From a970f28d97fc3192b9e6f9fa378c37c3bc3cea91 Mon Sep 17 00:00:00 2001 From: Jeremy Jung Date: Tue, 8 Jun 2021 14:45:28 -0400 Subject: [PATCH] Service_SPIKE OOP scaling --- cdn/ServiceDock_scaled.js | 5996 +++++++++++++++++ package.json | 3 +- server/examples/modules/SPIKE/classSPIKE.js | 201 - .../modules/SPIKE/general/initUtils.js | 98 - server/examples/modules/SPIKE/misc/misc.js | 8 - .../modules/SPIKE/spike/forcesensor.js | 79 - .../examples/modules/SPIKE/spike/getters.js | 82 - .../modules/SPIKE/spike/interfaces.js | 335 - server/examples/modules/SPIKE/spike/motor.js | 221 - .../examples/modules/SPIKE/spike/motorpair.js | 92 - .../modules/SPIKE/webserial/parsing.js | 798 --- .../modules/SPIKE/webserial/webserial.js | 227 - server/examples/modules/ServiceDock_SPIKE.js | 2 +- .../modules/scaledSPIKE/Service_SPIKE.js | 1438 ++++ .../Service_SPIKE_HTML.js} | 43 +- .../modules/scaledSPIKE/spikeRPC/SpikeRPC.js | 360 + .../spikeRPC/SpikeUjsonLib.js} | 356 +- .../modules/scaledSPIKE/virtualSpike.js | 1057 +++ .../scaledSPIKE/webserial/WebSerial.js | 259 + server/examples/servicedock_unitTesting.html | 132 +- server/examples/tests/SPIKE/buttons.js | 8 +- server/examples/tests/SPIKE/motionsensor.js | 38 +- server/examples/tests/SPIKE/motor.js | 31 +- server/examples/tests/SPIKE/motorpair.js | 10 + 24 files changed, 9433 insertions(+), 2441 deletions(-) create mode 100644 cdn/ServiceDock_scaled.js delete mode 100644 server/examples/modules/SPIKE/classSPIKE.js delete mode 100644 server/examples/modules/SPIKE/general/initUtils.js delete mode 100644 server/examples/modules/SPIKE/misc/misc.js delete mode 100644 server/examples/modules/SPIKE/spike/forcesensor.js delete mode 100644 server/examples/modules/SPIKE/spike/getters.js delete mode 100644 server/examples/modules/SPIKE/spike/interfaces.js delete mode 100644 server/examples/modules/SPIKE/spike/motor.js delete mode 100644 server/examples/modules/SPIKE/spike/motorpair.js delete mode 100644 server/examples/modules/SPIKE/webserial/parsing.js delete mode 100644 server/examples/modules/SPIKE/webserial/webserial.js create mode 100644 server/examples/modules/scaledSPIKE/Service_SPIKE.js rename server/examples/modules/{SPIKE/HTML_SPIKE.js => scaledSPIKE/Service_SPIKE_HTML.js} (98%) create mode 100644 server/examples/modules/scaledSPIKE/spikeRPC/SpikeRPC.js rename server/examples/modules/{SPIKE/spike/ujsonrpc.js => scaledSPIKE/spikeRPC/SpikeUjsonLib.js} (50%) create mode 100644 server/examples/modules/scaledSPIKE/virtualSpike.js create mode 100644 server/examples/modules/scaledSPIKE/webserial/WebSerial.js diff --git a/cdn/ServiceDock_scaled.js b/cdn/ServiceDock_scaled.js new file mode 100644 index 0000000..597884f --- /dev/null +++ b/cdn/ServiceDock_scaled.js @@ -0,0 +1,5996 @@ +/* +Project Name: SPIKE Prime Web Interface +File name: ServiceDock_SystemLink.js +Author: Jeremy Jung +Last update: 7/19/20 +Description: HTML Element definition for to be used in ServiceDocks +Credits/inspirations: +History: + Created by Jeremy on 7/16/20 +LICENSE: MIT +(C) Tufts Center for Engineering Education and Outreach (CEEO) +*/ + +// import { Service_SystemLink } from "./Service_SystemLink.js"; + +class servicesystemlink extends HTMLElement { + + constructor () { + + super(); + + this.active = false; // whether the service was activated + this.service = new Service_SystemLink(); // instantiate a service object ( one object per button ) + this.proceed = false; // if there are credentials input + + // Create a shadow root + var shadow = this.attachShadow({ mode: 'open' }); + + /* wrapper definition and CSS */ + var wrapper = document.createElement('div'); + wrapper.setAttribute('class', 'wrapper'); + wrapper.setAttribute("style", "width: 50px; height: 50px; position: relative; margin-top: 10px;") + + /* ServiceDock button definition and CSS */ + + var button = document.createElement("button"); + button.setAttribute("id", "sl_button"); + button.setAttribute("class", "SD_button"); + + /* CSS */ + //var imageRelPath = "./modules/views/systemlinkIcon.png" // relative to the document in which a servicesystemlink is created ( NOT this file ) + var length = 50; // for width and height of button + var backgroundColor = "#A2E1EF" // background color of the button + var buttonStyle = "width:" + length + "px; height:" + length + "px; background:" + 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')" + "no-repeat; background-size: 50px 50px; background-color:" + backgroundColor + + "; border: none; background-position: center; cursor: pointer; border-radius: 10px; position: relative; margin: 4px 0px; " + button.setAttribute("style", buttonStyle); + + /* status circle definition and CSS */ + + this.status = document.createElement("div"); + this.status.setAttribute("class", "status"); + + /* CSS */ + var length = 20; // for width and height of circle + var statusBackgroundColor = "red" // default background color of service (inactive color) + var posLeft = 30; + var posTop = 20; + var statusStyle = "border-radius: 50%; height:" + length + "px; width:" + length + "px; background-color:" + statusBackgroundColor + + "; position: relative; left:" + posLeft + "px; top:" + posTop + "px;"; + this.status.setAttribute("style", statusStyle); + + /* event listeners */ + + button.addEventListener("mouseleave", function (event) { + button.style.backgroundColor = "#A2E1EF"; + button.style.color = "#000000"; + }); + + button.addEventListener("mouseenter", function(event){ + button.style.backgroundColor = "#FFFFFF"; + button.style.color = "#000000"; + }) + + this.addEventListener("click", async function() { + + if ( !this.active ) { + this.popUpBox(); + } + + // check active flag so once activated, the service doesnt reinit + if ( !this.active && this.proceed) { + + console.log("%cTuftsCEEO ", "color: #3ba336;", "Activating SystemLink Service"); + + var initSuccessful = await this.service.init(this.APIKey); + + if (initSuccessful) { + this.active = true; + this.status.style.backgroundColor = "green"; + } + + } + + }); + + shadow.appendChild(wrapper); + button.appendChild(this.status); + wrapper.appendChild(button); + } + + /* Ask user for API credentials */ + popUpBox() { + var APIKeyExists = true; + // if apikey was not given in attributes + if (this.getAttribute("apikey") == undefined || this.getAttribute("apikey") == "") { + var APIKeyResult = prompt("Please enter your System Link Cloud API Key:"); + + // APIkey + if (APIKeyResult == null || APIKeyResult == "") { + console.log("%cTuftsCEEO ", "color: #3ba336;", "You inserted no API key"); + APIKeyExists = false; + } + else { + this.APIKey = APIKeyResult; + } + } + else { + var APIKeyResult = this.getAttribute("apikey"); + this.APIKey = APIKeyResult; + } + + + if ( APIKeyExists ) { + this.proceed = true; + } + } + + /* for Service's API credentials */ + + static get observedAttributes() { + return ["apikey"]; + } + + get apikey() { + return this.getAttribute("apikey"); + } + + set apikey(val) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", val); + if ( val ) { + this.setAttribute("apikey", val); + } + else { + this.removeAttribute("apikey"); + } + } + + attributeChangedCallback (name, oldValue, newValue) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "new value of apikey: ", newValue); + this.APIKey = newValue; + } + + /* get the Service_SystemLink object */ + getService() { + return this.service; + } + + /* get whether the ServiceDock button was clicked */ + getClicked() { + return this.active; + } + + // initialize the service (is not used in this class but available for use publicly) + async init() { + var initSuccess = await this.service.init(this.APIKey); + if (initSuccess) { + this.status.style.backgroundColor = "green"; + this.active = true; + return true; + } + else { + return false; + } + } + +} + +// when defining custom element, the name must have at least one - dash +window.customElements.define('service-systemlink', servicesystemlink); + +/* +Project Name: SPIKE Prime Web Interface +File name: Service_SystemLink.js +Author: Jeremy Jung +Last update: 8/04/20 +Description: SystemLink Service Library (OOP) +History: + Created by Jeremy on 7/15/20 +LICENSE: MIT +(C) Tufts Center for Engineering Education and Outreach (CEEO) +*/ + +/** + * + * @class Service_SystemLink + * @example + * // assuming you declared with the id, "service_systemlink" + * var mySL = document.getElemenyById("service_systemlink").getService(); + * mySL.setAttribute("apikey", "YOUR API KEY"); + * mySL.init(); + */ +function Service_SystemLink() { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + /* private members */ + + let tagsInfo = {}; // contains real-time information of the tags in the cloud + + let APIKey = "API KEY"; + + let serviceActive = false; // set to true when service goes through init + + let pollInterval = 1000; + + var funcAtInit = undefined; // function to call after init + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + + /** initialize SystemLink_Service + *

Starts polling the System Link cloud

+ *

this function needs to be executed after executeAfterInit but before all other public functions

+ * + * @public + * @param {string} APIKeyInput SYstemlink APIkey + * @param {integer} pollIntervalInput interval at which to get tags from the cloud in MILISECONDS. Default value is 1000 ms. + * @returns {boolean} True if service was successsfully initialized, false otherwise + * @example + * var SystemLinkElement = document.getElemenyById("service_systemlink"); + * var mySL = SystemLinkElement.getService(); + * mySL.init("APIKEY", 1000); // initialize SystemLink Service with a poll interval of 10 ms + * + */ + async function init(APIKeyInput, pollIntervalInput) { + + // if an APIKey was specified + if (APIKeyInput !== undefined) { + APIKey = APIKeyInput; + } + + var response = await checkAPIKey(APIKey); + + // if response from checkAPIKey is valid + if (response) { + + if (pollIntervalInput !== undefined) { + pollInterval = await pollIntervalInput; + } + + // initialize the tagsInfo global variable + updateTagsInfo(function () { + + serviceActive = true; + + // call funcAtInit if defined + if (funcAtInit !== undefined) { + + funcAtInit(); + } + }); + + return true; + } + else { + return false; + } + } + + /** Get the callback function to execute after service is initialized + *

This function needs to be executed before calling init()

