data[4]; + this.joystickFlag2 = this.data[5]; + this.brainFlag1 = this.data[6]; // a.k.a vex version + this.brainFlag2 = this.data[7]; + this.bootloadFlag1 = this.data[10]; + this.bootloadFlag2 = this.data[11]; + } } export class SystemVersionReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 164; - static COMMAND_EXTENDED_ID = undefined; - version: VexFirmwareVersion; - hardware: number; + static COMMAND_ID = 164; + static COMMAND_EXTENDED_ID = undefined; + version: VexFirmwareVersion; + hardware: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - this.version = new VexFirmwareVersion(this.data[4], this.data[5], this.data[6], this.data[8]); - this.hardware = this.data[7]; - } + this.version = new VexFirmwareVersion( + this.data[4], + this.data[5], + this.data[6], + this.data[8], + ); + this.hardware = this.data[7]; + } } export class MatchModeReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 88; - static COMMAND_EXTENDED_ID = 193; + static COMMAND_ID = 88; + static COMMAND_EXTENDED_ID = 193; - modebit: number; + modebit: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.modebit = dataView.nextUint8(); - } + this.modebit = dataView.nextUint8(); + } } export class MatchStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 88; - static COMMAND_EXTENDED_ID = 194; - - rssi: number; // a.k.a Signal Strength - systemStatusBits: number; - radioStatusBits: number; // a.k.a Data Quality - fieldStatusBits: number; - matchClock: number; - brainBatteryPercent: number; - controllerBatteryPercent: number; - partnerControllerBatteryPercent: number; - pad: number; - buttons: number; - activeProgram: number; - radioType: number; - radioChannel: number; - radioSlot: number; - robotName: string; - controllerFlags: number; - rxSignalQuality: number; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - let n = this.ackIndex; - - this.rssi = dataView.nextInt8(); - this.systemStatusBits = dataView.nextUint16(); - this.radioStatusBits = dataView.nextUint16(); - this.fieldStatusBits = dataView.nextUint8(); - this.matchClock = dataView.nextUint8(); - this.brainBatteryPercent = dataView.nextUint8(); - this.controllerBatteryPercent = dataView.nextUint8(); - this.partnerControllerBatteryPercent = dataView.nextUint8(); - this.pad = dataView.nextUint8(); - this.buttons = dataView.nextUint16(); - this.activeProgram = dataView.nextUint8(); - this.radioType = dataView.nextUint8(); - this.radioChannel = dataView.nextUint8(); - this.radioSlot = dataView.nextUint8(); - this.robotName = dataView.nextNTBS(10); - this.controllerFlags = dataView.getUint8(n + 28); - this.rxSignalQuality = dataView.getUint8(n + 29); - - let rawStr = new TextDecoder("UTF-8").decode(data.slice(n + 18, n + this.payloadSize + 28)); - const endIdx = rawStr.indexOf("\0"); - if (endIdx > -1) { - rawStr = rawStr.substr(0, endIdx); - } - this.robotName = rawStr; - } + static COMMAND_ID = 88; + static COMMAND_EXTENDED_ID = 194; + + rssi: number; // a.k.a Signal Strength + systemStatusBits: number; + radioStatusBits: number; // a.k.a Data Quality + fieldStatusBits: number; + matchClock: number; + brainBatteryPercent: number; + controllerBatteryPercent: number; + partnerControllerBatteryPercent: number; + pad: number; + buttons: number; + activeProgram: number; + radioType: number; + radioChannel: number; + radioSlot: number; + robotName: string; + controllerFlags: number; + rxSignalQuality: number; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + const n = this.ackIndex; + + this.rssi = dataView.nextInt8(); + this.systemStatusBits = dataView.nextUint16(); + this.radioStatusBits = dataView.nextUint16(); + this.fieldStatusBits = dataView.nextUint8(); + this.matchClock = dataView.nextUint8(); + this.brainBatteryPercent = dataView.nextUint8(); + this.controllerBatteryPercent = dataView.nextUint8(); + this.partnerControllerBatteryPercent = dataView.nextUint8(); + this.pad = dataView.nextUint8(); + this.buttons = dataView.nextUint16(); + this.activeProgram = dataView.nextUint8(); + this.radioType = dataView.nextUint8(); + this.radioChannel = dataView.nextUint8(); + this.radioSlot = dataView.nextUint8(); + this.robotName = dataView.nextNTBS(10); + this.controllerFlags = dataView.getUint8(n + 28); + this.rxSignalQuality = dataView.getUint8(n + 29); + + let rawStr = new TextDecoder("UTF-8").decode( + data.slice(n + 18, n + this.payloadSize + 28), + ); + const endIdx = rawStr.indexOf("\0"); + if (endIdx > -1) { + rawStr = rawStr.substr(0, endIdx); + } + this.robotName = rawStr; + } } export class FileControlReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 16; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 16; } export class InitFileTransferReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 17; - windowSize: number; - fileSize: