Allow setting/disabling Emergency Stop during setup/via Serial comman…

…ds (#269) * Upload port of @nullstalgia 's implementation Title: Allow setting/disabling Emergency Stop during setup/via Serial commands Date: April 19th 2024 Co-Authored-By: nullstalgia <[email protected]> * Read from config and fix gpio num types * Add SerialInput handler * Remove STD's from integers * Use intconv for SerialInputHandler * Update schemas * Remove annoying unnecessary warning * Finish EStop config implementation * More work is needed.... rip * Fix extra logging areas * Fix panic call * Use new convert methods * Undo formatting changes in Common.h * Update schemas * Fix argument order, and sort all remaining orders * Revert to default config if null * More EStopConfig fixes * Oops --------- Co-authored-by: nullstalgia <[email protected]>
OpenShock · Oct 3, 2024 · df27b6a · df27b6a · github-actions · Oct 3, 2024
1 parent 0a7e104
commit df27b6a
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Showing 43 changed files with 1,130 additions and 106 deletions.
diff --git a/.gitmodules b/.gitmodules
@@ -1,3 +1,4 @@
 [submodule "schemas"]
 	path = schemas
 	url = https://github.com/OpenShock/flatbuffers-schemas
+	branch = feature/estop-config
diff --git a/frontend/src/lib/MessageHandlers/index.ts b/frontend/src/lib/MessageHandlers/index.ts
@@ -8,12 +8,15 @@ import { DeviceStateStore } from '$lib/stores';
 import { SerializeWifiScanCommand } from '$lib/Serializers/WifiScanCommand';
 import { toastDelegator } from '$lib/stores/ToastDelegator';
 import { SetRfTxPinCommandResult } from '$lib/_fbs/open-shock/serialization/local/set-rf-tx-pin-command-result';
-import { SetRfPinResultCode } from '$lib/_fbs/open-shock/serialization/local/set-rf-pin-result-code';
+import { SetEstopPinCommandResult } from '$lib/_fbs/open-shock/serialization/local/set-estop-pin-command-result';
+import { SetGPIOResultCode } from '$lib/_fbs/open-shock/serialization/local/set-gpioresult-code';
 import { AccountLinkCommandResult } from '$lib/_fbs/open-shock/serialization/local/account-link-command-result';
 import { AccountLinkResultCode } from '$lib/_fbs/open-shock/serialization/local/account-link-result-code';
 import { ErrorMessage } from '$lib/_fbs/open-shock/serialization/local/error-message';
 import { WifiNetworkEventHandler } from './WifiNetworkEventHandler';
 import { mapConfig } from '$lib/mappers/ConfigMapper';
+import { SetEstopEnabledCommand } from '$lib/_fbs/open-shock/serialization/local';
+import { SetEstopEnabledCommandResult } from '$lib/_fbs/open-shock/serialization/local/set-estop-enabled-command-result';
 
 export type MessageHandler = (wsClient: WebSocketClient, message: HubToLocalMessage) => void;
 
@@ -116,7 +119,7 @@ PayloadHandlers[HubToLocalMessagePayload.SetRfTxPinCommandResult] = (cli, msg) =
 
   const result = payload.result();
 
-  if (result == SetRfPinResultCode.Success) {
+  if (result == SetGPIOResultCode.Success) {
     DeviceStateStore.setRfTxPin(payload.pin());
     toastDelegator.trigger({
       message: 'Changed RF TX pin to: ' + payload.pin(),
@@ -125,10 +128,10 @@ PayloadHandlers[HubToLocalMessagePayload.SetRfTxPinCommandResult] = (cli, msg) =
   } else {
     let reason: string;
     switch (result) {
-      case SetRfPinResultCode.InvalidPin:
+      case SetGPIOResultCode.InvalidPin:
         reason = 'Invalid pin';
         break;
-      case SetRfPinResultCode.InternalError:
+      case SetGPIOResultCode.InternalError:
         reason = 'Internal error';
         break;
       default:
@@ -142,6 +145,60 @@ PayloadHandlers[HubToLocalMessagePayload.SetRfTxPinCommandResult] = (cli, msg) =
   }
 };
 