+ * + * @public + * @param {function} callback function to execute after initialization + * @example + * mySL.executeAfterInit( function () { + * var tagsInfo = mySL.getTagsInfo(); + * }) + */ + function executeAfterInit(callback) { + // Assigns global variable funcAtInit a pointer to callback function + funcAtInit = callback; + } + + /** Return the tagsInfo global variable + * + * @public + * @returns basic information about currently existing tags in the cloud + * @example + * var tagsInfo = mySL.getTagsInfo(); + * var astringValue = tagsInfo["astring"]["value"]; + * var astringType = tagsInfo["astring"]["type"]; + */ + function getTagsInfo() { + return tagsInfo; + } + + /** Change the current value of a tag on SystemLink cloud. + * + * @private + * @param {string} name name of tag to update + * @param {any} value new value's data type must match the Tag's data type. + * @param {function} callback function to execute after tag is updated + * @example + * // set a string type Value of a Tag and display + * mySL.setTagValue("message", "hello there", function () { + * let messageValue = mySL.getTagValue("message"); + * console.log("message: ", messageValue); // display the updated value + * }) + * // set value of a boolean Tag + * mySL.setTagValue("aBoolean", true); + * + * // set value of an integer Tag + * mySL.setTagValue("anInteger", 10); + * + * // set value of a double Tag + * mySL.setTagValue("aDouble", 5.2); + */ + function setTagValue(tagName, newValue, callback) { + // changes the value of a tag on the cloud + setTagValueStrict(tagName, newValue, callback); + } + + /** Change the current value of a tag on SystemLink cloud with strict data types. Values will be implicitly converted + *
+ * NotStrict property indicates that the data type of the Value supplied will be implicitly converted. For example, allowing for setting an INT tag's value with a string, "123" or a STRING tag's value with + * a number. This method exists for convenience but please avoid using it extensively as it can lead to unpredictable outcomes. + * @public + * @param {any} tagName + * @param {any} newValue + * @param {any} callback + * @example + * // set a string type Value of a Tag and display + * mySL.setTagValueNotStrict("message", 123, function () { + * let messageValue = mySL.getTagValue("message"); + * console.log("message: ", messageValue); // display the updated value, which will be 123. + * }) + * // set value of a boolean Tag + * mySL.setTagValueNotStrict("aBoolean", true); + * + * // set value of an integer Tag + * mySL.setTagValueNotStrict("anInteger", 10); + * mySL.setTagValueNotStrict("anInteger", "10"); + * + * // set value of a double Tag + * mySL.setTagValueNotStrict("aDouble", 5.2); + * mySL.setTagValueNotStrict("aDouble", "5.2"); + */ + function setTagValueNotStrict(tagName, newValue, callback) { + // changes the value of a tag on the cloud + changeValue(tagName, newValue, false, function (valueChanged) { + if (valueChanged) { + // wait for changed value to be retrieved + setTimeout(function () { + if (typeof callback === 'function') { + callback(); + } + }, 1000) + } + }); + } + + /** Change the current value of a tag on SystemLink cloud with strict data types. There will be no implicit data type conversions. E.g. Updating tags of INT type will only work with javascript number. + * + * @public + * @param {any} name name of tag to update + * @param {any} value value to update tag to + * @param {any} callback function to execute after tag is updated + * @example + * // set a string type Value of a Tag and display + * mySL.setTagValueStrict("message", "hello there", function () { + * let messageValue = mySL.getTagValue("message"); + * console.log("message: ", messageValue); // display the updated value + * }) + * // set value of a boolean Tag + * mySL.setTagValueStrict("aBoolean", true); + * + * // set value of an integer Tag + * mySL.setTagValueStrict("anInteger", 10); + * + * // set value of a double Tag + * mySL.setTagValueStrict("aDouble", 5.2); + */ + function setTagValueStrict(tagName, newValue, callback) { + // changes the value of a tag on the cloud + changeValue(tagName, newValue, true, function (valueChanged) { + if (valueChanged) { + // wait for changed value to be retrieved + setTimeout(function () { + if (typeof callback === 'function') { + callback(); + } + }, 1000) + } + }); + } + + + /** Get the current value of a tag on SystemLink cloud + * + * @public + * @param {string} tagName + * @returns {any} current value of tag + * @example + * messageValue = mySL.getTagValue("message"); + * console.log("message: ", messageValue); + */ + function getTagValue(tagName) { + + var currentValue = tagsInfo[tagName].value; + + return currentValue; + } + + /** Get whether the Service was initialized or not + * + * @public + * @returns {boolean} whether Service was initialized or not + * @example + * if (mySL.isActive() === true) + * // do something if SystemLink Service is active + */ + function isActive() { + return serviceActive; + } + + /** Change the APIKey + * @ignore + * @param {string} APIKeyInput + */ + function setAPIKey(APIKeyInput) { + // changes the global variable APIKey + APIKey = APIKeyInput; + } + + /** Create a new tag. The type of new tag is determined by the javascript data type of tagValue. + * @public + * @param {string} tagName name of tag to create + * @param {any} tagValue value to assign the tag after creation + * @param {function} callback optional callback + * @example + * mySL.createTag("message", "hi", function () { + * mySL.setTagValueStrict("message", "bye"); // change the value of 'message' from "hi" to "bye" + * }) + */ + function createTag(tagName, tagValue, callback) { + + // get the SystemLink formatted data type of tag + var valueType = getValueType(tagValue); + + // create a tag with the name and data type. If tag exists, it still returns successful response + createNewTagHelper(tagName, valueType, function (newTagCreated) { + + // after tag is created, assign a value to it + changeValue(tagName, tagValue, false, function (newTagValueAssigned) { + + // execute callback if successful + if (newTagCreated) { + if (newTagValueAssigned) { + // wait for changed value to be retrieved + setTimeout( function() { + if (typeof callback == 'function') { + callback(); + } + }, 1000) + } + } + }) + }) + } + + /** Delete tag + * + * @public + * @param {string} tagName name of tag to delete + * @param {function} callback optional callback + * @example + * mySL.deleteTag("message", function () { + * let tagsInfo = mySL.getTagsInfo(); + * console.log("tagsInfo: ", tagsInfo); // tags information will now not contain the 'message' tag + * }) + */ + function deleteTag(tagName, callback) { + // delete the tag on System Link cloud + deleteTagHelper(tagName, function (tagDeleted) { + if ( tagDeleted ) { + typeof callback === 'function' && callback(); + } + }); + } + + ////////////////////////////////////////// + // // + // Private Functions // + // // + ////////////////////////////////////////// + + /** sleep function + * + * @private + * @param {integer} ms + * @returns {Promise} + */ + function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); + } + + /** Check if Systemlink API key is valid for use + * + * @private + * @param {string} APIKeyInput + * @returns {Promise} resolve(true) or reject(error) + */ + async function checkAPIKey(APIKeyInput) { + return new Promise(async function (resolve, reject) { + var apiKeyAuthURL = "https://api.systemlinkcloud.com/niauth/v1/auth"; + + var request = await sendXMLHTTPRequest("GET", apiKeyAuthURL, APIKeyInput) + + request.onload = function () { + + var response = JSON.parse(request.response); + + if (response.error) { + reject(new Error("Error at apikey auth:", response)); + } + else { + console.log("%cTuftsCEEO ", "color: #3ba336;", "APIkey is valid") + resolve(true) + } + + } + + request.onerror = function () { + var response = JSON.parse(request.response); + // console.log("Error at apikey auth:", request.response); + reject(new Error("Error at apikey auth:", response)); + } + }) + } + + /** Assign list of tags existing in the cloud to {tagPaths} global variable + * + * @private + * @param {function} callback + */ + async function updateTagsInfo(callback) { + + // get the tags the first time before running callback + getTagsInfoFromCloud(function (collectedTagsInfo) { + + // if the collectedTagsInfo is defined and not boolean false + if (collectedTagsInfo) { + tagsInfo = collectedTagsInfo; + } + + // after tagsInfo is initialized, begin the interval to update it + setInterval(async function () { + + getTagsInfoFromCloud(function (collectedTagsInfo) { + + // if the object is defined and not boolean false + if (collectedTagsInfo) { + tagsInfo = collectedTagsInfo; + } + }); + + }, pollInterval) + + // run the callback of updateTagsInfo inside init() + callback(); + + }); + + } + + /** Get the info of a tag in the cloud + * + * @private + * @param {function} callback + */ + async function getTagsInfoFromCloud(callback) { + + // make a new promise + new Promise(async function (resolve, reject) { + + var collectedTagsInfo = {}; // to return + + var getMultipleTagsURL = "https://api.systemlinkcloud.com/nitag/v2/tags-with-values"; + + // send request to SystemLink API + var request = await sendXMLHTTPRequest("GET", getMultipleTagsURL, APIKey); + + // when transaction is complete, parse response and update return value (collectedTagsInfo) + request.onload = async function () { + + // parse response (string) into JSON object + var responseJSON = JSON.parse(this.response) + + var tagsInfoArray = responseJSON.tagsWithValues; + + // get total number of tags + var tagsAmount = responseJSON.totalCount; + + for (var i = 0; i < tagsAmount; i++) { + // parse information of the tags + + try { + var value = tagsInfoArray[i].current.value.value; + var valueType = tagsInfoArray[i].current.value.type; + var tagName = tagsInfoArray[i].tag.path; + + var valueToAdd = await getValueFromType(valueType, value); + + // store tag information + var pathInfo = {}; + pathInfo["value"] = valueToAdd; + pathInfo["type"] = valueType; + + // add a tag info to the return object + collectedTagsInfo[tagName] = pathInfo; + + } + // when value is not yet assigned to tag + catch (e) { + var value = null + var valueType = tagsInfoArray[i].tag.type; + var tagName = tagsInfoArray[i].tag.path; + + // store tag information + var pathInfo = {}; + pathInfo["value"] = value; + pathInfo["type"] = valueType; + + // add a tag info to the return object + collectedTagsInfo[tagName] = pathInfo; + } + } + + resolve(collectedTagsInfo) + + } + request.onerror = function () { + + console.log("%cTuftsCEEO ", "color: #3ba336;", this.response); + + reject(false); + + } + }).then( + // success handler + function (resolve) { + //run callback with resolve object + callback(resolve); + }, + // failure handler + function (reject) { + // run calllback with reject object + callback(reject); + } + ) + } + + /** Send PUT request to SL cloud API and change the value of a tag + * This function will receive a newValue of any kind of type. Before the POST request is sent, + * the SL data type of the tag to convert must be found, and newValue must be in string format + * @private + * @param {string} tagPath string of the name of the tag + * @param {any} newValue value to assign tag + * @param {function} callback + */ + async function changeValue(tagPath, newValue, strict, callback) { + new Promise(async function (resolve, reject) { + + var URL = "https://api.systemlinkcloud.com/nitag/v2/tags/" + tagPath + "/values/current"; + + // assume newValue is already in correct datatype and just give the data type in SystemLink format + //var valueType = getValueType(newValue); + var valueType; + var newValueStringified; + + // if Tag to change does not yet exist (possibly due to it being created very recently) + if (tagsInfo[tagPath] === undefined) { + // refer to newValue's JS type to deduce Tag's data type + valueType = getValueTypeStrict(newValue); + } + // Tag to change exists; find the SL data type of tag from locally stored tagsInfo + else { + if (strict === true) { + /* strict changeValue. So no implicit data type conversions. All newValue's types need to match the tag's type */ + + expectedValueType = tagsInfo[tagPath].type; + inputValueType = getValueTypeStrict(newValue); + // console.log("%cTuftsCEEO ", "color: #3ba336;", expectedValueType, " vs ", inputValueType); + if (inputValueType !== expectedValueType) { + console.error("%cTuftsCEEO ", "color: #3ba336;", "Could not update value of tag on SystemLink Cloud. The given value is not of the data type defined for the tag in the database"); + throw new Error("Could not update value of tag on SystemLink Cloud.The given value is not of the data type defined for the tag in the database"); + } + else { + valueType = tagsInfo[tagPath].type; + } + } + else { + valueType = tagsInfo[tagPath].type; + } + } + + newValueStringified = changeToString(newValue); + + var data = { "value": { "type": valueType, "value": newValueStringified } }; + var requestBody = data; + + var request = await sendXMLHTTPRequest("PUT", URL, APIKey, requestBody); + + request.onload = function () { + resolve(true); + } + + request.onerror = function () { + reject(false); + } + + // catch error + request.onreadystatechange = function () { + if (this.readyState === XMLHttpRequest.DONE && (this.status != 200) ) { + console.log("%cTuftsCEEO ", "color: #3ba336;", this.status + " Error at changeValue: ", this.response) + } + } + + + }).then( + // success handler + function (resolve) { + callback(resolve); + }, + function (reject) { + callback(reject); + } + ) + } + + /** Send PUT request to SL cloud API and change the value of a tag + * + * @private + * @param {string} tagPath name of the tag + * @param {string} tagType SystemLink format data type of tag + * @param {function} callback + */ + async function createNewTagHelper(tagPath, tagType, callback) { + new Promise(async function (resolve, reject) { + + var URL = "https://api.systemlinkcloud.com/nitag/v2/tags/"; + + var data = { "type": tagType, "properties": {}, "path": tagPath, "keywords": [], "collectAggregates": false }; + + var requestBody = data; + + var request = await sendXMLHTTPRequest("POST", URL, APIKey, requestBody); + + request.onload = function () { + resolve(true); + } + + request.onerror = function () { + console.log("%cTuftsCEEO ", "color: #3ba336;", "Error at createNewTagHelper", request.response); + reject(false); + } + + // catch error + request.onreadystatechange = function () { + if (this.readyState === XMLHttpRequest.DONE && (this.status != 200 && this.status != 201)) { + console.log("%cTuftsCEEO ", "color: #3ba336;", this.status + " Error at createNewTagHelper: ", this.response) + } + } + + }).then( + // success handler + function (resolve) { + callback(resolve) + }, + // error handler + function (reject) { + callback(reject) + } + ) + } + + /** Delete the tag on the System Link cloud + * + * @private + * @param {string} tagName + * @param {function} callback + */ + async function deleteTagHelper ( tagName, callback ) { + new Promise(async function (resolve, reject) { + + var URL = "https://api.systemlinkcloud.com/nitag/v2/tags/" + tagName; + + var request = await sendXMLHTTPRequest("DELETE", URL, APIKey); + + request.onload = function () { + resolve(true); + } + + request.onerror = function () { + console.log("%cTuftsCEEO ", "color: #3ba336;", "Error at deleteTagHelper", request.response); + reject(false); + } + + // catch error + request.onreadystatechange = function () { + if (this.readyState === XMLHttpRequest.DONE && this.status != 200) { + console.log("%cTuftsCEEO ", "color: #3ba336;", this.status + " Error at deleteTagHelper: ", this.response) + } + } + + }).then( + // success handler + function (resolve) { + callback(resolve) + }, + // error handler + function (reject) { + callback(reject) + } + ) + } + + /** Helper function for sending XMLHTTPRequests + * + * @private + * @param {string} method + * @param {string} URL + * @param {string} APIKeyInput + * @param {object} body + * @returns {object} XMLHttpRequest + */ + async function sendXMLHTTPRequest(method, URL, APIKeyInput, body) { + var request = new XMLHttpRequest(); + request.open(method, URL, true); + + //Send the proper header information along with the request + request.setRequestHeader("x-ni-api-key", APIKeyInput); + + if (body === undefined) { + request.setRequestHeader("Accept", "application/json"); + + request.send(); + } + else { + request.setRequestHeader("Content-type", "application/json"); + var requestBody = JSON.stringify(body); + try { + request.send(requestBody); + } catch (e) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "error sending request:", request.response); + } + } + + return request; + } + + /** Helper function for getting data types in systemlink format + * + * @private + * @param {any} new_value the variable containing the new value of a tag + * @returns {any} data type of tag + */ + function getValueType(new_value) { + + //if the value is not a number + if (isNaN(new_value)) { + //if the value is a boolean + if (new_value === "true" || new_value === "false") { + return "BOOLEAN"; + } + //if the value is a string + return "STRING"; + } + //value is a number + else { + //if value is an integer + if (Number.isInteger(parseFloat(new_value))) { + return "INT" + } + //if value is a double + else { + return "DOUBLE" + } + } + } + + /** + * @private + * @param {any} new_value + * @returns {string} data type of tag + */ + function getValueTypeStrict(new_value) { + //if the value is a boolean + if (typeof new_value === "boolean") { + return "BOOLEAN"; + } + else if (typeof new_value === "string") { + return "STRING"; + } + else if (typeof new_value === "number") { + if (Number.isInteger(parseFloat(new_value))) { + return "INT" + } + //if value is a double + else { + return "DOUBLE" + } + } + } + + + /** stringify newValue + * Note: for POST request + * @private + * @param {any} newValue + * @returns {string} newValue stringified + */ + function changeToString(newValue) { + var newValueConverted; + + // already a string + if (typeof newValue == "string") { + newValueConverted = newValue; + } + else { + newValueConverted = JSON.stringify(newValue); + } + + return newValueConverted; + } + + /** Helper function for converting values to correct type based on data type + * + * @private + * @param {string} valueType data type of value in systemlink format + * @param {string} value value to convert + * @returns {any} converted value + */ + function getValueFromType(valueType, value) { + if (valueType == "BOOLEAN") { + if (value == "true") { + return true; + } + else { + return false; + } + } + else if (valueType == "STRING") { + return value; + } + else if (valueType == "INT" || valueType == "DOUBLE") { + return parseFloat(value); + } + return value; + } + + /* public members */ + return { + init: init, + getTagsInfo: getTagsInfo, + setTagValueNotStrict: setTagValueNotStrict, + setTagValueStrict: setTagValueStrict, + getTagValue: getTagValue, + executeAfterInit: executeAfterInit, + setAPIKey: setAPIKey, + isActive: isActive, + createTag: createTag, + deleteTag: deleteTag + } +} +/* +Project Name: SPIKE Prime Web Interface +File name: ServiceDock_Airtable.js +Author: Grace Kayode +Last update: 11/5/20 +Description: HTML Element definition for to be used in ServiceDocks +Credits/inspirations: + Airtable browser API (https://github.com/Airtable/airtable.js) +History: + Created by Jeremy on 7/20/20, Edited by Grace 11/1/20 +LICENSE: MIT +(C) Tufts Center for Engineering Education and Outreach (CEEO) +*/ + +/* ServiceDock HTML Element Definition */ +// document.writeln(""); + +class serviceairtable extends HTMLElement { + + constructor() { + super(); + + this.active = false; // whether the service was activated + this.service = new Service_Airtable(); // instantiate a service object ( one object per button ) + this.proceed = false; // if there are credentials input + this.APIKey = ""; + this.BaseID = ""; + this.TableName = ""; + + // Create a shadow root + var shadow = this.attachShadow({ mode: 'open' }); + + /* wrapper definition and CSS */ + var wrapper = document.createElement('div'); + wrapper.setAttribute('class', 'wrapper'); + wrapper.setAttribute("style", "width: 50px; height: 50px; position: relative; margin-top: 10px;") + + /* ServiceDock button definition and CSS */ + + var button = document.createElement("button"); + button.setAttribute("id", "airtableid_button"); + button.setAttribute("class", "airtablecl_button"); + /* CSS */ + //var imageRelPath = "./modules/views/airtable-logo.png" // relative to the document in which a servicesystemlink is created ( NOT this file ) + var length = 50; // for width and height of button + var backgroundColor = "#A2E1EF" // background color of the button + + // the icon is base64 encoded + var buttonStyle = "width:" + length + "px; height:" + length + "px; background:" + 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')" + " no-repeat; background-size: 40px 40px; background-color:" + backgroundColor + + "; border: none; background-position: center; cursor: pointer; border-radius: 10px; position: relative; margin: 4px 0px; " + button.setAttribute("style", buttonStyle); + + /* status circle definition and CSS */ + + this.status = document.createElement("div"); + this.status.setAttribute("class", "status"); + + /* CSS */ + var length = 20; // for width and height of circle + var statusBackgroundColor = "red" // default background color of service (inactive color) + var posLeft = 30; + var posTop = 20; + var statusStyle = "border-radius: 50%; height:" + length + "px; width:" + length + "px; background-color:" + statusBackgroundColor + + "; position: relative; left:" + posLeft + "px; top:" + posTop + "px;"; + this.status.setAttribute("style", statusStyle); + + /* event listeners */ + + button.addEventListener("mouseleave", function (event) { + button.style.backgroundColor = "#A2E1EF"; + button.style.color = "#000000"; + }); + + button.addEventListener("mouseenter", function (event) { + button.style.backgroundColor = "#FFFFFF"; + button.style.color = "#000000"; + }) + + + this.addEventListener("click", async function () { + + if (!this.active) { + if (this.APIKey != "" && this.BaseID != "" && this.TableName != "") { + // check active flag so once activated, the service doesnt reinit + + console.log("%cTuftsCEEO ", "color: #3ba336;", "Activating Airtable Service"); + + var initSuccessful = await this.service.init(this.APIKey, this.BaseID, this.TableName); + + if (initSuccessful) { + + this.active = true; + this.status.style.backgroundColor = "green"; + } + + } + else { + this.popUpBox(); + } + } + + }); + + + shadow.appendChild(wrapper); + button.appendChild(this.status); + wrapper.appendChild(button); + } + + /* Ask user for API credentials with an alert */ + // DEV: credentials will differ by service + + popUpBox() { + // flags to check if users' input exists + // DEV: add as many as needed + var APIKeyExists = true; + var BaseIDKeyExists = true; + var TableNameExists = true; + + // prompt user for input + // DEV: add as many as needed + var APIKeyResult = prompt("Please enter your API Key:"); + var BaseIDKeyResult = prompt("Please enter your BaseID Key:"); + var TableNameResult = prompt("Please enter your Base Table Name:"); + + // if the user did not input any field, flag nonexistant field + if (APIKeyResult == null || APIKeyResult == "") { + console.log("%cTuftsCEEO ", "color: #3ba336;", "You inserted no API key"); + APIKeyExists = false; + } + // if user did input field, flag existing field and store data + else { + APIKeyExists = true; + this.APIKey = APIKeyResult; + } + + // if the user did not input any field, flag nonexistant field + if (BaseIDKeyResult == null || BaseIDKeyResult == "") { + console.log("%cTuftsCEEO ", "color: #3ba336;", "You inserted no Base key"); + BaseIDKeyExists = false; + } + // if user did input field, flag existing field and store data + else { + BaseIDKeyExists = true; + this.BaseID = BaseIDKeyResult; + } + + // if the user did not input any field, flag nonexistant field + if (TableNameResult == null || TableNameResult == "") { + console.log("%cTuftsCEEO ", "color: #3ba336;", "You inserted no Base Table Name"); + TableNameExists = false; + } + // if user did input field, flag existing field and store data + else { + TableNameExists = true; + this.TableName = TableNameResult; + } + + // proceed if user input an API Key & Base ID field + if (APIKeyExists && BaseIDKeyExists && TableNameExists) { + this.proceed = true; + } + } + + /* allow credentials input through HTML attributes */ + // DEV: add more fields as needed + + // observe the attributes listed + static get observedAttributes() { + return ["apikey", "baseid", "tablename"]; + } + + /* getter and setter methods for credentials.*/ + get apikey() { + return this.getAttribute("apikey"); + } + get baseid() { + return this.getAttribute("baseid"); + } + get tablename() { + return this.getAttribute("tablename"); + } + + + set apikey(val) { + // console.log(val); + if (val) { + this.setAttribute("apikey", val); + } + else { + this.removeAttribute("apikey"); + } + } + + set baseid(val) { + // console.log(val); + if (val) { + this.setAttribute("baseid", val); + } + else { + this.removeAttribute("baseid"); + } + } + + set tablename(val) { + // console.log(val); + if (val) { + this.setAttribute("tablename", val); + } + else { + this.removeAttribute("tablename"); + } + } + + // change the API key + attributeChangedCallback(name, oldValue, newValue) { + // console.log("changing attribute: ", name); + if (name == "apikey") { + console.log("%cTuftsCEEO ", "color: #3ba336;", "new value of apikey:", newValue); + this.APIKey = newValue; + } + else if (name == "baseid") { + console.log("%cTuftsCEEO ", "color: #3ba336;","new value of baseid:", newValue); + this.BaseID = newValue + } + else if (name == "tablename") { + console.log("%cTuftsCEEO ", "color: #3ba336;","new value of tablename:", newValue); + this.TableName = newValue + } + + } + + /* functions on the HTML element */ + + /* get the Service object */ + getService() { + return this.service; + } + + /* get whether the ServiceDock button was clicked */ + getClicked() { + return this.active; + } + + // initialize the service (is not used in this class but available for use publicly) + async init() { + console.log("%cTuftsCEEO ", "color: #3ba336;","apikey attribute value: ", this.APIKey); + console.log("%cTuftsCEEO ", "color: #3ba336;","baseid attribute value: ", this.BaseID); + console.log("%cTuftsCEEO ", "color: #3ba336;","tablename attribute value: ", this.TableName); + var initSuccess = await this.service.init(this.APIKey, this.BaseID, this.TableName); + if (initSuccess) { + this.status.style.backgroundColor = "green"; + return true; + } + else { + return false; + } + } + +} + +// when defining custom element, the name must have at least one - dash +window.customElements.define('service-airtable', serviceairtable); + +/* ServiceDock class Definition */ + +/** Assumes your workspace only consists of two columns of records + * that are "Name" and "Value", each of a single line text type + * @class Service_Airtable + * @example + * var AirtableElement = document.getElementById("service_airtable"); + * AirtableElement.setAttribute("apikey", "APIKEY"); + * AirtableElement.setAttribute("baseid", "BASEID"); + * AirtableElement.setAttribute("tablename", "TABLENAME"); + * AirtableElement.init(); + */ +function Service_Airtable() { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + /* private members */ + + /* + currentData = { + Name_field: {value: Value_field, type: dataTYPE } + }; + */ + let currentData= {}; // contains real-time information of the entries in the cloud + + let recordIDNameMap = {}; // map Name fields to its record ID + + /* DEV: API credentials, add or remove as needed for your API */ + let APIKey = "API KEY"; // default APIKey in case no APIKey is given on init + + let serviceActive = false; // set to true when service goes through init + + let BaseID = "BASE ID"; + let TableName = "Table Name"; + let pollInterval = 1000; // interval at which to continuously poll the external API + + var base = undefined; + var table = undefined; + + var funcAtInit = undefined; // function to call after init + var funcAfterChangeEntryValue = []; // callback function and entry name pairs to call after setEntryValue [[entryName, callback]...] + var funcAfterCreateEntry = []; + var funcAfterDeleteEntry = []; + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + + /** initialize Service_Template + * Starts polling the external API + * this function needs to be executed after executeAfterInit but before all other public functions + * + * @public + * @param {string} APIKey API Key + * @param {string} BaseID Base ID for Table in which data is stored + * @param {string} TableName Table Name of Base + * @param {integer} pollIntervalInput interval at which to get entries from the cloud in MILISECONDS. Default value is 1000 ms. + * @returns {boolean} True if service was successsfully initialized, false otherwise + * @example + * var AirtableElement = document.getElementById("service_airtable"); + * var myAirtable = AirtableElement.getService(); + * myAirtable.init("APIKEY", "BASEID", "TABLENAME") + */ + async function init(APIKeyInput, BaseIDInput, TableNameInput, pollIntervalInput) { + + var credentialsValid = false; + + // if an APIKey was specified, use the specified key + if (APIKeyInput !== undefined) { + APIKey = APIKeyInput; + } + + // if an BaseIDKey was specified, use the specified key + if (BaseIDInput !== undefined) { + BaseID = BaseIDInput; + } + + // if an TableName was specified, use the specified key + if (TableNameInput !== undefined) { + TableName = TableNameInput; + + } + + // console.log(BaseID); + + const Airtable = require('airtable'); + + try { + base = new Airtable({ apiKey: APIKey }).base(BaseID); + table = base(TableName); + credentialsValid = true; + } + catch (e) { + return false; + } + + // console.log(base); + // console.log(apiKey); + + + // if the credentials are valid authorization + if (credentialsValid) { + + if (pollIntervalInput !== undefined) { + pollInterval = await pollIntervalInput; + } + + beginDataStream(function () { + // console.log(funcAtInit) + serviceActive = true; + // call funcAtInit if defined from executeAfterInit + if (funcAtInit !== undefined) { + funcAtInit(); + } + }); + + return true; + } + else { + return false; + } + } + + /** Get the callback function to execute after service is initialized + * This function needs to be executed before calling init() + * + * @public + * @param {function} callback function to execute after initialization + * @example + * myAirtable.executeAfterInit( function () { + * // your API code + * }) + */ + function executeAfterInit(callback) { + // Assigns global variable funcAtInit a pointer to callback function + funcAtInit = callback; + } + + /** Get whether the Service was initialized or not + * @public + * @returns {boolean} whether Service was initialized or not + * @example + * if (myAirtable.isActive() == true) + * // do something if Airtable service is active + */ + function isActive() { + return serviceActive; + } + + /** Get all entries on the cloud. + * @public + * @returns {object} all entries on the cloud, an object with Name fields as keys and Value fields as values + * @example + * let entriesInfo = myAirtable.getEntriesInfo(); + * console.log(entriesInfo); // display all entries information + * + * // display message entry info + * let messageEntryType = entriesInfo["message"].type; + * let messageEntryValue = entriesInfo["message"].value; + * console.log("message has value of ", messageEntryValue, "that is of type ", messageEntryType); + */ + function getEntriesInfo () { + return currentData; + } + + /** Update Value of a entry on Airtable by entry Name. If the entry does not exist, create a new entry and assign given properties. + *
+ * NotStrict property indicates that the data type of the Value supplied will be implicitly converted. For example, allowing for setting an INT entry's value with a string, "123" or a STRING entry's value with * a number. This method exists for convenience but please avoid using it extensively as it can lead to unpredictable outcomes. + * @public + * @param {any} name Name of entry + * @param {any} value new Value to update entry to. + * @param {any} callback function to run after new entry value or new entry creation + * @example + * // set a string type Value of a Entry and display + * myAirtable.setEntryValueNotStrict("message", 123, function () { + * let messageValue = myAirtable.getEntryValue("message"); + * console.log("message: ", messageValue); // display the updated value, which will be 123. + * }) + * // set value of a boolean Entry + * myAirtable.setEntryValueNotStrict("aBoolean", true); + * + * // set value of an integer Entry + * myAirtable.setEntryValueNotStrict("anInteger", 10); + * myAirtable.setEntryValueNotStrict("anInteger", "10"); + * + * // set value of a double Entry + * myAirtable.setEntryValueNotStrict("aDouble", 5.2); + * myAirtable.setEntryValueNotStrict("aDouble", "5.2"); + */ + async function setEntryValueNotStrict(name, value, callback) { + if (currentData[name] == undefined) { + /* no entries exist in the database with the given name */ + + // throw new Error("Entry with given name does not exist in the database. Please supply a Name of a Entry that exists on Airtable.") + createEntry(name, value, callback); + } + else { + /* the entry exists in the database */ + + + // append callback function + // if (callback != undefined) { + + // let index = getEmptyIndex(funcAfterChangeEntryValue); + + // if (index === -1) + // funcAfterChangeEntryValue.push([name, callback]) + // else + // funcAfterChangeEntryValue[index] = [name, callback] + // } + setTimeout(callback, 1500); + + updateValue(name, value); // update entry in database + } + } + + /** Update Value of a entry on Airtable by entry Name. If the entry does not exist, create a new entry and assign given properties. + *
+ * The value of the Entry is not implicitly converted. E.g. setting a string Entry's value with a number will no longer work + * @public + * @param {string} name Name of entry + * @param {any} value new Value to update entry to + * @param {any} callback function to run after new entry value or new entry creation + * @example + * // set a string type Value of a Entry and display + * myAirtable.setEntryValueNotStrict("message", 123, function () { + * let messageValue = myAirtable.getEntryValue("message"); + * console.log("message: ", messageValue); // display the updated value, which will be 123. + * }) + * // set value of a boolean Entry + * myAirtable.setEntryValueNotStrict("aBoolean", true); + * + * // set value of an integer Entry + * myAirtable.setEntryValueNotStrict("anInteger", 10); + * + * // set value of a double Entry + * myAirtable.setEntryValueNotStrict("aDouble", 5.2); + */ + async function setEntryValueStrict(name, value, callback) { + if (currentData[name] == undefined) { + /* no entries exist in the database with the given name */ + + // throw new Error("Entry with given name does not exist in the database. Please supply a Name of a Entry that exists on Airtable."); + createEntry(name, value, callback); + } + else { + /* the entry exists in the database */ + + let dataType = getValueTypeStrict(value); + + if (dataType === "INT" && typeof value === "string") + throw new TypeError("A new Value of string data type was given, but the string does not at least contain one chracter that is not a number. E.g. '123'. Please supply a string that contains at least one character that is not a number, or use the less strict alternative method, setEntryValueNotStrict(). NOTE: getEntryValue() of a Entry set to '123' with " + + "setEntryValueNotStrict() will still return a javascript number type"); + + let expectedDataType = currentData[name].type; + console.log("%cTuftsCEEO ", "color: #3ba336;", dataType, " vs ", expectedDataType); + if (dataType === expectedDataType) { + /* the data type of given value is the same as one stored */ + + // append callback function + // if (callback != undefined) { + // let index = getEmptyIndex(funcAfterChangeEntryValue); + // if (index === -1) + // funcAfterChangeEntryValue.push([name, callback]) + // else + // funcAfterChangeEntryValue[index] = [name, callback] + // } + setTimeout(callback, 1500); + + updateValue(name, value); // update entry in database + } + else { + // expected a STRING but got an INT + if (dataType === "INT" && expectedDataType === "STRING") { + console.error("%cTuftsCEEO ", "color: #3ba336;", "Expected a Value of type STRING but got an INT. This could happen if a string value you supplied is entirely of a number. E.g. '123'. " + + "Please supply a string that contains at least one character that is not a number, or setuse the less strict alternative method, setEntryValueNotStrict(). NOTE: getEntryValue() of a Entry set to '123' with " + + "setEntryValueNotStrict() will still return a javascript number type"); + } + else if (dataType === "STRING" && expectedDataType === "INT") { + console.error("%cTuftsCEEO ", "color: #3ba336;", "Expected a Value of type INT but got a STRING. Please supply a number."); + } + + throw new TypeError("Could not update value of entry on Airtable. The given value is not of the data type defined for the entry in the database"); + } + } + } + + + /** Get the Value field associated with a entry by its Name + * @public + * @param {string} name Name of entry + * @returns {any} the Value field in any JS data type. data type conversion is implicit. + * @example + * let value = myAirtable.getEntryValue("message"); + * console.log("message: ", value); + */ + function getEntryValue(name) { + return currentData[name].value; + } + + /** Delete entry from the Airtable database given its Name field. + * @public + * @param {any} name the Name of entry to delete + * @param {any} callback callback function to run after entry deletion + * @example + * myAirtable.deleteEntry("message", function () { + * let entriesInfo = myAirtable.getEntriesInfo(); + * console.log("entriesInfo: ", entriesInfo); // entriesInfo will no longer contain the entry that was deleted + * }) + */ + const deleteEntry = async (entryName, callback) => { + try { + + // delete all entries in Airtable database with given entryName for Name + let ids = getAllRecordsIDsForName(entryName); + + if (ids.length == 0) + throw new Error("Could not delete entry with name, " + entryName.toString()+ ", as it does not exist"); + + for (let i = 0; i < ids.length; i++) { + let id = ids[i]; + let deletedRecord = await table.destroy(id); + } + + // append callback function + // if (callback != undefined) { + // let index = getEmptyIndex(funcAfterDeleteEntry); + // if (index === -1) + // funcAfterDeleteEntry.push([entryName, callback]) + // else + // funcAfterDeleteEntry[index] = [entryName, callback] + // } + setTimeout( callback, 2000); + + } catch (err) { + throw new Error(err); + } + }; + + /** Create a new entry given its Name field and Value field. If a entry with given name already exists, the method will throw an Error. + * @public + * @param {string} name name of entry to create + * @param {any} value value to give entry (can be of any JS data type) + * @param {function} callback function to run after entry creation + * @example + * myAirtable.createEntry("aBoolean", false, function () { + * let aBoolean = myAirtable.getEntryValue("aBoolean"); + * if (aBoolean == false) + * console.log ("aBoolean is false"); + * }) + * + */ + const createEntry = async (entryName, entryValue, callback) => { + try { + + if (currentData[entryName] == undefined) { + /* entry with the given name does not yet exist */ + + let convertedValue = convertToString(entryValue); + createName({ Name: entryName, Value: convertedValue }); // create Entry in database + + // append callback function + // if (callback != undefined) { + // let index = getEmptyIndex(funcAfterCreateEntry); + // if (index === -1) + // funcAfterCreateEntry.push([entryName, callback]) + // else + // funcAfterCreateEntry[index] = [entryName, callback] + // } + setTimeout(callback, 1500); + } + else { + throw new Error("A entry with the name, " + entryName.toString() + ", already exists"); + } + } + catch (err) { + console.error(err); + } + } + + ////////////////////////////////////////// + // // + // Private Functions // + // // + ////////////////////////////////////////// + + /** Update the Value field associated with a Name + * @private + * @param {string} name + * @param {string} newValue + */ + function updateValue(name, newValue) { + var recordIDs = recordIDNameMap[name]; + var convertedValue = convertToString(newValue); + + if (currentData[name].value == convertedValue) { + /* value to update to is the same as value already in currentData */ + + // execute funcAfterChangeEntryValue since value won't change + for (let j = 0; j < funcAfterChangeEntryValue.length; j++) { + if (funcAfterChangeEntryValue[j] !