Add brushless to server

nornagon · Sep 3, 2023 · f061831 · f061831
1 parent abd1dec
commit f061831
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Showing 5 changed files with 30 additions and 16 deletions.
diff --git a/src/__tests__/ebb.test.ts b/src/__tests__/ebb.test.ts
@@ -29,15 +29,15 @@ describe("EBB", () => {
 
   it("firmware version", async () => {
     const port = await openTestPort();
-    const ebb = new EBB(port);
+    const ebb = new EBB(port, 'Axidraw');
     (port as any)._port.binding.emitData(Buffer.from('aoeu\r\n'));
     expect(await ebb.firmwareVersion()).toEqual('aoeu');
     expect((port as any)._port.binding.recording).toEqual(Buffer.from("V\r"));
   })
 
   it("enable motors", async () => {
     const port = await openTestPort();
-    const ebb = new EBB(port);
+    const ebb = new EBB(port, 'Axidraw');
     const oldWrite = (port as any)._port.write;
     (port as any)._port.write = (data: string | Buffer | number[], ...args: any[]) => {
       if (data.toString() === 'V\r')

diff --git a/src/cli.ts b/src/cli.ts
@@ -42,10 +42,15 @@ export function cli(argv: string[]): void {
         .option("firmware-version", {
           describe: "print the device's firmware version and exit",
           type: "boolean"
+        })
+        .option("hardware", {
+          describe: "select hardware type",
+          default: "Axidraw",
+          type: "string",
         }),
       args => {
         if (args["firmware-version"]) {
-          connectEBB(args.device).then(async (ebb) => {
+          connectEBB(args.device, args["hardware"]).then(async (ebb) => {
             if (!ebb) {
               console.error(`No EBB connected`);
               return process.exit(1);
@@ -55,7 +60,7 @@ export function cli(argv: string[]): void {
             await ebb.close();
           });
         } else {
-          startServer(args.port, args.device, args["enable-cors"], args["max-payload-size"]);
+          startServer(args.port, args.device, args["enable-cors"], args["max-payload-size"], args["hardware"].toLowerCase());
         }
       }
     )

diff --git a/src/ebb.ts b/src/ebb.ts
@@ -22,9 +22,15 @@ export class EBB {
 
   private cachedFirmwareVersion: [number, number, number] | undefined = undefined;
 
-  private brushless = false;  // brushless pen servo
-
-  public constructor(port: SerialPort) {
+  public brushless = false;  // brushless pen servo
+
+  public constructor(port: SerialPort, hardware: string) {
+    console.log(">>>");
+    console.log(hardware);
+    switch (hardware) {
+      case "axidraw": this.brushless = false; break
+      case "axidrawbrushless": this.brushless = true; console.log("brushless"); break
+    }
     this.port = port;
     this.writer = this.port.writable.getWriter()
     this.commandQueue = [];
@@ -157,6 +163,7 @@ export class EBB {
     await this.command(`SR,${(timeout * 1000) | 0}${power != null ? `,${power ? 1 : 0}` : ''}`)
   }
 
+
   public setPenHeight(height: number, rate: number, delay = 0): Promise<void> {
     const pin = this.brushless ? 5 : 4;
     return this.command(`S2,${height},${pin},${rate},${delay}`);

diff --git a/src/server.ts b/src/server.ts
@@ -11,9 +11,10 @@ import { EBB } from "./ebb";
 import { Axidraw, PenMotion, Motion, Plan } from "./planning";
 import { formatDuration } from "./util";
 
-export function startServer(port: number, device: string | null = null, enableCors = false, maxPayloadSize = "200mb") {
-  const app = express();
+export function startServer(port: number, device: string | null = null, enableCors = false,
+  maxPayloadSize = "200mb", hardware: string) {
 
+  const app = express();
   app.use("/", express.static(path.join(__dirname, "..", "ui")));
   app.use(express.json({limit: maxPayloadSize}));
   if (enableCors) {
@@ -221,7 +222,7 @@ export function startServer(port: number, device: string | null = null, enableCo
   return new Promise((resolve) => {
     server.listen(port, () => {
       async function connect() {
-        for await (const d of ebbs(device)) {
+        for await (const d of ebbs(hardware, device)) {
           ebb = d;
           broadcast({c: "dev", p: {path: ebb ? /*ebb.port.path*/"/dev/XXX" : null}});
         }
@@ -265,7 +266,7 @@ async function waitForEbb() {
   }
 }
 
-async function* ebbs(path?: string) {
+async function* ebbs(hardware: string, path?: string) {
   while (true) {
     try {
       const com = path || (await waitForEbb());
@@ -274,7 +275,7 @@ async function* ebbs(path?: string) {
       const closed = new Promise((resolve) => {
         port.addEventListener('disconnect', resolve, { once: true })
       });
-      yield new EBB(port);
+      yield new EBB(port, hardware);
       await closed;
       yield null;
       console.error(`Lost connection to EBB, reconnecting...`);
@@ -286,13 +287,13 @@ async function* ebbs(path?: string) {
   }
 }
 
-export async function connectEBB(path: string | undefined): Promise<EBB | null> {
+export async function connectEBB(hardware: string, path?: string): Promise<EBB | null> {
   if (path) {
-    return new EBB(new SerialPortSerialPort(path));
+    return new EBB(new SerialPortSerialPort(path), hardware);
   } else {
     const ebbs = await listEBBs();
     if (ebbs.length) {
-      return new EBB(new SerialPortSerialPort(ebbs[0]));
+      return new EBB(new SerialPortSerialPort(ebbs[0]), hardware);
     } else {
       return null;
     }

diff --git a/src/ui.tsx b/src/ui.tsx
@@ -127,7 +127,8 @@ class WebSerialDriver implements Driver {
     // (pyserial defaults to 9600)
     await port.open({ baudRate: 9600 })
     const { usbVendorId, usbProductId } = port.getInfo()
-    return new WebSerialDriver(new EBB(port), `${usbVendorId.toString(16).padStart(4, '0')}:${usbProductId.toString(16).padStart(4, '0')}`)
+    // doesn't support brushless yet, only 'axidraw'
+    return new WebSerialDriver(new EBB(port, 'axidraw'), `${usbVendorId.toString(16).padStart(4, '0')}:${usbProductId.toString(16).padStart(4, '0')}`)
   }
 
   private _name: string