Support brushless servo upgrade

.github/workflows/node.js.yml

@@ -5,9 +5,9 @@ name: Node.js CI
 
 on:
   push:
-    branches: [ "main" ]
+    branches: [ "main", "origin-main", "brushless" ]
   pull_request:
-    branches: [ "main" ]
+    branches: [ "main", "origin-main", "brushless" ]
 
 jobs:
   build:
@@ -16,11 +16,11 @@ jobs:
 
     strategy:
       matrix:
-        node-version: [14.x, 16.x, 18.x, 20.x]
+        node-version: [16.x, 18.x, 20.x]
         # See supported Node.js release schedule at https://nodejs.org/en/about/releases/
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Use Node.js ${{ matrix.node-version }}
       uses: actions/setup-node@v3
       with:

README.md

@@ -25,13 +25,22 @@ Connecting to EBB on /dev/tty.usbmodem1461
 If you encounter an `EACCES` error when installing the package globally, see [Resolving EACCES permissions errors when installing packages globally](https://docs.npmjs.com/resolving-eacces-permissions-errors-when-installing-packages-globally).
 
 #### Raspberry Pi
-To install saxi on a Raspberry Pi, first install node.js if you haven't already:
+
+To install saxi on a Raspberry Pi 2/3/4, first install node.js if you haven't already:
 
 ```
 $ curl -sL https://deb.nodesource.com/setup_12.x | sudo -E bash -
 $ sudo apt-get install -y nodejs
 ```
 
+If you are on a raspberry pi zero or 1, you will need to download an [unofficial armv6l build](https://github.com/nodejs/unofficial-builds)
+
+```
+$ wget https://unofficial-builds.nodejs.org/download/release/v20.5.1/node-v20.5.1-linux-armv6l.tar.xz
+$ tar xf node-v*-armv6l.tar.xz
+$ export PATH=$PATH:$PWD/node-v*-linux-armv6l/
+```
+
 and then proceed as above :) If you connect to the raspberry pi over ssh, you might want to run the `saxi` server inside a tmux or screen session to have it stay running even if your ssh session disconnects.
 
 #### CORS

build.mjs

@@ -0,0 +1,51 @@
+import { context, build } from 'esbuild';
+import inlineWorker from 'esbuild-plugin-inline-worker';
+import { htmlPlugin as html } from '@craftamap/esbuild-plugin-html';
+
+const buildOptions = {
+  entryPoints: ['src/ui.tsx'],
+  bundle: true,
+  platform: 'browser',
+  target: 'es2020',
+  sourcemap: true,
+  metafile: true,
+  logLevel: 'debug',
+  outdir: 'dist/ui',
+  tsconfig: 'tsconfig.web.json',
+  loader: { '.svg': 'file' },
+  define: {
+    IS_WEB: process.env.IS_WEB ?? '0',
+  },
+  plugins: [ inlineWorker(),
+    html({
+      files: [{
+        entryPoints: [ 'src/ui.tsx'],
+        filename: 'index.html',
+        htmlTemplate: 'src/index.html',
+        scriptLoading: 'defer',
+      }]
+    })
+  ],
+  resolveExtensions: ['.js', '.ts', '.tsx', '.svg', '.worker.js'],
+};
+
+(async () => {
+  try {
+    if (process.env.BUILD_MODE === 'development') {
+      // enables live-reloading
+      const ctx = await context({
+        ...buildOptions,
+        banner: { js: "new EventSource('/esbuild').addEventListener('change', () => location.reload());" }
+      })
+      await ctx.watch();
+      const { host, port } = await ctx.serve({servedir: 'dist/ui', port: 9080 });
+      console.log(`http://${host}:${port}`)
+    } else {
+      await build(buildOptions);
+    }
+  } catch (error) {
+    console.error(error);
+    process.exit(1);
+  }
+})();
+