== undefined) { + console.log("%cTuftsCEEO ", "color: #3ba336;", funcAfterChangeEntryValue) + let changedEntry = name; + let expectedEntry = funcAfterChangeEntryValue[j][0]; + + if (expectedEntry === changedEntry) { + funcAfterChangeEntryValue[j][1](); + funcAfterChangeEntryValue[j] = undefined; + // console.log("After execution, funcAfterChangeEntryValue: ", funcAfterChangeEntryValue); + } + } + } + } + else { + for (let i = 0; i < recordIDs.length; i++) { + let recordID = recordIDs[i]; + var requestBody = { Name: name, Value: convertedValue }; + updateRecord(recordID, requestBody); + } + } + } + + /** get an initial reading of the table, and then initialize global variable currentData + * @private + * + */ + async function beginDataStream(callback) { + var records = await base(TableName).select().firstPage(function(err, records) { + if (err) { + console.error("%cTuftsCEEO ", "color: #3ba336;", err); + return false; + } + // initialize recordIDNameMap + populateRecordIDNameMap(records); + + // initialize currentData global variable + populateCurrentData(records); + + // console.log("currentData: ", currentData); + setTimeout( function () { + + setInterval(async function () { + + // get all records in Airtable + var records = await base(TableName).select().firstPage(); + + // if the object is defined and not boolean false + if (records) { + + let changedEntries = []; + let createdEntries = []; + let deletedEntries = []; + + // get entries from the database + let newEntries = {}; + for (var key in records) { + var name = records[key].fields.Name; + var value = records[key].fields.Value; + if (name != undefined) { + newEntries[name] = convertToDataType(value); + } + } + + // populate recordIDNameMap + populateRecordIDNameMap(records); + + // look for discrepancies between newEntries and currentData + + let changeExists = false; + // go through newEntries and check if all entries in records exists correspondingly to currentData + for (var key in newEntries) { + if (key != undefined) { + if (currentData[key] !== undefined && newEntries[key] !== undefined) { + /* values are defined for the key */ + if (currentData[key].value !== newEntries[key].value) { + /* values are different */ + // console.log("Different values detected in: ", key); + changedEntries.push(key); + changeExists = true; + } + + } + else { + /* a entry was created in records and does not yet show in currentData*/ + // console.log("A entry was created: ", key); + // console.log("newEntries: ", newEntries); + // console.log("currentData: ", currentData); + createdEntries.push(key); + // console.log(createdEntries); + changeExists = true; + } + } + } + + // go through currentData and check if all entries in newEntries exists correspondingly to records + for (let key in currentData) { + if (key != undefined) { + if (currentData[key] === undefined || newEntries[key] === undefined) { + /* a entry was destroyed in newEntries and does not yet show in currentData*/ + // console.log("A entry was destroyed: ", key); + deletedEntries.push(key); + changeExists = true; + } + } + } + + // if change exists, update currentData + if (changeExists === true) { + populateCurrentData(records); + + // console.log("NEW CURRENTDAAT: ", currentData); + + /* execute any needed callback functions */ + + for (let i = 0; i < changedEntries.length; i++ ) { + for (let j = 0 ; j < funcAfterChangeEntryValue.length; j++) { + if (funcAfterChangeEntryValue[j] !== undefined) { + let changedEntry = changedEntries[i]; + let expectedEntry = funcAfterChangeEntryValue[j][0]; + if (expectedEntry === changedEntry) { + funcAfterChangeEntryValue[j][1](); + funcAfterChangeEntryValue[j] = undefined; + } + } + } + } + + for (let i = 0; i < createdEntries.length; i++) { + for (let j = 0; j < funcAfterCreateEntry.length; j++) { + if (funcAfterCreateEntry[j] !== undefined) { + let createdEntry = createdEntries[i]; + let expectedEntry = funcAfterCreateEntry[j][0]; + // console.log(expectedEntry, " vs ", createdEntry); + if (expectedEntry === createdEntry) { + funcAfterCreateEntry[j][1](); + funcAfterCreateEntry[j] = undefined; + } + } + } + } + + for (let i = 0; i < deletedEntries.length; i++) { + for (let j = 0; j < funcAfterDeleteEntry.length; j++) { + if (funcAfterDeleteEntry[j] !== undefined) { + let deletedEntry = deletedEntries[i]; + let expectedEntry = funcAfterDeleteEntry[j][0]; + if (expectedEntry === deletedEntry) { + funcAfterDeleteEntry[j][1](); + funcAfterDeleteEntry[j] = undefined; + } + } + } + } + + } + + } + }, pollInterval) + + callback(); + }, 2000); + + }); + } + + /** Update the record(row) with given fields + * @private + * @param {integer} rowNumber row number to update + * @param {object} fields an object with given fields to update row with + */ + async function updateRecord(recordID, fields) { + const updatedRecord = await table.update(recordID, fields); + // console.log(minifyRecord(updatedRecord)); + } + + /** Creates a new entry of specified data fields that gets pushed to Airtable + * @private + * @param {string} fields passed in data fields + */ + const createName = async (fields) => { + const createdName = await table.create(fields); + // console.log(minifyRecord(createdName)); + }; + + /** Get the content of a record/row in minified format + * @private + * @param {any} record + * @returns {object} + */ + const minifyRecord = (record) => { + return { + id: record.id, + fields: record.fields, + }; + }; + + /** Display a record by its recordID + * @private + * @param {any} id + */ + const getRecordById = async (id) => { + const record = await table.find(id); + // console.log(record); + }; + + + /** Get 50 pieces of "row" information + * @private + * @returns records + */ + const getRecords = async () => { + const records = await table.select({ + maxRecords: 50, view: 'Main View' + }).firstPage(); + + return records; + } + + + /** convert a string variable to a JS variable of its presumed data type + * @private + * @param {string} input + * @returns {any} type converted variable + */ + function convertToDataType(input) { + //input = input.trim(); + var convertedInput; + // string is not a pure number + if (isNaN(input)) { + // string is a boolean + if (input == "True" || input == "true") { + convertedInput = true; + } + else if (input == "False" || input == "false") { + convertedInput = false; + } + else if (input == undefined) { + convertedInput = ""; + } + // string is just a string + else { + convertedInput = input; + } + } + // string is a pure number or spaces + else { + // string is of spaces + if(checkCompletelySpace(input)){ + convertedInput = input + } + // string is a number + else { + convertedInput = Number(input); + } + } + return convertedInput + } + + /** checks if a given string is completely spaces + * @private + * @param {string} stringInput + */ + function checkCompletelySpace(stringInput) { + if (stringInput.length == 1) { + if (stringInput == " ") { + return true + } + else { + return false + } + } + else { + if (stringInput[stringInput.length - 1] != " ") { + return false + } + else { + // console.log("%cTuftsCEEO ", "color: #3ba336;", stringInput.slice(0, stringInput.length - 1)) + return checkCompletelySpace(stringInput.slice(0, stringInput.length - 1)) + } + } + } + + /** Convert any variable to its string format for Airtable + * @private + * @param {any} input + * @returns {string} input converted to string + */ + function convertToString(input) { + var convertedInput = input; + // input is not a pure number + if (typeof input == "boolean") { + if (input) { + convertedInput = "true"; + } + else { + convertedInput = "false"; + } + } + else if (typeof input == "number") { + convertedInput = input.toString(); + } + + return convertedInput + } + + /** Get all the entries only in 'Name' column, which are keys + * @private + * @returns {array} + */ + function getNames() { + var names = []; + + for (var key in currentData) { + names.push(key); + } + + return names; + } + + /** + * + * @private + * @param {any} array + * @returns {number} + */ + function getEmptyIndex (array) { + if (array.length === 0 ) + return -1; + else { + + for (let i = 0; i < array.length; i++) { + if (array[i] == undefined) + return i; + } + + return -1; + } + + } + + /** + * @private + * @param {any} records + */ + function populateRecordIDNameMap (records) { + + recordIDNameMap = {}; // re initialize recordIDNameMap + + for (let key in records) { + var name = records[key].fields.Name; + var recordID = records[key].id; + + if (recordIDNameMap[name] !== undefined) { + /* a record of a entry with the name already exists in recordIDNameMap */ + + recordIDNameMap[name].push(recordID); + } + else { + /* recordIDNameMap does not contain a entry with the name */ + + recordIDNameMap[name] = []; // make new array + recordIDNameMap[name].push(recordID); + } + + } + + } + + /** + * + * @private + * @param {any} records + */ + function populateCurrentData (records) { + currentData = {}; // reinitialize currentData in case some info was deleted outside + for (let key in records) { + var name = records[key].fields.Name; + var value = records[key].fields.Value; + + if (name != undefined) { + currentData[name] = { + "value": undefined, + "type": undefined + }; + + let convertedValue = convertToDataType(value); + let dataType = getValueTypeStrict(convertedValue); + + currentData[name].value = convertedValue; + currentData[name].type = dataType; + } + } + } + + /** + * @private + * @param {any} name + * @returns {array} array of Airtable record ids + */ + function getAllRecordsIDsForName(name) { + let arrayIds = []; + + let recordIds = recordIDNameMap[name]; + + if (recordIds !== undefined) + for ( let i = 0; i < recordIds.length; i++ ) { + let recordId = recordIds[i]; + + arrayIds.push(recordId); + } + + return arrayIds; + } + + /** Helper function for getting data types in a format + * + * @private + * @param {any} new_value the variable containing the new value of a entry + * @returns {any} data type of entry + */ + function getValueType(new_value) { + //if the value is not a number + if (isNaN(new_value)) { + //if the value is a boolean + if (new_value == "true" || new_value == "false" || new_value == "True" || new_value == "False") { + return "BOOLEAN"; + } + //if the value is a string + return "STRING"; + } + //value is a number + else { + //if value is an integer + if (Number.isInteger(parseFloat(new_value))) { + return "INT" + } + //if value is a double + else { + return "DOUBLE" + } + } + } + + /** + * @private + * @param {any} new_value + * @returns {string} data type of entry + */ + function getValueTypeStrict(new_value) { + //if the value is a boolean + if (typeof new_value === "boolean") { + return "BOOLEAN"; + } + else { + if (isNaN(new_value) === false) { + if (Number.isInteger(parseFloat(new_value))) { + return "INT" + } + //if value is a double + else { + return "DOUBLE" + } + } + else { + return "STRING"; + } + } + } + + /** Helper function for converting values to correct type based on data type + * + * @private + * @param {string} valueType data type of value in systemlink format + * @param {string} value value to convert + * @returns {any} converted value + */ + function getValueFromType(valueType, value) { + if (valueType == "BOOLEAN") { + if (value == "true") { + return true; + } + else { + return false; + } + } + else if (valueType == "STRING") { + return value; + } + else if (valueType == "INT" || valueType == "DOUBLE") { + return parseFloat(value); + } + return value; + } + + + /* public members */ + return { + init: init, + executeAfterInit, executeAfterInit, + isActive: isActive, + setEntryValueNotStrict: setEntryValueNotStrict, + setEntryValueStrict: setEntryValueStrict, + getEntriesInfo: getEntriesInfo, + getEntryValue: getEntryValue, + createEntry: createEntry, + deleteEntry: deleteEntry + } +} + +require=function(){return function t(e,r,n){function o(a,s){if(!r[a]){if(!e[a]){var c="function"==typeof require&&require;if(!s&&c)return c(a,!0);if(i)return i(a,!0);var u=new Error("Cannot find module '"+a+"'");throw u.code="MODULE_NOT_FOUND",u}var f=r[a]={exports:{}};e[a][0].call(f.exports,function(t){return o(e[a][1][t]||t)},f,f.exports,t,e,r,n)}return r[a].exports}for(var i="function"==typeof require&&require,a=0;a=400?function(){var r=e&&e.error&&e.error.type?e.error.type:"UNEXPECTED_ERROR",n=e&&e.error&&e.error.message?e.error.message:"An unexpected error occurred";return new c(r,n,t)}():null;var r},d.prototype.doCall=function(t){return this.table(t)},d.prototype.getId=function(){return this._id},d.createFunctor=function(t,e){var r=new d(t,e),o=function(){return r.doCall.apply(r,arguments)};return n(["table","makeRequest","runAction","getId"],function(t){o[t]=r[t].bind(r)}),o._base=r,o.tables=r.tables,o},e.exports=d},{"./airtable_error":1,"./exponential_backoff_with_jitter":5,"./http_headers":7,"./package_version":10,"./promise":11,"./run_action":14,"./table":15,"lodash/assign":164,"lodash/forEach":168,"lodash/get":169,"lodash/isPlainObject":184,request:203}],3:[function(t,e,r){"use strict";var n=t("./promise");e.exports=function(t,e,r){return function(){var o;if("function"!=typeof arguments[o=void 0===r?arguments.length>0?arguments.length-1:0:r]){for(var i=[],a=Math.max(arguments.length,o),s=0;s1&&console.warn("Airtable: `select` takes only one parameter, but it was given "+arguments.length+" parameters. 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console.log("%cTuftsCEEO ", "color: #3ba336;", "wsPorts:", wsPort); + + // select device + wsPort = await navigator.serial.requestPort({ + // filters:[filter] + }); + + // wait for the wsPort to open. + try { + await wsPort.open({ baudRate: 115200 }); + } + catch (er) { + + if (er.message.indexOf("baudrate") > -1) { + // requires different baudRate syntax + //console.log("%cTuftsCEEO ", "color: #3ba336;", "baudRate needs to be baudrate"); + + await wsPort.open({ baudrate: 115200 }); + } + else if (er.message.indexOf("close") > -1) { + // error is due to unsuccessful closing of previous wsPort + await wsPort.close(); + + consoleError("Unsuccessful closing of previous wsPort"); + + throw {code: 10001, message: er.message}; + } + else if (er.message.indexOf("open") > -1) { + // error in wsPort.open was because it was already open + /* "failed to open serial wsPort" */ + try { + await wsPort.close(); + } + catch (err) { + consoleError("wsPort could not be opened was because it was already open"); + throw { code: 10002, message: err.message }; + } + } + else { + throw { code: 10003, message: er.message }; + } + + await wsPort.close(); + } + + if (wsPort.readable) { + success = true; + } + else { + success = false; + } + + return success; + + } catch (e) { + if (e.message.indexOf("close") > -1) { + await wsPort.close(); + throw { code: 10004, message: e.message } + } + else { + consoleError("Cannot read wsPort: ", e); + throw { code: 10005, message: e.message } + } + } + } + + /** Stream incoming data from hardware through web serial + * Error Code: 101XX + * @public + */ + /** Stream incoming data from hardware through web serial + * and take parser interface and continuously feed it raw data + * @param {function} parser parser function + */ + const streamData = async function (parser) { + try { + + var firstReading = true; + // read when port is set up + while (wsPort.readable) { + + // initialize readers + const decoder = new TextDecoderStream(); + const readableStreamClosed = wsPort.readable.pipeTo(decoder.writable); + reader = decoder.readable.getReader(); + + // continuously get + while (true) { + try { + // read UJSON RPC stream ( actual data in {value} ) + ({ value, done } = await reader.read()); + + // console.log("%cTuftsCEEO ", "color: #3ba336;", value); + + //concatenate UJSONRPC packets into complete JSON objects + if (value) { + await parser(value); + } + if (done) { + serviceActive = false; + // reader has been canceled. + console.log("%cTuftsCEEO ", "color: #3ba336;", "[readLoop] DONE", done); + } + } + // error handler + catch (error) { + console.log("%cTuftsCEEO ", "color: #3ba336;", '[readLoop] ERROR', error); + + serviceActive = false; + + funcAfterDisconnect(); + + funcAfterError("SPIKE Prime hub has been disconnected"); + + writer.close(); + //await writer.releaseLock(); + await writableStreamClosed; + + reader.cancel(); + //await reader.releaseLock(); + await readableStreamClosed.catch(reason => { }); + + await wsPort.close(); + + writer = undefined; + reader = undefined; + streamParser = undefined; + + break; // stop trying to read + } + } // end of: while (true) [reader loop] + + // release the lock + reader.releaseLock(); + + } // end of: while (wsPort.readable) [checking if readable loop] + console.log("%cTuftsCEEO ", "color: #3ba336;", "- wsPort.readable is FALSE") + } // end of: trying to open wsPort + catch (e) { + serviceActive = false; + // Permission to access a device was denied implicitly or explicitly by the user. + console.log("%cTuftsCEEO ", "color: #3ba336;", 'ERROR trying to open:', e); + } + } + /** + * + * @param {any} command + */ + const write = function (command) { + setupWriter(); + writer.write(command); + } + + const executeAfterConnect = (f) => { (typeof f === "function") ? funcAfterConnect = f : {}}; + const executeAfterDisconnect = (f) => { (typeof f === "function") ? funcAfterDisconnect = f : {}}; + const executeAfterError = (f) => { (typeof f === "function") ? funcAfterError = f : {}}; + + /** Set up writer object for sending data + * @private + */ + const setupWriter = function () { + // if writer not yet defined: + if (typeof writer === 'undefined') { + // set up writer for the first time + const encoder = new TextEncoderStream(); + writableStreamClosed = encoder.readable.pipeTo(wsPort.writable); + writer = encoder.writable.getWriter(); + } + } + + /** console log + * @private + * @param {string} m + */ + const CONSOLELOG = function (m) { + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + + return { + init: init, + streamData: streamData, + write: write, + // key event callback receivers + executeAfterDisconnect: executeAfterDisconnect, + executeAfterConnect: executeAfterConnect, + executeAfterError: executeAfterError + } +} +function _SpikeRPC(_virtualSpike) { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // flag for development + let dev = undefined; + // ServiceDock objects + let webSerial = new _WebSerial(); + + // flag for when RPC is pure micropython + let micropython_interpreter = false; + + //define for json concatenation + let jsonline = ""; + // contains latest full json object from SPIKE readings + let lastUJSONRPC = undefined; + + const VENDOR_ID = 0x0694; // LEGO SPIKE Prime Hub + // common characters to send (for REPL/uPython on the Hub) + const CONTROL_C = '\x03'; // CTRL-C character (ETX character) + const CONTROL_D = '\x04'; // CTRL-D character (EOT character) + const RETURN = '\x0D'; // RETURN key (enter, new line) + + // servicedock functions passed down from main Service + var funcAfterPrint = (m) => { }; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => { }; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => {}; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => {}; // function to call after SPIKE Prime is connected + var funcWithStream = () => {} // function to call during SPIKE Prime data stream + + + let updateHubPortsInfo = undefined; + let PrimeHubEventHandler = undefined; + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + const init = async function (isDev, portsUpdater, hubEventsUpdater) { + try { + dev = isDev; + updateHubPortsInfo = portsUpdater; + PrimeHubEventHandler = hubEventsUpdater; + + let connected = await webSerial.init(isDev); + if (connected === true) + webSerial.streamData(parsePacket); + + return connected + + } + catch (e) { + /* Catch and display errors */ + if (e.code == 10001) { + funcAfterError("Please reconnect your hub. If error persists, refresh this web environment."); + } + else if (e.code == 10002) { + funcAfterError("Please check if you have any other window or app currently connected to your hub."); + } + else if (e.code == 10003) { + if (isDev) + consoleError("Please try again. If error persists, refresh this environment." + e.message); + else + consoleError("Please try again. If error persists, refresh this environment."); + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else if (e.code == 10004) { + if (isDev) + consoleError("Please try again. If error persists, refresh this environment." + e.message); + else + consoleError("Please try again. If error persists, refresh this environment."); + consoleError(e.message); + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else if (e.code == 10005) { + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else { + consoleError(e); + } + return false; + } + } + + const sendDATA = async function (command) { + // look up the command to send + var commands = command.split("\n"); // split on new line + + // ignore console logging trigger_current_state (to avoid it spamming) + if (command.indexOf("trigger_current_state") === -1) + devConsoleLog("sendDATA: " + commands); + + // send it in micropy if micropy reached + if (micropython_interpreter) { + + for (var i = 0; i < commands.length; i++) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) + + // trim trailing, leading whitespaces + var current = commands[i].trim(); + + webSerial.write(current); + webSerial.write(RETURN); // extra return at the end + } + } + // expect json scripts if micropy not reached + else { + // go through each line of the command + // trim it, send it, and send a return... + for (var i = 0; i < commands.length; i++) { + + //console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) + + current = commands[i].trim(); + //console.log("%cTuftsCEEO ", "color: #3ba336;", "current", current); + // turn string into JSON + + //string_current = (JSON.stringify(current)); + //myobj = JSON.parse(string_current); + var myobj = await JSON.parse(current); + + // turn JSON back into string and write it out + webSerial.write(JSON.stringify(myobj)); + webSerial.write(RETURN) // extra return at the end + } + } + } + + /** Process a raw packet from data stream + * @public + * @param {any} value + * @param {boolean} [testing=false] + * @param {any} callback + */ + const parsePacket = async function (value) { + + // console.log("%cTuftsCEEO ", "color: #3ba336;", value); + + // stringify the packet to look for carriage return + var json_string = await JSON.stringify(value); + + // remove quotation marks from json_string + var cleanedJsonString = cleanJsonString(json_string); + + jsonline = jsonline + cleanedJsonString; // concatenate packet to data + jsonline = jsonline.trim(); + + // regex search for carriage return + let pattern = /\\r/g; + var carriageReIndex = jsonline.search(pattern); + + // there is at least one carriage return in this packet + if (carriageReIndex > -1) { + //////////////////////////////// NEW parsePacket implementation ongoing since (29/12/20) + + let jsonlineSplitByCR = jsonline.split(/\\r/); // array of jsonline split by \r + + jsonline = ""; //reset jsonline + /* + each element in this array will be assessed for processing, + and the last element, if unable to be processed, will be concatenated to jsonline + */ + + for (let i = 0; i < jsonlineSplitByCR.length; i++) { + + // set lastUJSONRPC to an element in split array + lastUJSONRPC = jsonlineSplitByCR[i]; + // remove any newline character in the beginning of lastUJSONRPC + if (lastUJSONRPC.search(/\\n/g) == 0) + lastUJSONRPC = lastUJSONRPC.substring(2, lastUJSONRPC.length); + + /* Case 1: lastUJSONRPC is a valid, complete, and standard UJSONRPC packet */ + if (lastUJSONRPC[0] == "{" && lastUJSONRPC[lastUJSONRPC.length - 1] == "}") { + + let arrayLeftCurly = lastUJSONRPC.match(/{/g); + let arrayRightCurly = lastUJSONRPC.match(/}/g); + if (arrayLeftCurly.length === arrayRightCurly.length) { + /* Case 1A: complete packet*/ + + await processFullUJSONRPC(lastUJSONRPC, cleanedJsonString, json_string); + } + else { + /* Case 1B: {"i": 1234, "r": {} */ + jsonline = lastUJSONRPC; + } + } + /* Case 3: lastUJSONRPC is a micropy print result */ + else if (lastUJSONRPC != "" && lastUJSONRPC.indexOf('"p":') == -1 && lastUJSONRPC.indexOf('],') == -1 && lastUJSONRPC.indexOf('"m":') == -1 && + lastUJSONRPC.indexOf('}') == -1 && lastUJSONRPC.indexOf('{"i":') == -1 && lastUJSONRPC.indexOf('{') == -1) { + /* filter reboot message */ + var rebootMessage = + 'Traceback (most recent call last): File "main.py", line 8, in File "hub_runtime.py", line 1, in start File "event_loop/event_loop.py", line 1, in run_forever File "event_loop/event_loop.py", line 1, in step KeyboardInterrupt: MicroPython v1.12-1033-g97d7f7dd4 on 2020-09-18; LEGO Technic Large Hub with STM32F413xx Type "help()" for more in formation. >>> HUB: sync filesystems HUB: soft reboot' + let rebootMessageRemovedWS = rebootMessage.replace(/[' ']/g, ""); + let lastUJSONRPCRemovedWS = lastUJSONRPC.replace(/[' ']/g, ""); + if (rebootMessageRemovedWS.indexOf(lastUJSONRPCRemovedWS) == -1) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "micropy print: ", lastUJSONRPC); + if (funcAfterPrint != undefined) + funcAfterPrint(lastUJSONRPC); + } + } + /* Case 3: lastUJSONRPC is only a portion of a standard UJSONRPC packet + Then lastUJSONRPC must be EITHER THE FIRST OR THE LAST ELEMENT in jsonlineSplitByCR + because + an incomplete UJSONRPC can either be + Case 3A: the beginning portion of a UJSONRPC packet with no \r in the end (LAST) + Case 3B: the last portion of a UJSONRPC packet with \r in the end (FIRST) + */ + else { + /* Case 3A: */ + if (lastUJSONRPC[0] == "{") { + jsonline = lastUJSONRPC; + // console.log("TEST (last elemnt in split array): ", i == jsonlineSplitByCR.length-1); + // console.log("%cTuftsCEEO ", "color: #3ba336;", "jsonline was reset to:" + jsonline); + } + /* Case 3B: */ + else { + /* the last portion of UJSONRPC cannot be concatenated to form a full packet + -> purge lastUJSONRPC + */ + } + } + } + } + } + + /** Process a UJSONRPC packet stringified + * + * @private + * @param {any} lastUJSONRPC + * @param {string} [json_string="undefined"] + * @param {boolean} [testing=false] + * @param {any} callback + */ + const processFullUJSONRPC = async function (lastUJSONRPC, cleanedJsonString = undefined, json_string = undefined) { + try { + + // check that the data is JSON parsable + var parsedLastURPC = await JSON.parse(lastUJSONRPC); + + // devConsoleLog(lastUJSONRPC); + + // update hub information using lastUJSONRPC + if (parsedLastURPC["m"] == 0) { + await updateHubPortsInfo(parsedLastURPC.p); + } + + PrimeHubEventHandler(parsedLastURPC, lastUJSONRPC); + + if (funcWithStream !== undefined) { + await funcWithStream(); + } + + } + catch (e) { + // don't throw error when failure of processing UJSONRPC is due to micropython + if (lastUJSONRPC.indexOf("Traceback") == -1 && lastUJSONRPC.indexOf(">>>") == -1 && json_string.indexOf("Traceback") == -1 && json_string.indexOf(">>>") == -1) { + if (funcAfterError !== undefined) { + funcAfterError("Fatal Error: Please close any other window or program that is connected to your SPIKE Prime"); + } + } + consoleError(e); + consoleError("error parsing lastUJSONRPC: "); + consoleError(lastUJSONRPC); + consoleError("current jsonline: "); + consoleError(jsonline); + consoleError("current cleaned json_string: "); + consoleError(cleanedJsonString); + consoleError("current json_string: "); + consoleError(json_string); + consoleError("current value: "); + consoleError(value); + } + } + + /** Clean the json_string for concatenation into jsonline + * @private + * + * @param {any} json_string + * @returns {string} + */ + const cleanJsonString = function (json_string) { + var cleanedJsonString = ""; + json_string = json_string.trim(); + + let findEscapedQuotes = /\\"/g; + + cleanedJsonString = json_string.replace(findEscapedQuotes, '"'); + cleanedJsonString = cleanedJsonString.substring(1, cleanedJsonString.length - 1); + // cleanedJsonString = cleanedJsonString.replace(findNewLines,''); + + return cleanedJsonString; + } + + const executeWithStream = function (f) { + funcWithStream = f; + } + + /** assign event callback and pass callback down + * @param {function} f + */ + const passConnectCallback = function (f) { + funcAfterConnect = f; + webSerial.executeAfterConnect(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passDisconnectCallback = function (f) { + funcAfterDisconnect = f; + webSerial.executeAfterDisconnect(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passErrorCallback = function (f) { + funcAfterError = f; + webSerial.executeAfterError(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passPrintCallback = function (f) { + funcAfterPrint = f; + webSerial.executeAfterPrint(f); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + return { + init: init, + parsePacket: parsePacket, + executeWithStream: executeWithStream, + sendDATA: sendDATA, + // callback passing continuations + passConnectCallback: passConnectCallback, + passDisconnectCallback: passDisconnectCallback, + passErrorCallback: passErrorCallback, + passPrintCallback: passPrintCallback + } +} +_SpikeUjsonLib = {}; + +/** +* +* @memberof! UJSONRPC +* @param {string} text +* @param {function} immediateCB +*/ +_SpikeUjsonLib.displayText = async function displayText(text, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_text", "p": {"text":' + '"' + text + '"' + '} }' + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {integer} x [0 to 4] + * @param {integer} y [0 to 4] + * @param {integer} brightness [1 to 100] + * @param {function} immediateCB + */ +_SpikeUjsonLib.displaySetPixel = async function displaySetPixel(x, y, brightness, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_set_pixel", "p": {"x":' + x + + ', "y":' + y + ', "brightness":' + brightness + '} }'; + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {function} immediateCB + */ +_SpikeUjsonLib.displayClear = async function displayClear(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_clear" }'; + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {string} port + * @param {array} array [1-100,1-100,1-100,1-100] array of size 4 + * @param {function} immediateCB + */ +_SpikeUjsonLib.ultrasonicLightUp = async function ultrasonicLightUp(port, array, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.ultrasonic_light_up", "p": {' + + '"port": ' + '"' + port + '"' + + ', "lights": ' + '[' + array + ']' + + '} }'; + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {string} port + * @param {integer} speed + * @param {integer} stall + * @param {function} immediateCB + */ +_SpikeUjsonLib.motorStart = async function motorStart(port, speed, stall, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_start", "p": {"port":' + + '"' + port + '"' + + ', "speed":' + speed + + ', "stall":' + stall + + '} }'; + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** moves motor to a position + * + * @memberof! UJSONRPC + * @param {string} port + * @param {integer} position + * @param {integer} speed + * @param {boolean} stall + * @param {boolean} stop + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.motorGoRelPos = async function motorGoRelPos(port, position, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.motor_go_to_relative_position"' + + ', "p": {' + + '"port":' + '"' + port + '"' + + ', "position":' + position + + ', "speed":' + speed + + ', "stall":' + stall + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +_SpikeUjsonLib.motorGoDirToPosition = async function motorGoDirToPosition(port, position, direction, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.motor_go_direction_to_position"' + + ', "p": {' + + '"port":' + '"' + port + '"' + + ', "position":' + position + + ', "direction":' + direction + + ', "speed":' + speed + + ', "stall":' + stall + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + +} + +/** + * + * @memberof! UJSONRPC + * @param {string} port + * @param {integer} time + * @param {integer} speed + * @param {integer} stall + * @param {boolean} stop + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.motorRunTimed = async function motorRunTimed(port, time, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.motor_run_timed"' + + ', "p": {' + + '"port":' + '"' + port + '"' + + ', "time":' + time + + ', "speed":' + speed + + ', "stall":' + stall + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {string} port + * @param {integer} degrees + * @param {integer} speed + * @param {integer} stall + * @param {boolean} stop + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.motorRunDegrees = async function motorRunDegrees(port, degrees, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.motor_run_for_degrees"' + + ', "p": {' + + '"port":' + '"' + port + '"' + + ', "degrees":' + degrees + + ', "speed":' + speed + + ', "stall":' + stall + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {integer} time + * @param {integer} lspeed + * @param {integer} rspeed + * @param {string} lmotor + * @param {string} rmotor + * @param {boolean} stop + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.moveTankTime = async function moveTankTime(time, lspeed, rspeed, lmotor, rmotor, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.move_tank_time"' + + ', "p": {' + + '"time":' + time + + ', "lspeed":' + lspeed + + ', "rspeed":' + rspeed + + ', "lmotor":' + '"' + lmotor + '"' + + ', "rmotor":' + '"' + rmotor + '"' + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {integer} degrees + * @param {integer} lspeed + * @param {integer} rspeed + * @param {string} lmotor + * @param {string} rmotor + * @param {boolean} stop + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.moveTankDegrees = async function moveTankDegrees(degrees, lspeed, rspeed, lmotor, rmotor, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.move_tank_degrees"' + + ', "p": {' + + '"degrees":' + degrees + + ', "lspeed":' + lspeed + + ', "rspeed":' + rspeed + + ', "lmotor":' + '"' + lmotor + '"' + + ', "rmotor":' + '"' + rmotor + '"' + + ', "stop":' + stop + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {integer} lspeed + * @param {integer} rspeed + * @param {string} lmotor + * @param {string} rmotor + * @param {function} immediateCB + * @param {function} callback + */ +_SpikeUjsonLib.moveTankSpeeds = async function moveTankSpeeds(lspeed, rspeed, lmotor, rmotor, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.move_start_speeds"' + + ', "p": {' + + '"lspeed":' + lspeed + + ', "rspeed":' + rspeed + + ', "lmotor":' + '"' + lmotor + '"' + + ', "rmotor":' + '"' + rmotor + '"' + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {integer} lpower + * @param {integer} rpower + * @param {string} lmotor + * @param {string} rmotor + * @param {function} callback + */ +_SpikeUjsonLib.moveTankPowers = async function moveTankPowers(lpower, rpower, lmotor, rmotor, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.move_start_powers"' + + ', "p": {' + + '"lpower":' + lpower + + ', "rpower":' + rpower + + ', "lmotor":' + '"' + lmotor + '"' + + ', "rmotor":' + '"' + rmotor + '"' + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {integer} volume + * @param {integer} note + */ +_SpikeUjsonLib.soundBeep = async function soundBeep(volume, note, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.sound_beep"' + + ', "p": {' + + '"volume":' + volume + + ', "note":' + note + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + */ +_SpikeUjsonLib.soundStop = async function soundStop(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.sound_off"' + + '}'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {string} port + * @param {integer} power + * @param {integer} stall + */ +_SpikeUjsonLib.motorPwm = async function motorPwm(port, power, stall, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_pwm", "p": {"port":' + '"' + port + '"' + + ', "power":' + power + ', "stall":' + stall + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {function} callback + */ +_SpikeUjsonLib.getFirmwareInfo = async function getFirmwareInfo(callback, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + + var command = '{"i":' + '"' + randomId + '"' + ', "m": "get_hub_info" ' + '}'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + + // sendDATA(command); + // if (callback != undefined) { + // getFirmwareInfoCallback = [randomId, callback]; + // } +} + +/** + * @memberof! UJSONRPC + * @param {function} immediateCB + */ +_SpikeUjsonLib.triggerCurrentState = async function triggerCurrentState(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + + var command = '{"i":' + '"' + randomId + '"' + ', "m": "trigger_current_state" ' + '}'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + + // sendDATA(command); + // if (callback != undefined) { + // triggerCurrentStateCallback = callback; + // } +} + +/** + * + * @memberof! UJSONRPC + * @param {integer} slotid + */ +_SpikeUjsonLib.programExecute = async function programExecute(slotid, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "program_execute", "p": {"slotid":' + slotid + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + */ +_SpikeUjsonLib.programTerminate = function programTerminate(immediateCB) { + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "program_terminate"' + + '}'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {string} projectName name of the project + * @param {integer} type type of data (micropy or scratch) + * @param {string} data entire data to send in ASCII + * @param {integer} slotid slot to which to assign the program + */ +_SpikeUjsonLib.startWriteProgram = async function startWriteProgram(projectName, type, data, slotid, immediateCB) { + + console.log("%cTuftsCEEO ", "color: #3ba336;", "in startWriteProgram..."); + console.log("%cTuftsCEEO ", "color: #3ba336;", "constructing start_write_program script..."); + + if (type == "python") { + var typeInt = 0; + } + + // construct the UJSONRPC packet to start writing program + + var dataSize = (new TextEncoder().encode(data)).length; + + var randomId = _SpikeUjsonLib.generateId(); + + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "start_write_program", "p": {' + + '"meta": {' + + '"created": ' + parseInt(Date.now()) + + ', "modified": ' + parseInt(Date.now()) + + ', "name": ' + '"' + btoa(projectName) + '"' + + ', "type": ' + typeInt + + ', "project_id":' + Math.floor(Math.random() * 1000) + + '}' + + ', "fname": ' + '"' + projectName + '"' + + ', "size": ' + dataSize + + ', "slotid": ' + slotid + + '} }'; + + console.log("%cTuftsCEEO ", "color: #3ba336;", "constructed start_write_program script..."); + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {string} base64data base64 encoded data to send + * @param {string} transferid transferid of this program write process + * @returns {string} the randomly generated message id used to send this UJSONRPC script + */ +_SpikeUjsonLib.writePackage = function writePackage(base64data, transferid, immediateCB) { + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "write_package", "p": {' + + '"data": ' + '"' + base64data + '"' + + ', "transferid": ' + '"' + transferid + '"' + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + +} + +/** + * @memberof! UJSONRPC + */ +_SpikeUjsonLib.getStorageStatus = function getStorageStatus(immediateCB) { + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "get_storage_status"' + + '}'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * @memberof! UJSONRPC + * @param {string} slotid + */ +_SpikeUjsonLib.removeProject = function removeProject(slotid, immediateCB) { + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "remove_project", "p": {' + + '"slotid": ' + slotid + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** + * + * @memberof! UJSONRPC + * @param {string} oldslotid + * @param {string} newslotid + */ +_SpikeUjsonLib.moveProject = function moveProject(oldslotid, newslotid, immediateCB) { + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "move_project", "p": {' + + '"old_slotid": ' + oldslotid + + ', "new_slotid: ' + newslotid + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +_SpikeUjsonLib.centerButtonLightUp = function centerButtonLightUp(color, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + + ', "m": "scratch.center_button_lights", "p": {' + + '"color": ' + color + + '} }'; + + if (typeof immediateCB === "function") + immediateCB(command, randomId); +} + +/** generate random id for UJSONRPC messages +* @private +* @returns {string} +*/ +_SpikeUjsonLib.generateId = function () { + var generatedID = "" + var characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789"; + + for (var i = 0; i < 4; i++) { + var randomIndex = Math.floor(Math.random() * characters.length); + generatedID = generatedID + characters[randomIndex]; + } + + return generatedID; +} +function _virtualSpike () { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // Service Dock variables + let spikeRPC = new _SpikeRPC(); // Spike communication interface + let ujsonLib = _SpikeUjsonLib; + + // flag for development + let dev = false; + + var colorDictionary = { + 0: "BLACK", + 1: "VIOLET", + 3: "BLUE", + 4: "AZURE", + 5: "GREEN", + 7: "YELLOW", + 9: "RED", + 1: "WHITE", + }; + + // object containing real-time info on devices connected to each port of SPIKE Prime + let ports = + { + "A": { "device": "none", "data": {}}, + "B": { "device": "none", "data": {}}, + "C": { "device": "none", "data": {}}, + "D": { "device": "none", "data": {}}, + "E": { "device": "none", "data": {}}, + "F": { "device": "none", "data": {}} + }; + + // object containing real-time info on hub sensor values + /* + !say the usb wire is the nose of the spike prime + + ( looks at which side of the hub is facing up) + gyro[0] - up/down detector ( down: 1000, up: -1000, neutral: 0) + gyro[1] - rightside/leftside detector ( leftside : 1000 , rightside: -1000, neutal: 0 ) + gyro[2] - front/back detector ( front: 1000, back: -1000, neutral: 0 ) + + ( assume the usb wire port is the nose of the spike prime ) + accel[0] - roll acceleration (roll to right: -, roll to left: +) + accel[1] - pitch acceleration (up: +, down: -) + accel[2] - yaw acceleration (counterclockwise: +. clockwise: -) + + () + pos[0] - yaw angle + pos[1] - pitch angle + pos[2] - roll angle + + */ + let hub = + { + "gyro" : [0, 0, 0], + "accel" : [0, 0, 0], + "pos" : [0, 0, 0], + "gesture" : undefined, // shake, freefall, tapped, doubletapped + "name" : undefined, + "frontEvent" : undefined, // string of real-time info on hub events + "batteryAmount" : 0, // battery [0-100] + "mainButton" : { "pressed": false, "duration": 0 }, + "bluetoothButton" : { "pressed": false, "duration": 0 }, + "leftButton" : { "pressed": false, "duration": 0 }, + "rightButton" : { "pressed": false, "duration": 0 } + } + + // Button states + let hubMainButton = { "pressed": false, "duration": 0 }; + let hubBluetoothButton = { "pressed": false, "duration": 0 }; + let hubLeftButton = { "pressed": false, "duration": 0 }; + let hubRightButton = { "pressed": false, "duration": 0 }; + + // Hub states + let hubProjects = { + "0": "None", + "1": "None", + "2": "None", + "3": "None", + "4": "None", + "5": "None", + "6": "None", + "7": "None", + "8": "None", + "9": "None", + "10": "None", + "11": "None", + "12": "None", + "13": "None", + "14": "None", + "15": "None", + "16": "None", + "17": "None", + "18": "None", + "19": "None" + }; + + let spikeMemory = { + /* States memory */ + ForceSensorWasPressed: false, + waitForNewOriFirst: true, + hubGestures: [], // hubGestures detected since program started or since was_gesture() + hubButtonPresses: [], + lastDetectedColor: undefined, + /* + up: hub is upright/standing, with the display looking horizontally + down: hub is upsidedown with the display, with the display looking horizontally + front: hub's display facing towards the sky + back: hub's display facing towards the earth + leftside: hub rotated so that the side to the left of the display is facing the earth + rightside: hub rotated so that the side to the right of the display is facing the earth + */ + lastHubOrientation: undefined, //PrimeHub orientation read from caught UJSONRPC + /* Spike callbacks */ + funcAfterNewGesture: undefined, + funcAfterNewOrientation: undefined, + funcAfterLeftButtonPress: undefined, + funcAfterLeftButtonRelease: undefined, + funcAfterRightButtonPress: undefined, + funcAfterRightButtonRelease: undefined, + funcAfterNewColor: undefined, + waitUntilColorCallback: undefined, // [colorToDetect, function to execute] + waitForDistanceFartherThanCallback: undefined, // [distance, function to execute] + waitForDistanceCloserThanCallback: undefined, // [distance, function to execute] + funcAfterForceSensorPress: undefined, + funcAfterForceSensorRelease: undefined, + /* array that holds the pointers to callback functions to be executed after a UJSONRPC response */ + responseCallbacks: [], + // Spike write program memory + startWriteProgramCallback: undefined, // [message_id, function to execute ] + writePackageInformation: undefined, // [ message_id, remaining_data, transfer_id, blocksize] + writeProgramCallback: undefined, // callback function to run after a program was successfully written + writeProgramSetTimeout: undefined, // setTimeout object for looking for response to start_write_program + /* callback functions added for Coding Rooms */ + getFirmwareInfoCallback: undefined, + triggerCurrentStateCallback: undefined + } + + var funcAfterPrint = (m) => { }; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => { }; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => { }; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => { }; // function to call after SPIKE Prime is connected + var funcWithStream = () => { } // function to call during SPIKE Prime data stream + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + /** Connect to a webserial port and begin data stream with hub + * @public + */ + const init = async function (isDev) { + try { + dev = isDev; + let connected = await spikeRPC.init(isDev, updateHubPortsInfo, PrimeHubEventHandler); + + devConsoleLog("connected: " + connected); + + await sleep(1000); // wait for at least one UJSONRPC to be parsed + + ujsonLib.triggerCurrentState((c, rid) => sendDATA(c)); + ujsonLib.getFirmwareInfo( (c, rid) => { + sendDATA(c); + spikeMemory.getFirmwareInfoCallback = + [rid, (version) => devConsoleLog("This SPIKE Prime is using Hub OS " + version)]; + }); + + await sleep(2000); // wait for service to init + + return connected; + } + catch (e) { + consoleError(e); + } + // reinit variables in the case of hardware disconnection and Service reactivation + // reader = undefined; + // writer = undefined; + + // initialize web serial connection + // var webSerialConnected = await initWebSerial(); + + // if (webSerialConnected) { + + // start streaming UJSONRPC + // streamUJSONRPC(); + + // await sleep(1000); + + // triggerCurrentState(); + // getFirmwareInfo(function (version) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "This SPIKE Prime is using Hub OS ", version); + // }); + // serviceActive = true; + + // await sleep(2000); // wait for service to init + + // // call funcAtInit if defined + // if (funcAtInit !== undefined) { + // funcAtInit(); + // } + // return true; + // } + // else { + // return false; + // } + } + + /** Write a micropy program into a slot of the SPIKE Prime + * + * @param {string} projectName name of the program + * @param {string} data the micropython source code (expecting an input tag's value). All characters must be ASCII + * @param {integer} slotid slot number to assign the program + * @param {function} callback function to run after program is written + */ + const writeProgram = async function (projectName, data, slotid, callback) { + // check for non-ascii characters + let ascii = /[^\x00-\x7F]/; + if (ascii.test(data)) { + funcAfterError("non-ASCII characters detected in micropy program. Only ASCII characters are supported. Please check your micropy input.") + throw new Error("non-ASCII characters detected in micropy program. Only ASCII characters are supported. Please check your micropy input.") + } + else { + // reinit witeProgramTimeout + if (spikeMemory.writeProgramSetTimeout != undefined) { + clearTimeout(spikeMemory.writeProgramSetTimeout); + spikeMemory.writeProgramSetTimeout = undefined; + } + + // template of python file that needs to be concatenated + var firstPart = "from runtime import VirtualMachine\n\n# Stack for execution:\nasync def stack_1(vm, stack):\n" + var secondPart = "# Setup for execution:\ndef setup(rpc, system, stop):\n\n # Initialize VM:\n vm = VirtualMachine(rpc, system, stop, \"Target__1\")\n\n # Register stack on VM:\n vm.register_on_start(\"stack_1\", stack_1)\n\n return vm" + + // stringify data and strip trailing and leading quotation marks + var stringifiedData = JSON.stringify(data); + stringifiedData = stringifiedData.substring(1, stringifiedData.length - 1); + + var result = ""; // string to which the final code will be appended + + var splitData = stringifiedData.split(/\\n/); // split the code by every newline + + // add a tab before every newline (this is syntactically needed for concatenating with the template) + for (var index in splitData) { + + var addedTab = " " + splitData[index] + "\n"; + + result = result + addedTab; + } + + // replace tab characters + result = result.replace(/\\t/g, " "); + + stringifiedData = firstPart + result + secondPart; + + spikeMemory.writeProgramCallback = callback; + + // begin the write program process + ujsonLib.startWriteProgram(projectName, "python", stringifiedData, slotid, (command, randomId) => { + + spikeMemory.startWriteProgramCallback = [randomId, (blocksize, transferid) => { + + devConsoleLog("in writePackageFunc..."); + + devConsoleLog("stringified the entire data to send: " + stringifiedData); + + // when data's length is less than the blocksize limit of sending data + if (stringifiedData.length <= blocksize) { + devConsoleLog("data's length is less than the blocksize of " + blocksize); + + // if the data's length is not zero (not empty) + if (stringifiedData.length != 0) { + + var dataToSend = stringifiedData.substring(0, stringifiedData.length); // get the entirety of data + devConsoleLog("data's length is not zero, sending the entire data: " + dataToSend); + + var base64data = btoa(dataToSend); // encode the packet to base64 + + ujsonLib.writePackage(base64data, transferid, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); // send the packet + + // writeProgram's callback defined by the user + if (spikeMemory.writeProgramCallback != undefined) { + spikeMemory.writeProgramCallback(); + } + }); + + } + // the package to send is empty, so throw error + else { + throw new Error("package to send is initially empty"); + } + + } + // if the length of data to send is larger than the blocksize, send only a blocksize amount + // and save the remaining data to send packet by packet + else if (stringifiedData.length > blocksize) { + devConsoleLog("data's length is more than the blocksize of " + blocksize); + + var dataToSend = stringifiedData.substring(0, blocksize); // get the first block of packet + devConsoleLog("sending the blocksize amount of data: " + dataToSend) + + var base64data = btoa(dataToSend); // encode the packet to base64 + + ujsonLib.writePackage(base64data, transferid, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); // send the packet + + var remainingData = stringifiedData.substring(blocksize, stringifiedData.length); // remove the portion just sent from data + devConsoleLog("reassigning writePackageInformation with message ID: " + wpRandomId); + devConsoleLog("reassigning writePackageInformation with remainingData: " + remainingData); + + // update package information to be used for sending remaining packets + spikeMemory.writePackageInformation = [wpRandomId, remainingData, transferid, blocksize]; + }); + } + }]; + + sendDATA(command); + + // check if start_write_program received a response after 5 seconds + spikeMemory.writeProgramSetTimeout = setTimeout(function () { + if (spikeMemory.startWriteProgramCallback != undefined) { + funcAfterError("5 seconds have passed without response... Please reboot the hub and try again."); + consoleError("5 seconds have passed without response... Please reboot the hub and try again."); + } + }, 5000) + + }); + } + } + + /** Parse information on devices connected to SPIKE Prime ports + * Effect: Modifies {ports}, {hub} + * @param {object} data_stream portion of prased lastUJSONRPC containing port devices info + * @private + */ + const updateHubPortsInfo = async function (data_stream) { + + var index_to_port = ["A", "B", "C", "D", "E", "F"]; + + // iterate through each port and assign a device_type to {ports} + for (var key = 0; key < 6; key++) { + + let device_value = { "device": "none", "data": {} }; // value to go in ports associated with the port letter keys + + try { + var letter = index_to_port[key]; + + // get SMALL MOTOR information + if (data_stream[key][0] == 48) { + + // parse motor information + var Mspeed = await data_stream[key][1][0]; + var Mangle = await data_stream[key][1][1]; + var Muangle = await data_stream[key][1][2]; + var Mpower = await data_stream[key][1][3]; + + // populate value object + device_value.device = "smallMotor"; + device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; + ports[letter] = device_value; + + } + // get BIG MOTOR information + else if (data_stream[key][0] == 49) { + + // parse motor information + var Mspeed = await data_stream[key][1][0]; + var Mangle = await data_stream[key][1][1]; + var Muangle = await data_stream[key][1][2]; + var Mpower = await data_stream[key][1][3]; + + // populate value object + device_value.device = "bigMotor"; + device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; + ports[letter] = device_value; + } + // get ULTRASONIC sensor information + else if (data_stream[key][0] == 62) { + + // parse ultrasonic sensor information + var Udist = await data_stream[key][1][0]; + + // populate value object + device_value.device = "ultrasonic"; + device_value.data = { "distance": Udist }; + ports[letter] = device_value; + + /* check if callback from wait_for_distance_farther_than() can be executed */ + if (spikeMemory.waitForDistanceFartherThanCallback != undefined) { + let thresholdDistance = spikeMemory.waitForDistanceFartherThanCallback[0]; + + if (Udist > thresholdDistance) { + // current distance is farther than threshold, so execute callback + spikeMemory.waitForDistanceFartherThanCallback[1](); + spikeMemory.waitForDistanceFartherThanCallback = undefined; // reset callback + } + } + + /* check if callback from wait_for_distance_closer_than() can be executed */ + if (spikeMemory.waitForDistanceCloserThanCallback != undefined) { + let thresholdDistance = spikeMemory.waitForDistanceCloserThanCallback[0]; + + if (Udist < thresholdDistance) { + + // current distance is closer than threshold, so execute callback + spikeMemory.waitForDistanceCloserThanCallback[1](); + spikeMemory.waitForDistanceCloserThanCallback = undefined; // reset callback + } + } + } + // get FORCE sensor information + else if (data_stream[key][0] == 63) { + + // parse force sensor information + var Famount = await data_stream[key][1][0]; + var Fbinary = await data_stream[key][1][1]; + var Fbigamount = await data_stream[key][1][2]; + + // convert the binary output to boolean for "pressed" key + if (Fbinary == 1) { + var Fboolean = true; + } else { + var Fboolean = false; + } + // execute callback from ForceSensor.wait_until_pressed() + if (Fboolean) { + // execute call back from wait_until_pressed() if it is defined + if (spikeMemory.funcAfterForceSensorPress !== undefined) + spikeMemory.funcAfterForceSensorPress(); + + // destruct callback function + spikeMemory.funcAfterForceSensorPress = undefined; + + // indicate that the ForceSensor was pressed + spikeMemory.ForceSensorWasPressed = true; + } + // execute callback from ForceSensor.wait_until_released() + else { + // check if the Force Sensor was just released + if (spikeMemory.ForceSensorWasPressed) { + spikeMemory.ForceSensorWasPressed = false; + if (spikeMemory.funcAfterForceSensorRelease !== undefined) + spikeMemory.funcAfterForceSensorRelease(); + spikeMemory.funcAfterForceSensorRelease = undefined; + } + } + + // populate value object + device_value.device = "force"; + device_value.data = { "force": Famount, "pressed": Fboolean, "forceSensitive": Fbigamount } + ports[letter] = device_value; + } + // get COLOR sensor information + else if (data_stream[key][0] == 61) { + + // parse color sensor information + var Creflected = await data_stream[key][1][0]; + var CcolorID = await data_stream[key][1][1]; + var Ccolor = colorDictionary[CcolorID]; + var Cr = await data_stream[key][1][2]; + var Cg = await data_stream[key][1][3]; + var Cb = await data_stream[key][1][4]; + var rgb_array = [Cr, Cg, Cb]; + + // populate value object + device_value.device = "color"; + + // convert Ccolor to lower case because in the SPIKE APP the color is lower case + if (Ccolor !== undefined) + Ccolor = Ccolor.toLowerCase(); + else + Ccolor = "null"; + device_value.data = { "reflected": Creflected, "color": Ccolor, "RGB": rgb_array }; + + // execute wait_until_color callback when color matches its argument + if (spikeMemory.waitUntilColorCallback != undefined) + if (Ccolor == spikeMemory.waitUntilColorCallback[0]) { + spikeMemory.waitUntilColorCallback[1](); + + spikeMemory.waitUntilColorCallback = undefined; + } + + if (spikeMemory.lastDetectedColor != Ccolor) { + + if (spikeMemory.funcAfterNewColor != undefined) { + spikeMemory.funcAfterNewColor(Ccolor); + spikeMemory.funcAfterNewColor = undefined; + } + + spikeMemory.lastDetectedColor = Ccolor; + } + ports[letter] = device_value; + } + /// NOTHING is connected + else if (data_stream[key][0] == 0) { + // populate value object + device_value.device = "none"; + device_value.data = {}; + ports[letter] = device_value; + } + + ports.time = Date.now(); + + //parse hub information + var gyro_x = data_stream[6][0]; + var gyro_y = data_stream[6][1]; + var gyro_z = data_stream[6][2]; + var gyro = [gyro_x, gyro_y, gyro_z]; + hub["gyro"] = gyro; + + var newOri = setHubOrientation(gyro); + // see if currently detected orientation is different from the last detected orientation + if (newOri !== spikeMemory.lastHubOrientation) { + spikeMemory.lastHubOrientation = newOri; + + if (typeof spikeMemory.funcAfterNewOrientation == "function") + spikeMemory.funcAfterNewOrientation(newOri); + spikeMemory.funcAfterNewOrientation = undefined; + } + + var accel_x = data_stream[7][0]; + var accel_y = data_stream[7][1]; + var accel_z = data_stream[7][2]; + var accel = [accel_x, accel_y, accel_z]; + hub["accel"] = accel; + + var posi_x = data_stream[8][0]; + var posi_y = data_stream[8][1]; + var posi_z = data_stream[8][2]; + var pos = [posi_x, posi_y, posi_z]; + hub["pos"] = pos; + + } catch (e) { + console.log(e); + } //ignore errors + } + } + + /** Catch hub events in UJSONRPC + *