+PayloadHandlers[HubToLocalMessagePayload.SetEstopEnabledCommandResult] = (cli, msg) => {
+  const payload = new SetEstopEnabledCommandResult();
+  msg.payload(payload);
+
+  const enabled = payload.enabled();
+  const success = payload.success();
+
+  if (success) {
+    DeviceStateStore.setEstopEnabled(payload.enabled());
+    toastDelegator.trigger({
+      message: 'Changed EStop enabled to: ' + enabled,
+      background: 'bg-green-500',
+    });
+  } else {
+    toastDelegator.trigger({
+      message: 'Failed to change EStop enabled',
+      background: 'bg-red-500',
+    });
+  }
+};
+
+PayloadHandlers[HubToLocalMessagePayload.SetEstopPinCommandResult] = (cli, msg) => {
+  const payload = new SetEstopPinCommandResult();
+  msg.payload(payload);
+
+  const result = payload.result();
+
+  if (result == SetGPIOResultCode.Success) {
+    const gpioPin = payload.gpioPin();
+    DeviceStateStore.setEstopGpioPin(gpioPin);
+    toastDelegator.trigger({
+      message: 'Changed EStop pin to: ' + gpioPin,
+      background: 'bg-green-500',
+    });
+  } else {
+    let reason: string;
+    switch (result) {
+      case SetGPIOResultCode.InvalidPin:
+        reason = 'Invalid pin';
+        break;
+      case SetGPIOResultCode.InternalError:
+        reason = 'Internal error';
+        break;
+      default:
+        reason = 'Unknown';
+        break;
+    }
+    toastDelegator.trigger({
+      message: 'Failed to change EStop pin: ' + reason,
+      background: 'bg-red-500',
+    });
+  }
+};
+
 export function WebSocketMessageBinaryHandler(cli: WebSocketClient, data: ArrayBuffer) {
   const msg = HubToLocalMessage.getRootAsHubToLocalMessage(new ByteBuffer(new Uint8Array(data)));
 

diff --git a/frontend/src/lib/Serializers/SetEstopEnabledCommand.ts b/frontend/src/lib/Serializers/SetEstopEnabledCommand.ts
@@ -0,0 +1,16 @@
+import { Builder as FlatbufferBuilder } from 'flatbuffers';
+import { LocalToHubMessage } from '$lib/_fbs/open-shock/serialization/local/local-to-hub-message';
+import { LocalToHubMessagePayload } from '$lib/_fbs/open-shock/serialization/local/local-to-hub-message-payload';
+import { SetEstopEnabledCommand } from '$lib/_fbs/open-shock/serialization/local/set-estop-enabled-command';
+
+export function SerializeSetEstopEnabledCommand(enabled: boolean): Uint8Array {
+  const fbb = new FlatbufferBuilder(64);
+
+  const cmdOffset = SetEstopEnabledCommand.createSetEstopEnabledCommand(fbb, enabled);
+
+  const payloadOffset = LocalToHubMessage.createLocalToHubMessage(fbb, LocalToHubMessagePayload.SetEstopEnabledCommand, cmdOffset);
+
+  fbb.finish(payloadOffset);
+
+  return fbb.asUint8Array();
+}
diff --git a/frontend/src/lib/Serializers/SetEstopPinCommand.ts b/frontend/src/lib/Serializers/SetEstopPinCommand.ts
@@ -0,0 +1,16 @@
+import { Builder as FlatbufferBuilder } from 'flatbuffers';
+import { LocalToHubMessage } from '$lib/_fbs/open-shock/serialization/local/local-to-hub-message';
+import { LocalToHubMessagePayload } from '$lib/_fbs/open-shock/serialization/local/local-to-hub-message-payload';
+import { SetEstopPinCommand } from '$lib/_fbs/open-shock/serialization/local/set-estop-pin-command';
+
+export function SerializeSetEstopPinCommand(pin: number): Uint8Array {
+  const fbb = new FlatbufferBuilder(64);
+
+  const cmdOffset = SetEstopPinCommand.createSetEstopPinCommand(fbb, pin);
+
+  const payloadOffset = LocalToHubMessage.createLocalToHubMessage(fbb, LocalToHubMessagePayload.SetEstopPinCommand, cmdOffset);
+
+  fbb.finish(payloadOffset);
+
+  return fbb.asUint8Array();
+}
diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration.ts
@@ -4,6 +4,7 @@
 
 export { BackendConfig } from './configuration/backend-config';
 export { CaptivePortalConfig } from './configuration/captive-portal-config';
+export { EStopConfig } from './configuration/estop-config';
 export { HubConfig } from './configuration/hub-config';
 export { OtaUpdateChannel } from './configuration/ota-update-channel';
 export { OtaUpdateConfig } from './configuration/ota-update-config';