number; - crc32: number; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 17; + windowSize: number; + fileSize: number; + crc32: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.windowSize = dataView.nextUint16(); - this.fileSize = dataView.nextUint32(); - this.crc32 = dataView.nextUint32(); - } + this.windowSize = dataView.nextUint16(); + this.fileSize = dataView.nextUint32(); + this.crc32 = dataView.nextUint32(); + } } export class ExitFileTransferReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 18; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 18; } export class WriteFileReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 19; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 19; } export class ReadFileReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 20; - addr: number; - length: number; - buf: ArrayBuffer; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 20; + addr: number; + length: number; + buf: ArrayBuffer; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); - let n = this.ackIndex; + const dataView = PacketView.fromPacket(this); + const n = this.ackIndex; - this.addr = dataView.getUint32(n, true); - this.length = this.payloadSize - 7; - this.buf = data.slice(n + 4, n + 4 + this.length); - } + this.addr = dataView.getUint32(n, true); + this.length = this.payloadSize - 7; + this.buf = data.slice(n + 4, n + 4 + this.length); + } - static isValidPacket(data: Uint8Array, n: number) { - return data[4] === 4 ? data[n + 1] === AckType.CDC2_ACK : true; - } + static isValidPacket(data: Uint8Array, n: number): boolean { + return data[4] === 4 ? data[n + 1] === AckType.CDC2_ACK : true; + } } export class LinkFileReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 21; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 21; } export class GetDirectoryFileCountReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 22; - count: number; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 22; + count: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.count = dataView.nextUint16(); - } + this.count = dataView.nextUint16(); + } } export class GetDirectoryEntryReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 23; - - file?: IFileEntry; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 23; - constructor(data: DataArray) { - super(data); + file?: IFileEntry; - const dataView = PacketView.fromPacket(this); + constructor(data: DataArray) { + super(data); - if (this.payloadSize > 4) { - this.file = { - index: dataView.nextUint8(), - size: dataView.nextUint32(), - loadAddress: dataView.nextUint32(), - crc32: dataView.nextUint32(), - type: dataView.nextString(4), - timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH, - version: dataView.nextVersion(), - filename: dataView.nextNTBS(32) - }; - } + const dataView = PacketView.fromPacket(this); + if (this.payloadSize > 4) { + this.file = { + index: dataView.nextUint8(), + size: dataView.nextUint32(), + loadAddress: dataView.nextUint32(), + crc32: dataView.nextUint32(), + type: dataView.nextString(4), + timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH, + version: dataView.nextVersion(), + filename: dataView.nextNTBS(32), + }; } + } } export class LoadFileActionReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 24; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 24; } export class GetFileMetadataReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 25; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 25; - file?: IFileMetadata; + file?: IFileMetadata; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); - dataView.nextUint8(); - - if (this.payloadSize > 4) { - this.file = { - size: dataView.nextUint32(), - loadAddress: dataView.nextUint32(), - crc32: dataView.nextUint32(), - type: dataView.nextString(4), - timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH, - version: dataView.nextVersion() - }; - } + const dataView = PacketView.fromPacket(this); + dataView.nextUint8(); + if (this.payloadSize > 4) { + this.file = { + size: dataView.nextUint32(), + loadAddress: dataView.nextUint32(), + crc32: dataView.nextUint32(), + type: dataView.nextString(4), + timestamp: dataView.nextUint32() + PacketEncoder.J2000_EPOCH, + version: dataView.nextVersion(), + }; } + } } export class SetFileMetadataReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 26; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 26; } export class EraseFileReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 27; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 27; } export class GetProgramSlotInfoReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 28; - requestedSlot: number; - slot: number; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 28; + requestedSlot: number; + slot: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.slot = dataView.nextUint8(); - this.requestedSlot = dataView.nextUint8(); - } + this.slot = dataView.nextUint8(); + this.requestedSlot = dataView.nextUint8(); + } } export class FileClearUpReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 30; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 30; } export class FileFormatReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 31; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 31; } export class GetSystemFlagsReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 32; - flags: number; - radioSearching: boolean; - radioQuality?: number; - controllerBatteryPercent?: number; - partnerControllerBatteryPercent?: number; - battery?: number; - currentProgram: number; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - - this.radioSearching = false; - this.currentProgram = 0; - - this.flags = dataView.nextUint32(); - let hasPartner = (8192 & this.flags) !== 0; - let hasRadio = (1536 & this.flags) === 1536; - - let byte1 = dataView.nextUint8(), byte2 = dataView.nextUint8(); - - if (this.payloadSize === 11) { - this.battery = 8 * (byte1 & 0x0F); - if ((this.flags & 0x100) !== 0 || hasRadio) - this.controllerBatteryPercent = 8 * ((byte1 >> 4) & 0x0F); - if (hasRadio) - this.radioQuality = 8 * (byte2 & 0x0F); - this.radioSearching = (this.flags & 0x600) === 0x200; - if (hasPartner) - this.partnerControllerBatteryPercent = 8 * ((byte2 >> 4) & 0x0F); - this.currentProgram = dataView.nextUint8(); - - if (this.battery && this.battery > 100) - this.battery = 100; - if (this.controllerBatteryPercent && this.controllerBatteryPercent > 100) - this.controllerBatteryPercent = 100; - if (this.radioQuality && this.radioQuality > 100) - this.radioQuality = 100; - if (this.partnerControllerBatteryPercent && this.partnerControllerBatteryPercent > 100) - this.partnerControllerBatteryPercent = 100; - } - - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 32; + flags: number; + radioSearching: boolean; + radioQuality?: number; + controllerBatteryPercent?: number; + partnerControllerBatteryPercent?: number; + battery?: number; + currentProgram: number; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + + this.radioSearching = false; + this.currentProgram = 0; + + this.flags = dataView.nextUint32(); + const hasPartner = (8192 & this.flags) !== 0; + const hasRadio = (1536 & this.flags) === 1536; + + const byte1 = dataView.nextUint8(); + const byte2 = dataView.nextUint8(); + + if (this.payloadSize === 11) { + this.battery = 8 * (byte1 & 0x0f); + if ((this.flags & 0x100) !== 0 || hasRadio) + this.controllerBatteryPercent = 8 * ((byte1 >> 4) & 0x0f); + if (hasRadio) this.radioQuality = 8 * (byte2 & 0x0f); + this.radioSearching = (this.flags & 0x600) === 0x200; + if (hasPartner) + this.partnerControllerBatteryPercent = 8 * ((byte2 >> 4) & 0x0f); + this.currentProgram = dataView.nextUint8(); + + if (this.battery != null && this.battery > 100) this.battery = 100; + if ( + this.controllerBatteryPercent != null && + this.controllerBatteryPercent > 100 + ) + this.controllerBatteryPercent = 100; + if (this.radioQuality != null && this.radioQuality > 100) + this.radioQuality = 100; + if ( + this.partnerControllerBatteryPercent != null && + this.partnerControllerBatteryPercent > 100 + ) + this.partnerControllerBatteryPercent = 100; + } + } } export class GetDeviceStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 33; - count: number; - devices: ISmartDeviceInfo[]; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - - this.count = dataView.nextUint8(); - this.devices = []; - for (let i = 0; i < this.count; i++) { - this.devices.push({ - port: dataView.nextUint8(), - type: dataView.nextUint8(), - status: dataView.nextUint8(), - betaversion: dataView.nextUint8(), - version: dataView.nextUint16(), - bootversion: dataView.nextUint16() - }) - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 33; + count: number; + devices: ISmartDeviceInfo[]; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + + this.count = dataView.nextUint8(); + this.devices = []; + for (let i = 0; i < this.count; i++) { + this.devices.push({ + port: dataView.nextUint8(), + type: dataView.nextUint8(), + status: dataView.nextUint8(), + betaversion: dataView.nextUint8(), + version: dataView.nextUint16(), + bootversion: dataView.nextUint16(), + }); } + } } export class GetSystemStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 34; - - systemVersion: VexFirmwareVersion; - cpu0Version: VexFirmwareVersion; - cpu1Version: VexFirmwareVersion; - nxpVersion: VexFirmwareVersion; - touchVersion: VexFirmwareVersion; - uniqueId: number; - sysflags: number[]; - eventBrain: boolean; - romBootloaderActive: boolean; - ramBootloaderActive: boolean; - goldenVersion: VexFirmwareVersion; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - - dataView.nextUint8(); - - this.systemVersion = dataView.nextVersion(); - this.cpu0Version = dataView.nextVersion(); - this.cpu1Version = dataView.nextVersion(); - this.touchVersion = dataView.nextVersion(true); - - this.uniqueId = 1234; - this.sysflags = [0, 0, 0, 0, 0, 0, 0]; - this.goldenVersion = VexFirmwareVersion.allZero(); - this.nxpVersion = VexFirmwareVersion.allZero(); - this.eventBrain = false; - this.romBootloaderActive = false; - this.ramBootloaderActive = false; - - if (this.payloadSize > 25) { - this.uniqueId = dataView.nextUint32(); - this.sysflags = [ - dataView.nextUint8(), - dataView.nextUint8(), - dataView.nextUint8(), - dataView.nextUint8(), - dataView.nextUint8(), - 0, - dataView.nextUint8() - ]; - this.eventBrain = (1 & this.sysflags[6]) !== 0; - this.romBootloaderActive = (2 & this.sysflags[6]) !== 0; - this.ramBootloaderActive = (4 & this.sysflags[6]) !== 0; - - dataView.nextUint16(); - - this.goldenVersion = dataView.nextVersion(); - } - - if (this.payloadSize > 37) { - this.nxpVersion = dataView.nextVersion(); - } - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 34; + + systemVersion: VexFirmwareVersion; + cpu0Version: VexFirmwareVersion; + cpu1Version: VexFirmwareVersion; + nxpVersion: VexFirmwareVersion; + touchVersion: VexFirmwareVersion; + uniqueId: number; + sysflags: number[]; + eventBrain: boolean; + romBootloaderActive: boolean; + ramBootloaderActive: boolean; + goldenVersion: VexFirmwareVersion; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + + dataView.nextUint8(); + + this.systemVersion = dataView.nextVersion(); + this.cpu0Version = dataView.nextVersion(); + this.cpu1Version = dataView.nextVersion(); + this.touchVersion = dataView.nextVersion(true); + + this.uniqueId = 1234; + this.sysflags = [0, 0, 0, 0, 0, 0, 0]; + this.goldenVersion = VexFirmwareVersion.allZero(); + this.nxpVersion = VexFirmwareVersion.allZero(); + this.eventBrain = false; + this.romBootloaderActive = false; + this.ramBootloaderActive = false; + + if (this.payloadSize > 25) { + this.uniqueId = dataView.nextUint32(); + this.sysflags = [ + dataView.nextUint8(), + dataView.nextUint8(), + dataView.nextUint8(), + dataView.nextUint8(), + dataView.nextUint8(), + 0, + dataView.nextUint8(), + ]; + this.eventBrain = (1 & this.sysflags[6]) !== 0; + this.romBootloaderActive = (2 & this.sysflags[6]) !== 0; + this.ramBootloaderActive = (4 & this.sysflags[6]) !== 0; + + dataView.nextUint16(); + + this.goldenVersion = dataView.nextVersion(); + } + + if (this.payloadSize > 37) { + this.nxpVersion = dataView.nextVersion(); + } + } } export class GetFdtStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 35; - count: number; - status: any[]; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - - this.count = dataView.nextUint8(); - this.status = []; - for (let i = 0; i < this.count; i++) { - this.status.push({ - index: dataView.nextUint8(), - type: dataView.nextUint8(), - status: dataView.nextUint8(), - betaversion: dataView.nextUint8(), - version: dataView.nextUint16(), - bootversion: dataView.nextUint16() - }) - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 35; + count: number; + status: unknown[]; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + this.count = dataView.nextUint8(); + this.status = []; + for (let i = 0; i < this.count; i++) { + this.status.push({ + index: dataView.nextUint8(), + type: dataView.nextUint8(), + status: dataView.nextUint8(), + betaversion: dataView.nextUint8(), + version: dataView.nextUint16(), + bootversion: dataView.nextUint16(), + }); } + } } export class GetLogCountReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 36; - count: number; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 36; + count: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - dataView.nextUint8(); + dataView.nextUint8(); - this.count = dataView.nextUint32(); - } + this.count = dataView.nextUint32(); + } } export class ReadLogPageReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 37; - offset: number; - count: number; - entries: any[]; - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - let n = this.ackIndex; - - let size = dataView.nextUint8(); - this.offset = dataView.nextUint32(); - this.count = dataView.nextUint16(); - this.entries = []; - - let j = n + 8; - for (let i = 0; i < this.count; i++) { - this.entries.push({ - code: dataView.getUint8(j), - type: dataView.getUint8(j + 1), - desc: dataView.getUint8(j + 2), - spare: dataView.getUint8(j + 3), - time: dataView.getUint32(j + 4, true) - }); - j += size; - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 37; + offset: number; + count: number; + entries: unknown[]; + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + const n = this.ackIndex; + + const size = dataView.nextUint8(); + this.offset = dataView.nextUint32(); + this.count = dataView.nextUint16(); + this.entries = []; + + let j = n + 8; + for (let i = 0; i < this.count; i++) { + this.entries.push({ + code: dataView.getUint8(j), + type: dataView.getUint8(j + 1), + desc: dataView.getUint8(j + 2), + spare: dataView.getUint8(j + 3), + time: dataView.getUint32(j + 4, true), + }); + j += size; } + } } export class GetRadioStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 38; - device: number; // unsure - quality: number; - strength: number; - channel: number; - timeslot: number; // time delay? - - constructor(data: DataArray) { - super(data); - - const dataView = PacketView.fromPacket(this); - let n = this.ackIndex; - - this.device = dataView.nextUint8(); - this.quality = dataView.nextUint16(); - this.strength = dataView.nextInt16(); - this.channel = this.data[n + 6]; - this.timeslot = this.data[n + 7]; - } + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 38; + device: number; // unsure + quality: number; + strength: number; + channel: number; + timeslot: number; // time delay? + + constructor(data: DataArray) { + super(data); + + const dataView = PacketView.fromPacket(this); + const n = this.ackIndex; + + this.device = dataView.nextUint8(); + this.quality = dataView.nextUint16(); + this.strength = dataView.nextInt16(); + this.channel = this.data[n + 6]; + this.timeslot = this.data[n + 7]; + } } export class GetUserDataReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 39; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 39; } export class ScreenCaptureReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 40; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 40; } // export class UserProgramControlReplyD2HPacket extends HostBoundPacket { @@ -1268,103 +1325,103 @@ export class ScreenCaptureReplyD2HPacket extends HostBoundPacket { // } export class SendDashTouchReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 42; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 42; } export class SelectDashReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 43; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 43; } export class EnableDeshReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 44; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 44; } export class DisableDeshReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 45; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 45; } export class ReadKeyValueReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 46; - value: string; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 46; + value: string; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.value = dataView.nextVarNTBS(255); - } + this.value = dataView.nextVarNTBS(255); + } } export class WriteKeyValueReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 47; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 47; } export class GetSlot1to4InfoReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 49; - slotFlags: number; - slots: any[]; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 49; + slotFlags: number; + slots: unknown[]; - constructor(data: DataArray, start: number = 1) { - super(data); + constructor(data: DataArray, start: number = 1) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.slotFlags = dataView.nextUint8(); - this.slots = []; + this.slotFlags = dataView.nextUint8(); + this.slots = []; - for (let i = 0; i < 4; i++) { - let hasData = (this.slotFlags & Math.pow(2, start - 1 + i)) !== 0; + for (let i = 0; i < 4; i++) { + const hasData = (this.slotFlags & Math.pow(2, start - 1 + i)) !== 0; - if (!hasData) continue; + if (!hasData) continue; - let iconNum = dataView.nextUint16(); - let nameLen = dataView.nextUint8(); - let name = dataView.nextString(nameLen); + const iconNum = dataView.nextUint16(); + const nameLen = dataView.nextUint8(); + const name = dataView.nextString(nameLen); - this.slots.push({ - slot: start + i, - icon: iconNum, - name: name, - }); - } + this.slots.push({ + slot: start + i, + icon: iconNum, + name, + }); } + } } export class GetSlot5to8InfoReplyD2HPacket extends GetSlot1to4InfoReplyD2HPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 50; - slotStartIndex = 5; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 50; + slotStartIndex = 5; - constructor(data: DataArray) { - super(data, 5); - } + constructor(data: DataArray) { + super(data, 5); + } } export class FactoryStatusReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 241; - status: number; - percent: number; + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 241; + status: number; + percent: number; - constructor(data: DataArray) { - super(data); + constructor(data: DataArray) { + super(data); - const dataView = PacketView.fromPacket(this); + const dataView = PacketView.fromPacket(this); - this.status = dataView.nextUint8(); - this.percent = dataView.nextUint8(); - } + this.status = dataView.nextUint8(); + this.percent = dataView.nextUint8(); + } } export class FactoryEnableReplyD2HPacket extends HostBoundPacket { - static COMMAND_ID = 86; - static COMMAND_EXTENDED_ID = 255; -} \ No newline at end of file + static COMMAND_ID = 86; + static COMMAND_EXTENDED_ID = 255; +} diff --git a/src/VexPacketView.ts b/src/VexPacketView.ts index 0a4fedb..171deb6 100644 --- a/src/VexPacketView.ts +++ b/src/VexPacketView.ts @@ -1,91 +1,101 @@ import { VexFirmwareVersion } from "./VexFirmwareVersion"; -import { HostBoundPacket } from "./VexPacket"; +import { type HostBoundPacket } from "./VexPacket"; export class PacketView extends DataView { - position = 0; - littleEndianDefault = true; + position = 0; + littleEndianDefault = true; - constructor(buffer: ArrayBuffer, offset: number = 0, length: number = buffer.byteLength - offset) { - super(buffer, offset, length); - } + constructor( + buffer: ArrayBuffer, + offset: number = 0, + length: number = buffer.byteLength - offset, + ) { + super(buffer, offset, length); + } - static fromPacket(packet: HostBoundPacket): PacketView { - let view = new PacketView(packet.data.buffer, packet.data.byteOffset) - view.position = packet.ackIndex + 1; - return view; - } + static fromPacket(packet: HostBoundPacket): PacketView { + const view = new PacketView(packet.data.buffer, packet.data.byteOffset); + view.position = packet.ackIndex + 1; + return view; + } - nextInt8(): number { - let result = this.getInt8(this.position); - this.position += 1; - return result; - } + nextInt8(): number { + const result = this.getInt8(this.position); + this.position += 1; + return result; + } - nextUint8(): number { - let result = this.getUint8(this.position); - this.position += 1; - return result; - } + nextUint8(): number { + const result = this.getUint8(this.position); + this.position += 1; + return result; + } - nextInt16(littleEndian = this.littleEndianDefault): number { - let result = this.getInt16(this.position, littleEndian); - this.position += 2; - return result; - } + nextInt16(littleEndian = this.littleEndianDefault): number { + const result = this.getInt16(this.position, littleEndian); + this.position += 2; + return result; + } - nextUint16(littleEndian = this.littleEndianDefault): number { - let result = this.getUint16(this.position, littleEndian); - this.position += 2; - return result; - } + nextUint16(littleEndian = this.littleEndianDefault): number { + const result = this.getUint16(this.position, littleEndian); + this.position += 2; + return result; + } - nextInt32(littleEndian = this.littleEndianDefault): number { - let result = this.getInt32(this.position, littleEndian); - this.position += 4; - return result; - } + nextInt32(littleEndian = this.littleEndianDefault): number { + const result = this.getInt32(this.position, littleEndian); + this.position += 4; + return result; + } - nextUint32(littleEndian = this.littleEndianDefault): number { - let result = this.getUint32(this.position, littleEndian); - this.position += 4; - return result; - } + nextUint32(littleEndian = this.littleEndianDefault): number { + const result = this.getUint32(this.position, littleEndian); + this.position += 4; + return result; + } - nextString(length: number): string { - let result = ""; - for (let i = 0; i < length; i++) { - result += String.fromCharCode(this.nextUint8()); - } - return result; + nextString(length: number): string { + let result = ""; + for (let i = 0; i < length; i++) { + result += String.fromCharCode(this.nextUint8()); } + return result; + } - nextNTBS(length: number): string { // this length is different from the document - let result = ""; - let lastPosition = this.position; - for (let i = 0; i < length; i++) { - if (this.byteLength <= this.position) break; - let g = this.nextUint8(); - if (g === 0) break; - result += String.fromCharCode(g); - } - this.position = lastPosition + length; - return result; + nextNTBS(length: number): string { + // this length is different from the document + let result = ""; + const lastPosition = this.position; + for (let i = 0; i < length; i++) { + if (this.byteLength <= this.position) break; + const g = this.nextUint8(); + if (g === 0) break; + result += String.fromCharCode(g); } + this.position = lastPosition + length; + return result; + } - nextVarNTBS(length: number): string { // this length is different from the document - let result = ""; - for (let i = 0; i < length; i++) { - if (this.byteLength <= this.position) break; - let g = this.nextUint8(); - if (g === 0) break; - result += String.fromCharCode(g); - } - return result; + nextVarNTBS(length: number): string { + // this length is different from the document + let result = ""; + for (let i = 0; i < length; i++) { + if (this.byteLength <= this.position) break; + const g = this.nextUint8(); + if (g === 0) break; + result += String.fromCharCode(g); } + return result; + } - nextVersion(reverse = false): VexFirmwareVersion { - let result = VexFirmwareVersion.fromUint8Array(new Uint8Array(this.buffer), this.position, reverse); - this.position += 4; - return result; - } -} \ No newline at end of file + nextVersion(reverse = false): VexFirmwareVersion { + const result = VexFirmwareVersion.fromUint8Array( + new Uint8Array(this.buffer), + this.position, + reverse, + ); + this.position += 4; + return result; + } +} diff --git a/src/index.ts b/src/index.ts index 7e3f8ea..66c1fc7 100644 --- a/src/index.ts +++ b/src/index.ts @@ -1,9 +1,9 @@ -export * from './Vex'; -export * from './VexConnection'; -export * from './VexCRC'; -export * from './VexDevice'; -export * from './VexEvent'; -export * from './VexFirmwareVersion'; -export * from './VexIniConfig'; -export * from './VexPacket'; -export * from './VexPacketView'; \ No newline at end of file +export * from "./Vex"; +export * from "./VexConnection"; +export * from "./VexCRC"; +export * from "./VexDevice"; +export * from "./VexEvent"; +export * from "./VexFirmwareVersion"; +export * from "./VexIniConfig"; +export * from "./VexPacket"; +export * from "./VexPacketView"; diff --git a/test/VexCRC.spec.ts b/test/VexCRC.spec.ts index 600046a..b9cf4c5 100644 --- a/test/VexCRC.spec.ts +++ b/test/VexCRC.spec.ts @@ -1,26 +1,25 @@ -import crc16ccitt from 'crc/calculators/crc16ccitt'; -import { CrcGenerator } from '../src'; - +import crc16ccitt from "crc/calculators/crc16ccitt"; +import { CrcGenerator } from "../src"; function getRandomInt(max: number) { - return Math.floor(Math.random() * max); + return Math.floor(Math.random() * max); } function getRandomUInt8Array(size: number) { - let rtn: number[] = []; - for (let i = 0; i < size; i++) { - rtn.push(getRandomInt(256)); - } - return new Uint8Array(rtn); + let rtn: number[] = []; + for (let i = 0; i < size; i++) { + rtn.push(getRandomInt(256)); + } + return new Uint8Array(rtn); } const crcgen = new CrcGenerator(); test("CRC 16 ccitt", async () => { - for (let i = 10; i < 100; i++) { - let test = getRandomUInt8Array(i); - if (crc16ccitt(test, 0) !== crcgen.crc16(test, 0)) { - fail(); - } + for (let i = 10; i < 100; i++) { + let test = getRandomUInt8Array(i); + if (crc16ccitt(test, 0) !== crcgen.crc16(test, 0)) { + fail(); } -}); \ No newline at end of file + } +}); diff --git a/test/VexEvent.spec.ts b/test/VexEvent.spec.ts index 3d9ae48..9780ddb 100644 --- a/test/VexEvent.spec.ts +++ b/test/VexEvent.spec.ts @@ -1,44 +1,43 @@ import { VexEventTarget } from "../src"; function getRandomInt(max: number) { - return Math.floor(Math.random() * max); + return Math.floor(Math.random() * max); } test("VexEventEmitter and VexEventTarget", async () => { - let target = new VexEventTarget(); + let target = new VexEventTarget(); - let fn1 = jest.fn(); - let fn2 = jest.fn(); + let fn1 = jest.fn(); + let fn2 = jest.fn(); - target.remove("test1", fn1); + target.remove("test1", fn1); - target.emit("test1", undefined); + target.emit("test1", undefined); + target.on("test", fn1); - target.on("test", fn1); + let r1 = getRandomInt(10) + 10; + for (let i = 0; i < r1; i++) target.emit("test", undefined); - let r1 = getRandomInt(10) + 10; - for (let i = 0; i < r1; i++) target.emit("test", undefined); + target.on("test", fn2); - target.on("test", fn2); + let r2 = getRandomInt(10) + 10; + for (let i = 0; i < r2; i++) target.emit("test", undefined); - let r2 = getRandomInt(10) + 10; - for (let i = 0; i < r2; i++) target.emit("test", undefined); + expect(fn1).toBeCalledTimes(r1 + r2); + expect(fn2).toBeCalledTimes(r2); - expect(fn1).toBeCalledTimes(r1 + r2); - expect(fn2).toBeCalledTimes(r2); + target.remove("test", fn1); - target.remove("test", fn1); + target.emit("test", undefined); - target.emit("test", undefined); + expect(fn1).toBeCalledTimes(r1 + r2); + expect(fn2).toBeCalledTimes(r2 + 1); - expect(fn1).toBeCalledTimes(r1 + r2); - expect(fn2).toBeCalledTimes(r2 + 1); + target.clearListeners(); - target.clearListeners(); + target.emit("test", undefined); - target.emit("test", undefined); - - expect(fn1).toBeCalledTimes(r1 + r2); - expect(fn2).toBeCalledTimes(r2 + 1); -}); \ No newline at end of file + expect(fn1).toBeCalledTimes(r1 + r2); + expect(fn2).toBeCalledTimes(r2 + 1); +}); diff --git a/test/VexFirmwareVersion.spec.ts b/test/VexFirmwareVersion.spec.ts index 49ab1de..cfd4042 100644 --- a/test/VexFirmwareVersion.spec.ts +++ b/test/VexFirmwareVersion.spec.ts @@ -1,40 +1,55 @@ import { VexFirmwareVersion } from "../src"; function getRandomInt(max: number) { - return Math.floor(Math.random() * max); + return Math.floor(Math.random() * max); } test("Constructor, fromString, fromCatalogString and Uint8 related methods", async () => { - for (let i = 0; i < 1000; i++) { - let a = getRandomInt(256), b = getRandomInt(256), c = getRandomInt(256), d = getRandomInt(256); + for (let i = 0; i < 1000; i++) { + let a = getRandomInt(256), + b = getRandomInt(256), + c = getRandomInt(256), + d = getRandomInt(256); - let subject = new VexFirmwareVersion(a, b, c, d); - let str = `${a}.