Effect:

+ *

Logs in the console when some particular messages are caught

+ *

Assigns the hub events global variables

+ * @private + */ + const PrimeHubEventHandler = async function (parsedUJSON, lastUJSONRPC) { + var messageType = parsedUJSON["m"]; + + //catch runtime_error made at ujsonrpc level + if (messageType == "runtime_error") { + var decodedResponse = atob(parsedUJSON["p"][3]); + + decodedResponse = JSON.stringify(decodedResponse); + consoleError("spike runtime error: " + decodedResponse); + + var splitData = decodedResponse.split(/\\n/); // split the code by every newline + + // execute function after print if defined (only print the last line of error message) + var errorType = splitData[splitData.length - 2]; + + // error is a syntax error + if (errorType.indexOf("SyntaxError") > -1) { + /* get the error line number*/ + var lineNumberLine = splitData[splitData.length - 3]; + devConsoleLog("lineNumberLine: " + lineNumberLine); + var indexLine = lineNumberLine.indexOf("line"); + var lineNumberSubstring = lineNumberLine.substring(indexLine, lineNumberLine.length); + var numberPattern = /\d+/g; + var lineNumber = lineNumberSubstring.match(numberPattern)[0]; + devConsoleLog(lineNumberSubstring.match(numberPattern)); + devConsoleLog("lineNumber: " + lineNumber); + devConsoleLog("typeof lineNumber: " + typeof lineNumber); + var lineNumberInNumber = parseInt(lineNumber) - 5; + devConsoleLog("typeof lineNumberInNumber: " + typeof lineNumberInNumber); + + funcAfterError("line " + lineNumberInNumber + ": " + errorType); + } + else { + funcAfterError(errorType); + } + } + else if (messageType == 0) { + /* + DEV NOTE (26/12/2020): + messageType = 0 is regular UJSONRPC stream. + Pixel matrix SOMETIMES shows in this message, but exactly when is not clear. + */ + // console.log("%cTuftsCEEO ", "color: #3ba336;", lastUJSONRPC); + } + // storage information + else if (messageType == 1) { + + var storageInfo = parsedUJSON["p"]["slots"]; // get info of all the slots + + for (var slotid in storageInfo) { + hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable + } + + } + // battery status + else if (messageType == 2) { + hub.batteryAmount = parsedUJSON["p"][1]; + } + // give center button click, left, right (?) + else if (messageType == 3) { + devConsoleLog(lastUJSONRPC); + if (parsedUJSON.p[0] == "center") { + hub.mainButton.pressed = true; + + if (parsedUJSON.p[1] > 0) { + hub.mainButton.pressed = false; + hub.mainButton.duration = parsedUJSON.p[1]; + } + } + else if (parsedUJSON.p[0] == "connect") { + hub.bluetoothButton.pressed = true; + + if (parsedUJSON.p[1] > 0) { + hub.bluetoothButton.pressed = false; + hub.bluetoothButton.duration = parsedUJSON.p[1]; + } + } + else if (parsedUJSON.p[0] == "left") { + hub.leftButton.pressed = true; + + // execute callback for wait_until_pressed() if defined + if (spikeMemory.funcAfterLeftButtonPress != undefined) { + spikeMemory.funcAfterLeftButtonPress(); + } + spikeMemory.funcAfterLeftButtonPress = undefined; + + if (parsedUJSON.p[1] > 0) { + hub.leftButton.pressed = false; + hub.leftButton.duration = parsedUJSON.p[1]; + + // execute callback for wait_until_released() if defined + if (spikeMemory.funcAfterLeftButtonRelease != undefined) { + spikeMemory.funcAfterLeftButtonRelease(); + } + + spikeMemory.funcAfterLeftButtonRelease = undefined; + } + + } + else if (parsedUJSON.p[0] == "right") { + hub.rightButton.pressed = true; + + // execute callback for wait_until_pressed() if defined + if (spikeMemory.funcAfterRightButtonPress != undefined) { + spikeMemory.funcAfterRightButtonPress(); + } + + spikeMemory.funcAfterRightButtonPress = undefined; + + if (parsedUJSON.p[1] > 0) { + hub.rightButton.pressed = false; + hub.rightButton.duration = parsedUJSON.p[1]; + + // execute callback for wait_until_released() if defined + if (spikeMemory.funcAfterRightButtonRelease != undefined) { + spikeMemory.funcAfterRightButtonRelease(); + } + + spikeMemory.funcAfterRightButtonRelease = undefined; + } + } + + } + else if (messageType == 4) { + var newGesture = parsedUJSON.p; + + if (newGesture == "3") { + hub.gesture = "freefall"; + spikeMemory.hubGestures.push(hub.gesture); + } + else if (newGesture == "2") { + hub.gesture = "shaken"; + spikeMemory.hubGestures.push(hub.gesture); // the string is different at higher level + } + else if (newGesture == "1") { + hub.frontEvent = "doubletapped"; + hub.gesture = "doubletapped"; + spikeMemory.hubGestures.push(hub.gesture); + } + else if (newGesture == "0") { + hub.frontEvent = "tapped"; + hub.gesture = "tapped"; + spikeMemory.hubGestures.push(hub.gesture); + } + devConsoleLog("hubGesture in virtualSpike: " + hub.gesture); + // execute funcAfterNewGesture callback that was taken at wait_for_new_gesture() + if (typeof spikeMemory.funcAfterNewGesture === "function") { + spikeMemory.funcAfterNewGesture(hub.gesture); + spikeMemory.funcAfterNewGesture = undefined; + } + + devConsoleLog(lastUJSONRPC); + + } + else if (messageType == 7) { + funcAfterPrint(">>> Program started!"); + } + else if (messageType == 8) { + funcAfterPrint(">>> Program finished!"); + } + else if (messageType == 9) { + var encodedName = parsedUJSON["p"]; + var decodedName = atob(encodedName); + hub.name = decodedName; + + if (spikeMemory.triggerCurrentStateCallback != undefined) { + spikeMemory.triggerCurrentStateCallback(); + } + } + else if (messageType == 11) { + devConsoleLog(lastUJSONRPC); + } + else if (messageType == 12) { + // this is usually the response from trigger_current_state, don't console log to avoid spam + } + // gives orientation of the hub (leftside, up,..) + else if (messageType == 14) { + /* this data stream is about hub orientation */ + + var newOrientation = parsedUJSON.p; + // console.log(newOrientation); + if (newOrientation == "1") { + spikeMemory.lastHubOrientation = "up"; + } + else if (newOrientation == "4") { + spikeMemory.lastHubOrientation = "down"; + } + else if (newOrientation == "0") { + spikeMemory.lastHubOrientation = "front"; + } + else if (newOrientation == "3") { + spikeMemory.lastHubOrientation = "back"; + } + else if (newOrientation == "2") { + spikeMemory.lastHubOrientation = "rightside"; + } + else if (newOrientation == "5") { + spikeMemory.lastHubOrientation = "leftside"; + } + + devConsoleLog(lastUJSONRPC); + } + else { + devConsoleLog("received response: " + lastUJSONRPC); + + // general parameters check + if (parsedUJSON["r"]) { + if (parsedUJSON["r"]["slots"]) { + + var storageInfo = parsedUJSON["r"]["slots"]; // get info of all the slots + + for (var slotid in storageInfo) { + hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable + } + + } + } + + // getFirmwareInfo callback check + if (spikeMemory.getFirmwareInfoCallback != undefined) { + if (spikeMemory.getFirmwareInfoCallback[0] == parsedUJSON["i"]) { + var version = parsedUJSON["r"]["runtime"]["version"]; + var stringVersion = "" + for (var index in version) { + if (index < version.length - 1) { + stringVersion = stringVersion + version[index] + "."; + } + else { + stringVersion = stringVersion + version[index]; + } + } + // console.log("%cTuftsCEEO ", "color: #3ba336;", "firmware version: ", stringVersion); + spikeMemory.getFirmwareInfoCallback[1](stringVersion); + } + } + + /* See if any of the stored responseCallbacks need to be executed due to this UJSONRPC response */ + for (var index = 0; index < spikeMemory.responseCallbacks.length; index++) { + + var currCallbackInfo = spikeMemory.responseCallbacks[index]; + + if (currCallbackInfo != undefined) { + + if (currCallbackInfo[0] == parsedUJSON["i"]) { + /* the message id of UJSONRPC corresponds to that of a response callback */ + + var response = "null"; + + // parse motor stoppage reason responses + if (parsedUJSON["r"] == 0) { + response = "done"; + } + else if (parsedUJSON["r"] == 2) { + response = "stalled"; + } + + // execute callback with the response + currCallbackInfo[1](response); + + // empty the index of which callback that was just executed + spikeMemory.responseCallbacks[index] = undefined; + } + } + } + + // execute the callback function after sending start_write_program UJSONRPC + if (spikeMemory.startWriteProgramCallback != undefined) { + + devConsoleLog("startWriteProgramCallback is defined. Looking for matching mesasage id: " + spikeMemory.startWriteProgramCallback[0]); + // check if the message id of UJSONRPC corresponds to that of a response callback + if (spikeMemory.startWriteProgramCallback[0] == parsedUJSON["i"]) { + + devConsoleLog("matching message id detected with startWriteProgramCallback[0]: " + spikeMemory.startWriteProgramCallback[0]); + + // get the information for the packet sending + var blocksize = parsedUJSON["r"]["blocksize"]; // maximum size of each packet to be sent in bytes + var transferid = parsedUJSON["r"]["transferid"]; // id to use for transferring this program + + devConsoleLog("executing writePackageFunc expecting transferID of " + transferid); + + // execute callback + await spikeMemory.startWriteProgramCallback[1](blocksize, transferid); + + devConsoleLog("deallocating startWriteProgramCallback"); + + // deallocate callback + spikeMemory.startWriteProgramCallback = undefined; + } + + } + + // check if the program should write packages for a program + if (spikeMemory.writePackageInformation != undefined) { + + devConsoleLog("writePackageInformation is defined. Looking for matching mesasage id: " + spikeMemory.writePackageInformation[0]); + + // check if the message id of UJSONRPC corresponds to that of the first write_package script that was sent + if (spikeMemory.writePackageInformation[0] == parsedUJSON["i"]) { + + devConsoleLog("matching message id detected with writePackageInformation[0]: " + spikeMemory.writePackageInformation[0]); + + // get the information for the package sending process + var remainingData = spikeMemory.writePackageInformation[1]; + var transferID = spikeMemory.writePackageInformation[2]; + var blocksize = spikeMemory.writePackageInformation[3]; + + // the size of the remaining data to send is less than or equal to blocksize + if (remainingData.length <= blocksize) { + devConsoleLog("remaining data's length is less than or equal to blocksize"); + + // the size of remaining data is not zero + if (remainingData.length != 0) { + + var dataToSend = remainingData.substring(0, remainingData.length); + + devConsoleLog("remaining data's length is not zero, sending entire remaining data: " + dataToSend); + + var base64data = btoa(dataToSend); + + ujsonLib.writePackage(base64data, transferID, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); + + devConsoleLog("deallocating writePackageInforamtion"); + + if (spikeMemory.writeProgramCallback != undefined) { + spikeMemory.writeProgramCallback(); + } + + spikeMemory.writePackageInformation = undefined; + }); + } + } + // the size of remaining data is more than the blocksize + else if (remainingData.length > blocksize) { + devConsoleLog("remaining data's length is more than blocksize"); + + var dataToSend = remainingData.substring(0, blocksize); + + devConsoleLog("sending blocksize amount of data: " + dataToSend); + + var base64data = btoa(dataToSend); + + ujsonLib.writePackage(base64data, transferID, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); + + devConsoleLog("expected response with message id of " + wpRandomId) + + var remainingData = remainingData.substring(blocksize, remainingData.length); + + spikeMemory.writePackageInformation = [wpRandomId, remainingData, transferID, blocksize]; + }); + } + } + } + } + } + + /** Get the orientation of the hub based on gyroscope values + * + * @private + * @param {(number|Array)} gyro + */ + const setHubOrientation = function (gyro) { + var newOrientation; + if (gyro[0] < 500 && gyro[0] > -500) { + if (gyro[1] < 500 && gyro[1] > -500) { + + if (gyro[2] > 500) { + newOrientation = "front"; + } + else if (gyro[2] < -500) { + newOrientation = "back"; + } + } + else if (gyro[1] > 500) { + newOrientation = "up"; + } + else if (gyro[1] < -500) { + newOrientation = "down"; + } + } else if (gyro[0] > 500) { + newOrientation = "rightside"; + } + else if (gyro[0] < -500) { + newOrientation = "leftside"; + } + + return newOrientation; + } + + /** + * + * @private + * @param {string} id + * @param {function} cb + */ + const pushResponseCallback = function (id, cb) { + var toPush = []; // [ ujson string id, function pointer ] + + toPush.push(id); + toPush.push(cb); + + // responseCallbacks has elements in it + if (spikeMemory.responseCallbacks.length > 0) { + + var emptyFound = false; // empty index was found flag + + // insert the pointer to the function where index is empty + for (var index in spikeMemory.responseCallbacks) { + if (spikeMemory.responseCallbacks[index] == undefined) { + spikeMemory.responseCallbacks[index] = toPush; + emptyFound = true; + } + } + + // if all indices were full, push to the back + if (!emptyFound) { + spikeMemory.responseCallbacks.push(toPush); + } + + } + // responseCallbacks current has no elements in it + else { + spikeMemory.responseCallbacks.push(toPush); + } + } + + const sendDATA = function (command) { + spikeRPC.sendDATA(command); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passConnectCallback = function (f) { + funcAfterConnect = f; + spikeRPC.passConnectCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passDisconnectCallback = function (f) { + funcAfterDisconnect = f; + spikeRPC.passDisconnectCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passErrorCallback = function (f) { + funcAfterError = f; + spikeRPC.passErrorCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passPrintCallback = function (f) { + funcAfterPrint = f; + spikeRPC.passPrintCallback(f); + } + + const passStreamCallback = function (f) { + spikeRPC.executeWithStream(f); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** Sleep function + * @private + * @param {number} ms Miliseconds to sleep + * @returns {Promise} + */ + function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); + } + + + + return { + init: init, + spikeMemory: spikeMemory, + ports, + hub: hub, + writeProgram: writeProgram, + sendDATA: sendDATA, + pushResponseCallback: pushResponseCallback, + // key event callback setters + passConnectCallback: passConnectCallback, + passDisconnectCallback: passDisconnectCallback, + passErrorCallback: passErrorCallback, + passPrintCallback: passPrintCallback, + passStreamCallback: passStreamCallback + } + +} +/* +Project Name: SPIKE Prime Web Interface +File name: ServiceDock_SPIKE_HTML.js +Author: Jeremy Jung +Last update: 3/14/2021 +Description: HTML Element definition for to be used in ServiceDocks +Credits/inspirations: +History: + Created by Jeremy on 7/16/20 + Fixed baudRate by Teddy on 10/11/20 +(C) Tufts Center for Engineering Education and Outreach (CEEO) +TODO: +uncomment executeAfterDisconnect +*/ + +class servicespike extends HTMLElement { + + constructor() { + super(); + + var active = false; // whether the service was activated + this.service = new Service_SPIKE(); // instantiate a service object ( one object per button ) + + this.service.executeAfterDisconnect(function () { + active = false; + status.style.backgroundColor = "red"; + }) + + // Create a shadow root + var shadow = this.attachShadow({ mode: 'open' }); + + /* wrapper definition and CSS */ + + var wrapper = document.createElement('div'); + wrapper.setAttribute('class', 'wrapper'); + wrapper.setAttribute("style", "width: 50px; height: 50px; position: relative; margin-top: 10px;") + + /* ServiceDock button definition and CSS */ + + var button = document.createElement("button"); + button.setAttribute("id", "sl_button"); + button.setAttribute("class", "SD_button"); + + //var imageRelPath = "./modules/views/SPIKE_button.png" // relative to the document in which a servicespike is created ( NOT this file ) + var length = 50; // for width and height of button + var buttonBackgroundColor = "#A2E1EF" // background color of the button + var buttonStyle = "width:" + length + "px; height:" + length + "px; background:" + "url('data:image/png;base64,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')" + " no-repeat; background-size: 50px 50px; background-color:" + buttonBackgroundColor + + "; border: none; background-position: center; cursor: pointer; border-radius: 10px; position: relative; margin: 4px 0px; " + button.setAttribute("style", buttonStyle); + + /* status circle definition and CSS */ + + var status = document.createElement("div"); + status.setAttribute("class", "status"); + var length = 20; // for width and height of circle + var statusBackgroundColor = "red" // default background color of service (inactive color) + var posLeft = 30; + var posTop = 20; + var statusStyle = "border-radius: 50%; height:" + length + "px; width:" + length + "px; background-color:" + statusBackgroundColor + + "; position: relative; left:" + posLeft + "px; top:" + posTop + "px;"; + status.setAttribute("style", statusStyle); + + /* event listeners */ + + button.addEventListener("mouseleave", function (event) { + button.style.backgroundColor = "#A2E1EF"; + button.style.color = "#000000"; + }); + + button.addEventListener("mouseenter", function (event) { + button.style.backgroundColor = "#FFFFFF"; + button.style.color = "#000000"; + }) + + // when ServiceDock button is double clicked + this.addEventListener("click", async function () { + // check active flag so once activated, the service doesnt reinit + if (!active) { + if ('serial' in navigator) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "Activating SPIKE Service"); + + // Determine if Service is for testing + if (this.isDev == "true" || this.isDev == "t" + || this.isDev == "T" || this.isDev == "True") + this.isDev = true; + else + this.isDev = false; + + var initSuccessful = await this.service.init(this.isDev); + if (initSuccessful) { + active = true; + status.style.backgroundColor = "green"; + } + } + else { + var bodyTags = document.getElementsByTagName("body"); + if (bodyTags != undefined) { + var bodyTag = document.getElementsByTagName("body")[0]; + bodyTag.innerHTML = ` +
+