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts
@@ -0,0 +1,61 @@
+// automatically generated by the FlatBuffers compiler, do not modify
+
+/* eslint-disable @typescript-eslint/no-unused-vars, @typescript-eslint/no-explicit-any, @typescript-eslint/no-non-null-assertion */
+
+import * as flatbuffers from 'flatbuffers';
+
+export class EStopConfig {
+  bb: flatbuffers.ByteBuffer|null = null;
+  bb_pos = 0;
+  __init(i:number, bb:flatbuffers.ByteBuffer):EStopConfig {
+  this.bb_pos = i;
+  this.bb = bb;
+  return this;
+}
+
+static getRootAsEStopConfig(bb:flatbuffers.ByteBuffer, obj?:EStopConfig):EStopConfig {
+  return (obj || new EStopConfig()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+static getSizePrefixedRootAsEStopConfig(bb:flatbuffers.ByteBuffer, obj?:EStopConfig):EStopConfig {
+  bb.setPosition(bb.position() + flatbuffers.SIZE_PREFIX_LENGTH);
+  return (obj || new EStopConfig()).__init(bb.readInt32(bb.position()) + bb.position(), bb);
+}
+
+enabled():boolean {
+  const offset = this.bb!.__offset(this.bb_pos, 4);
+  return offset ? !!this.bb!.readInt8(this.bb_pos + offset) : false;
+}
+
+/**
+ * The GPIO pin connected to the E-Stop button
+ */
+gpioPin():number {
+  const offset = this.bb!.__offset(this.bb_pos, 6);
+  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+}
+
+static startEStopConfig(builder:flatbuffers.Builder) {
+  builder.startObject(2);
+}
+
+static addEnabled(builder:flatbuffers.Builder, enabled:boolean) {
+  builder.addFieldInt8(0, +enabled, +false);
+}
+
+static addGpioPin(builder:flatbuffers.Builder, gpioPin:number) {
+  builder.addFieldInt8(1, gpioPin, 0);
+}
+
+static endEStopConfig(builder:flatbuffers.Builder):flatbuffers.Offset {
+  const offset = builder.endObject();
+  return offset;
+}
+
+static createEStopConfig(builder:flatbuffers.Builder, enabled:boolean, gpioPin:number):flatbuffers.Offset {
+  EStopConfig.startEStopConfig(builder);
+  EStopConfig.addEnabled(builder, enabled);
+  EStopConfig.addGpioPin(builder, gpioPin);
+  return EStopConfig.endEStopConfig(builder);
+}
+}
diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration/hub-config.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration/hub-config.ts
@@ -6,6 +6,7 @@ import * as flatbuffers from 'flatbuffers';
 
 import { BackendConfig } from '../../../open-shock/serialization/configuration/backend-config';
 import { CaptivePortalConfig } from '../../../open-shock/serialization/configuration/captive-portal-config';
+import { EStopConfig } from '../../../open-shock/serialization/configuration/estop-config';
 import { OtaUpdateConfig } from '../../../open-shock/serialization/configuration/ota-update-config';
 import { RFConfig } from '../../../open-shock/serialization/configuration/rfconfig';
 import { SerialInputConfig } from '../../../open-shock/serialization/configuration/serial-input-config';
@@ -78,8 +79,16 @@ otaUpdate(obj?:OtaUpdateConfig):OtaUpdateConfig|null {
   return offset ? (obj || new OtaUpdateConfig()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
 }
 
+/**
+ * E-Stop configuration
+ */
+estop(obj?:EStopConfig):EStopConfig|null {
+  const offset = this.bb!.__offset(this.bb_pos, 16);
+  return offset ? (obj || new EStopConfig()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
+}
+
 static startHubConfig(builder:flatbuffers.Builder) {
-  builder.startObject(6);
+  builder.startObject(7);
 }
 
 static addRf(builder:flatbuffers.Builder, rfOffset:flatbuffers.Offset) {
@@ -106,6 +115,10 @@ static addOtaUpdate(builder:flatbuffers.Builder, otaUpdateOffset:flatbuffers.Off
   builder.addFieldOffset(5, otaUpdateOffset, 0);
 }
 
+static addEstop(builder:flatbuffers.Builder, estopOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(6, estopOffset, 0);
+}
+
 static endHubConfig(builder:flatbuffers.Builder):flatbuffers.Offset {
   const offset = builder.endObject();
   return offset;