${b}.${c}.b${d}`; + let subject = new VexFirmwareVersion(a, b, c, d); + let str = `${a}.${b}.${c}.b${d}`; - expect(subject.toInternalString()).toBe(str); - expect(VexFirmwareVersion.fromString(str)).toEqual(subject); - expect(VexFirmwareVersion.fromCatalogString(`${a}_${b}_${c}_b${d}`)).toEqual(subject); - expect(VexFirmwareVersion.fromUint8Array(subject.toUint8Array(false)).toInternalString()).toBe(str); - expect(VexFirmwareVersion.fromUint8Array(subject.toUint8Array(true), 0, true).toInternalString()).toBe(str); - subject.beta = 0; - expect(VexFirmwareVersion.fromString(`${a}.${b}.${c}`)).toEqual(subject); - } + expect(subject.toInternalString()).toBe(str); + expect(VexFirmwareVersion.fromString(str)).toEqual(subject); + expect( + VexFirmwareVersion.fromCatalogString(`${a}_${b}_${c}_b${d}`), + ).toEqual(subject); + expect( + VexFirmwareVersion.fromUint8Array( + subject.toUint8Array(false), + ).toInternalString(), + ).toBe(str); + expect( + VexFirmwareVersion.fromUint8Array( + subject.toUint8Array(true), + 0, + true, + ).toInternalString(), + ).toBe(str); + subject.beta = 0; + expect(VexFirmwareVersion.fromString(`${a}.${b}.${c}`)).toEqual(subject); + } }); test("Compare", async () => { - let base = new VexFirmwareVersion(1, 2, 3, 4); - expect(base.compare(base)).toBe(0); - expect(new VexFirmwareVersion(1, 2, 3, 5).compare(base)).toBe(1); - expect(new VexFirmwareVersion(1, 2, 4, 5).compare(base)).toBe(1); - expect(new VexFirmwareVersion(1, 3, 4, 5).compare(base)).toBe(1); - expect(new VexFirmwareVersion(2, 3, 4, 5).compare(base)).toBe(1); + let base = new VexFirmwareVersion(1, 2, 3, 4); + expect(base.compare(base)).toBe(0); + expect(new VexFirmwareVersion(1, 2, 3, 5).compare(base)).toBe(1); + expect(new VexFirmwareVersion(1, 2, 4, 5).compare(base)).toBe(1); + expect(new VexFirmwareVersion(1, 3, 4, 5).compare(base)).toBe(1); + expect(new VexFirmwareVersion(2, 3, 4, 5).compare(base)).toBe(1); }); test("Is beta", async () => { - expect(VexFirmwareVersion.allZero().isBeta()).toBeFalsy(); - expect(new VexFirmwareVersion(0, 0, 0, 1).isBeta()).toBeTruthy(); + expect(VexFirmwareVersion.allZero().isBeta()).toBeFalsy(); + expect(new VexFirmwareVersion(0, 0, 0, 1).isBeta()).toBeTruthy(); }); test("All zero", async () => { - expect(VexFirmwareVersion.allZero().toInternalString()).toBe("0.0.0.b0"); + expect(VexFirmwareVersion.allZero().toInternalString()).toBe("0.0.0.b0"); }); diff --git a/tsconfig.json b/tsconfig.json index 80ecbac..240d90c 100644 --- a/tsconfig.json +++ b/tsconfig.json @@ -1,44 +1,30 @@ { - "compilerOptions": { - "outDir": "dts", - "rootDir": "src", - "declaration": true, // enabling declaration (.d.ts) emit - // - "allowSyntheticDefaultImports": true, - "experimentalDecorators": true, - // - "isolatedModules": true, - "module": "es2020", - // - "noImplicitAny": true, - "noImplicitThis": true, - "noUnusedLocals": false, - "noUnusedParameters": true, - "removeComments": false, - "preserveConstEnums": true, - // - "moduleResolution": "node", - "emitDecoratorMetadata": true, - "esModuleInterop": true, - "sourceMap": true, - "target": "es6", - "strictNullChecks": true, - "lib": [ - "es5", - "es2015", - "es2016", - "es2017", - "es2020", - "dom" - ] - }, - "include": [ - "src/**/*" - ], - "exclude": [ - "node_modules", - "dist", - "examples", - "**/*.spec.ts" - ] -} \ No newline at end of file + "compilerOptions": { + "outDir": "dts", + "rootDir": "src", + "declaration": true, // enabling declaration (.d.ts) emit + // + "allowSyntheticDefaultImports": true, + "experimentalDecorators": true, + // + "isolatedModules": true, + "module": "es2020", + // + "noImplicitAny": true, + "noImplicitThis": true, + "noUnusedLocals": false, + "noUnusedParameters": true, + "removeComments": false, + "preserveConstEnums": true, + // + "moduleResolution": "node", + "emitDecoratorMetadata": true, + "esModuleInterop": true, + "sourceMap": true, + "target": "es6", + "strictNullChecks": true, + "lib": ["es5", "es2015", "es2016", "es2017", "es2020", "dom"] + }, + "include": ["src/**/*"], + "exclude": ["node_modules", "dist", "examples", "**/*.spec.ts"] +}