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local.ts b/frontend/src/lib/_fbs/open-shock/serialization/local.ts
@@ -15,6 +15,8 @@ export { OtaUpdateSetIsEnabledCommand } from './local/ota-update-set-is-enabled-
 export { OtaUpdateSetRequireManualApprovalCommand } from './local/ota-update-set-require-manual-approval-command';
 export { OtaUpdateSetUpdateChannelCommand } from './local/ota-update-set-update-channel-command';
 export { OtaUpdateStartUpdateCommand } from './local/ota-update-start-update-command';
+export { SetEstopEnabledCommand } from './local/set-estop-enabled-command';
+export { SetEstopPinCommand } from './local/set-estop-pin-command';
 export { SetRfTxPinCommand } from './local/set-rf-tx-pin-command';
 export { WifiNetworkConnectCommand } from './local/wifi-network-connect-command';
 export { WifiNetworkDisconnectCommand } from './local/wifi-network-disconnect-command';

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/hub-to-local-message-payload.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/hub-to-local-message-payload.ts
@@ -5,6 +5,8 @@
 import { AccountLinkCommandResult } from '../../../open-shock/serialization/local/account-link-command-result';
 import { ErrorMessage } from '../../../open-shock/serialization/local/error-message';
 import { ReadyMessage } from '../../../open-shock/serialization/local/ready-message';
+import { SetEstopEnabledCommandResult } from '../../../open-shock/serialization/local/set-estop-enabled-command-result';
+import { SetEstopPinCommandResult } from '../../../open-shock/serialization/local/set-estop-pin-command-result';
 import { SetRfTxPinCommandResult } from '../../../open-shock/serialization/local/set-rf-tx-pin-command-result';
 import { WifiGotIpEvent } from '../../../open-shock/serialization/local/wifi-got-ip-event';
 import { WifiLostIpEvent } from '../../../open-shock/serialization/local/wifi-lost-ip-event';
@@ -21,13 +23,15 @@ export enum HubToLocalMessagePayload {
   WifiGotIpEvent = 5,
   WifiLostIpEvent = 6,
   AccountLinkCommandResult = 7,
-  SetRfTxPinCommandResult = 8
+  SetRfTxPinCommandResult = 8,
+  SetEstopEnabledCommandResult = 9,
+  SetEstopPinCommandResult = 10
 }
 
 export function unionToHubToLocalMessagePayload(
   type: HubToLocalMessagePayload,
-  accessor: (obj:AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage) => AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null
-): AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null {
+  accessor: (obj:AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage) => AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null
+): AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null {
   switch(HubToLocalMessagePayload[type]) {
     case 'NONE': return null; 
     case 'ReadyMessage': return accessor(new ReadyMessage())! as ReadyMessage;
@@ -38,15 +42,17 @@ export function unionToHubToLocalMessagePayload(
     case 'WifiLostIpEvent': return accessor(new WifiLostIpEvent())! as WifiLostIpEvent;
     case 'AccountLinkCommandResult': return accessor(new AccountLinkCommandResult())! as AccountLinkCommandResult;
     case 'SetRfTxPinCommandResult': return accessor(new SetRfTxPinCommandResult())! as SetRfTxPinCommandResult;
+    case 'SetEstopEnabledCommandResult': return accessor(new SetEstopEnabledCommandResult())! as SetEstopEnabledCommandResult;
+    case 'SetEstopPinCommandResult': return accessor(new SetEstopPinCommandResult())! as SetEstopPinCommandResult;
     default: return null;
   }
 }
 
 export function unionListToHubToLocalMessagePayload(
   type: HubToLocalMessagePayload, 
-  accessor: (index: number, obj:AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage) => AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null, 
+  accessor: (index: number, obj:AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage) => AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null, 
   index: number
-): AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null {
+): AccountLinkCommandResult|ErrorMessage|ReadyMessage|SetEstopEnabledCommandResult|SetEstopPinCommandResult|SetRfTxPinCommandResult|WifiGotIpEvent|WifiLostIpEvent|WifiNetworkEvent|WifiScanStatusMessage|null {
   switch(HubToLocalMessagePayload[type]) {
     case 'NONE': return null; 
     case 'ReadyMessage': return accessor(index, new ReadyMessage())! as ReadyMessage;
@@ -57,6 +63,8 @@ export function unionListToHubToLocalMessagePayload(
     case 'WifiLostIpEvent': return accessor(index, new WifiLostIpEvent())! as WifiLostIpEvent;
     case 'AccountLinkCommandResult': return accessor(index, new AccountLinkCommandResult())! as AccountLinkCommandResult;
     case 'SetRfTxPinCommandResult': return accessor(index, new SetRfTxPinCommandResult())! as SetRfTxPinCommandResult;
+    case 'SetEstopEnabledCommandResult': return accessor(index, new SetEstopEnabledCommandResult())! as SetEstopEnabledCommandResult;
+    case 'SetEstopPinCommandResult': return accessor(index, new SetEstopPinCommandResult())! as SetEstopPinCommandResult;
     default: return null;
   }
 }