+ To use the ServiceDock's LEGO SPIKE Prime Service, you must enable the WebSerial API in your + browser. To do so, please + make sure: +

+

+
    +
  1. You are using the + + Google Chrome browser.
    2. +
    +
  2. The following chrome flags are enabled on chrome://flags.
    3. +
+
    +
  • Mac OSX user? #enable-experimental-web-platform-features
    • +
  • Windows user? #enable-experimental-web-platform-features AND #new-usb-backend
    • +
+

+

+ To enable these flags: +

+

+
    +
  1. In your Browser URL, visit + chrome://flags
    2. +
    +
  2. Set the your required flags to "Enabled" via dropdown
    3. +
    +
  3. Relaunch the browser to have changes take effect
    4. +
    +
  4. Revisit your Coding Rooms classroom (this website)
    5. +
    +
+

+ `; + } + else { + alert("Error: Please make sure you are using GOOGLE CHROME with the #enable-experimental-web-platform-features flag ENABLED") + } + } + } else { + this.service.rebootHub(); + } + }); + + + shadow.appendChild(wrapper); + button.appendChild(status); + wrapper.appendChild(button); + + } + + static get observedAttributes() { + return ["dev"]; + } + + get dev() { + return this.getAttribute("dev"); + } + + set dev(val) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", val); + if (val) { + this.setAttribute("dev", val); + } + else { + this.removeAttribute("dev"); + } + } + + attributeChangedCallback(name, oldValue, newValue) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "new value of dev: ", newValue); + this.isDev = newValue; + } + + /* get the Service_SPIKE object */ + getService() { + return this.service; + } + + /* get whether the ServiceDock button was clicked */ + getClicked() { + return this.active; + } + +} + +// when defining custom element, the name must have at least one - dash +window.customElements.define('service-spike', servicespike); + +/* +Project Name: SPIKE Prime Web Interface +File name: Service_SPIKE.js +Author: Jeremy Jung +Last update: 3/14/21 +Description: Main interface for users to interact with their SPIKE Primes. +Credits/inspirations: + Based on code wrriten by Ethan Danahy, Chris Rogers +History: + Created by Jeremy on 7/15/20 +LICENSE: MIT +(C) Tufts Center for Engineering Education and Outreach (CEEO) +*/ + + + +/** + * @class Service_SPIKE + * @classdesc + * ServiceDock library for interfacing with LEGO® SPIKE™ Prime + * @example + * // assuming you declared with the id, "service_spike" + * var serviceSPIKE = document.getElemenyById("service_spike").getService(); + * serviceSPIKE.executeAfterInit(async function() { + * // write code here + * }) + * + * serviceSPIKE.init(); + */ +function Service_SPIKE () { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // Service Dock variables + let virtualSpike = new _virtualSpike(); + let ujsonLib = _SpikeUjsonLib; + let serviceActive = false; // flag for service initialization state + + // flag for development + let dev = false; + + var funcAtInit = () => {} + var funcAfterPrint = (m) => {}; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => {}; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => {}; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => {}; // function to call after SPIKE Prime is connected + var funcWithStream = () => {} // function to call during SPIKE Prime data stream + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + /** Connect to a webserial port and begin data stream with hub + * @public + */ + const init = async function (isDev) { + try { + dev = isDev; + console.log(dev); + let serviceActive = await virtualSpike.init(isDev); + + if (serviceActive === true) { + await sleep(1000); + } + + devConsoleLog("serviceActive: " + serviceActive); + return serviceActive; + } + catch (e) { + consoleError(e); + } + + + // initialize web serial connection + // var webSerialConnected = await initWebSerial(); + + // if (webSerialConnected) { + + // start streaming UJSONRPC + // streamUJSONRPC(); + + // await sleep(1000); + + // triggerCurrentState(); + // getFirmwareInfo(function (version) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "This SPIKE Prime is using Hub OS ", version); + // }); + // serviceActive = true; + + // await sleep(2000); // wait for service to init + + // // call funcAtInit if defined + // if (funcAtInit !== undefined) { + // funcAtInit(); + // } + // return true; + // } + // else { + // return false; + // } + } + + const isActive = function () { + return serviceActive; + } + + /** The PrimeHub object includes controllable interfaces ("constants") for your SPIKE Prime, such as left_button, right_button, motion_sensor, and light_matrix. + * @namespace + * @memberof Service_SPIKE + * @example + * // Initialize the Hub + * var hub = new serviceSPIKE.PrimeHub() + */ + const PrimeHub = function () { + var newOrigin = 0; + + /** The left button on the hub + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.left_button + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * // do something with left_button + */ + var left_button = {}; + + /** execute callback after this button is pressed + * @param {function} callback function to run when button is pressed + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * left_button.wait_until_pressed ( function () { + * console.log("left_button was pressed"); + * }) + * + */ + left_button.wait_until_pressed = function (callback) { + virtualSpike.spikeMemory.funcAfterLeftButtonPress = callback; + } + /** execute callback after this button is released + * + * @param {function} callback function to run when button is released + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * left_button.wait_until_released ( function () { + * console.log("left_button was released"); + * }) + */ + left_button.wait_until_released = function (callback) { + virtualSpike.spikeMemory.funcAfterLeftButtonRelease = callback; + } + /** Tests to see whether the button has been pressed since the last time this method called. + * + * @returns {boolean} - True if was pressed, false otherwise + * @example + * if (left_button.was_pressed()) { + * console.log("left_button was pressed") + * } + */ + left_button.was_pressed = function () { + if (virtualSpike.hub.leftButton.duration > 0) { + virtualSpike.hub.leftButton.duration = 0; + return true; + } else { + return false; + } + } + + /** Tests to see whether the button is pressed + * + * @returns {boolean} True if pressed, false otherwise + * @example + * if (left_button.is_pressed()) { + * console.log("left_button is pressed") + * } + */ + left_button.is_pressed = function () { + if (virtualSpike.hub.leftButton.pressed) { + return true; + } + else { + return false; + } + } + + /** The right button on the hub + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from PrimeHub.right_button + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * // do something with right_button + */ + var right_button = {}; + + /** execute callback after this button is pressed + * + * @param {function} callback function to run when button is pressed + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * right_button.wait_until_pressed ( function () { + * console.log("right_button was pressed"); + * }) + */ + right_button.wait_until_pressed = function (callback) { + + virtualSpike.spikeMemory.funcAfterRightButtonPress = callback; + } + + /** execute callback after this button is released + * + * @param {function} callback function to run when button is released + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * right_button.wait_until_released ( function () { + * console.log("right_button was released"); + * }) + */ + right_button.wait_until_released = function (callback) { + + virtualSpike.spikeMemory.funcAfterRightButtonRelease = callback; + } + + /** Tests to see whether the button has been pressed since the last time this method called. + * + * @returns {boolean} - True if was pressed, false otherwise + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * if ( hub.right_button.was_pressed() ) { + * console.log("right_button was pressed"); + * } + */ + right_button.was_pressed = function () { + if (virtualSpike.hub.rightButton.duration > 0) { + virtualSpike.hub.rightButton.duration = 0; + return true; + } else { + return false; + } + } + + /** Tests to see whether the button is pressed + * + * @returns {boolean} True if pressed, false otherwise + * @example + * if (right_button.is_pressed()) { + * console.log("right_button is pressed") + * } + */ + right_button.is_pressed = function () { + if (virtualSpike.hub.rightButton.pressed) { + return true; + } + else { + return false; + } + } + /** Following are all of the functions that are linked to the Hub’s programmable Brick Status Light. + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.light_matrix + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var status_light = hub.status_light; + * // do something with status_light + */ + var status_light = {}; + + /** Sets the color of the light. + * @param {string} color ["azure","black","blue","cyan","green","orange","pink","red","violet","yellow","white"] + * @example + * var hub = new Primehub() + * hub.status_light.on("blue") + * + */ + status_light.on = function (color) { + let dictColor = { + "azure": 4, + "black": 12, + "blue": 3, + "cyan": 5, + "green": 6, + "orange": 8, + "pink": 1, + "red": 9, + "violet": 2, + "yellow": 7, + "white": 10 + } + + let intColor = dictColor[color]; + ujsonLib.centerButtonLightUp(intColor, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Turns off the light. + * @example + * var hub = new Primehub() + * hub.status_light.off() + */ + status_light.off = function () { + ujsonLib.centerButtonLightUp(0, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Hub's light matrix + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.light_matrix + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var light_matrix = hub.light_matrix; + * // do something with light_matrix + */ + var light_matrix = {}; + + /** + * @todo Implement this function + * @ignore + * @param {string} + */ + light_matrix.show_image = function (image) { + + } + /** Sets the brightness of one pixel (one of the 25 LED) on the Light Matrix. + * + * @param {integer} x [0 to 4] + * @param {integer} y [0 to 4] + * @param {integer} brightness [0 to 100] + */ + light_matrix.set_pixel = function (x, y, brightness = 100) { + ujsonLib.displaySetPixel(x, y, brightness, (c, rid) => virtualSpike.sendDATA(c)); + + } + /** Writes text on the Light Matrix, one letter at a time, scrolling from right to left. + * + * @param {string} message + */ + light_matrix.write = function (message) { + ujsonLib.displayText(message, (c, rid) => virtualSpike.sendDATA(c)); + } + /** Turns off all the pixels on the Light Matrix. + * + */ + light_matrix.off = function () { + ujsonLib.displayClear((c, rid) => virtualSpike.sendDATA(c)); + } + + /** Hub's speaker + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from Primehub.speaker + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var speaker = hub.speaker; + * // do something with speaker + */ + var speaker = {}; + + speaker.volume = 100; + + /** Plays a beep on the Hub. + * + * @param {integer} note The MIDI note number [44 to 123 (60 is middle C note)] + * @param {number} seconds The duration of the beep in seconds + */ + speaker.beep = function (note, seconds) { + ujsonLib.soundBeep(speaker.volume, note, (c, rid) => virtualSpike.sendDATA(c)); + setTimeout(function () { ujsonLib.soundStop((c, rid) => virtualSpike.sendDATA(c)) }, seconds * 1000); + } + + /** Starts playing a beep. + * + * @param {integer} note The MIDI note number [44 to 123 (60 is middle C note)] + */ + speaker.start_beep = function (note) { + ujsonLib.soundBeep(speaker.volume, note, (c, rid) => virtualSpike.sendDATA(c)) + } + + /** Stops any sound that is playing. + * + */ + speaker.stop = function () { + ujsonLib.soundStop((c, rid) => virtualSpike.sendDATA(c)); + } + + /** Retrieves the value of the speaker volume. + * @returns {number} The current volume [0 to 100] + */ + speaker.get_volume = function () { + return speaker.volume; + } + + /** Sets the speaker volume. + * + * @param {integer} newVolume + */ + speaker.set_volume = function (newVolume) { + speaker.volume = newVolume + } + + /** Hub's motion sensor + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from PrimeHub.motion_sensor + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var motion_sensor = hub.motion_sensor; + * // do something with motion_sensor + */ + var motion_sensor = {}; + + /** Sees whether a gesture has occurred since the last time was_gesture() + * was used or since the beginning of the program (for the first use). + * + * @param {string} gesture + * @returns {boolean} true if the gesture was made, false otherwise + */ + motion_sensor.was_gesture = function (gesture) { + + var gestureWasMade = false; + + // iterate over the hubGestures array + for (let index in virtualSpike.spikeMemory.hubGestures) { + + // pick a gesture from the array + var oneGesture = virtualSpike.spikeMemory.hubGestures[index]; + + // switch the flag that gesture existed + if (oneGesture == gesture) { + gestureWasMade = true; + break; + } + } + // reinitialize hubGestures so it only holds gestures that occurred after this was_gesture() execution + virtualSpike.spikeMemory.hubGestures = []; + + return gestureWasMade; + + } + + /** Executes callback when a new gesture happens + * + * @param {function(string)} callback - A callback of which argument is name of the gesture + * @example + * motion_sensor.wait_for_new_gesture( function ( newGesture ) { + * if ( newGesture == 'tapped') { + * console.log("SPIKE was tapped") + * } + * else if ( newGesture == 'doubletapped') { + * console.log("SPIKE was doubletapped") + * } + * else if ( newGesture == 'shaken') { + * console.log("SPIKE was shaken") + * } + * else if ( newGesture == 'freefall') { + * console.log("SPIKE was freefall") + * } + * }) + */ + motion_sensor.wait_for_new_gesture = function (callback) { + + virtualSpike.spikeMemory.funcAfterNewGesture = callback; + + } + + /** Executes callback when the orientation of the Hub changes or when function was first called + * + * @param {function(string)} callback - A callback whose signature is name of the orientation + * @example + * motion_sensor.wait_for_new_orientation( function ( newOrientation ) { + * if (newOrientation == "up") { + * console.log("orientation is up"); + * } + * else if (newOrientation == "down") { + * console.log("orientation is down"); + * } + * else if (newOrientation == "front") { + * console.log("orientation is front"); + * } + * else if (newOrientation == "back") { + * console.log("orientation is back"); + * } + * else if (newOrientation == "leftSide") { + * console.log("orientation is leftSide"); + * } + * else if (newOrientation == "rightSide") { + * console.log("orientation is rightSide"); + * } + * }) + */ + motion_sensor.wait_for_new_orientation = function (callback) { + // immediately return current orientation if the method was called for the first time + if (virtualSpike.spikeMemory.waitForNewOriFirst) { + virtualSpike.spikeMemory.waitForNewOriFirst = false; + callback(virtualSpike.spikeMemory.lastHubOrientation); + } + // for future executions, wait until new orientation + else { + virtualSpike.spikeMemory.funcAfterNewOrientation = callback; + } + + } + + /** “Yaw” is the rotation around the front-back (vertical) axis. + * + * @returns {integer} yaw angle + */ + motion_sensor.get_yaw_angle = function get_yaw_angle() { + var currPos = virtualSpike.hub.pos[0]; + + return currPos; + } + + /** “Pitch” the is rotation around the left-right (transverse) axis. + * + * @returns {integer} pitch angle + */ + motion_sensor.get_pitch_angle = function get_pitch_angle() { + return virtualSpike.hub.pos[1]; + } + + /** “Roll” the is rotation around the front-back (longitudinal) axis. + * + * @returns {integer} roll angle + */ + motion_sensor.get_roll_angle = function get_roll_angle() { + return virtualSpike.hub.pos[2]; + } + + /** Gets the acceleration of the SPIKE's yaw axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_yaw_acceleration = function get_yaw_acceleration() { + return virtualSpike.hub.pos[2]; + } + + /** Gets the acceleration of the SPIKE's pitch axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_pitch_acceleration = function get_pitch_acceleration() { + return virtualSpike.hub.pos[1]; + } + + /** Gets the acceleration of the SPIKE's roll axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_roll_acceleration = function get_roll_acceleration() { + return virtualSpike.hub.pos[0]; + } + + /** Retrieves the most recently detected gesture. + * + * @returns {string} the name of gesture + */ + motion_sensor.get_gesture = function get_gesture() { + devConsoleLog("hubGesture in Service: " + virtualSpike.hub.gesture); + return virtualSpike.hub.gesture; + } + + /** Retrieves the most recently detected orientation + * Note: Hub does not detect orientation of when it was connected + * + * @returns {string} the name of orientation + */ + motion_sensor.get_orientation = function get_orientation() { + return virtualSpike.spikeMemory.lastHubOrientation; + } + + return { + motion_sensor: motion_sensor, + light_matrix: light_matrix, + left_button: left_button, + right_button: right_button, + speaker: speaker + } + } + + /** Motor + * @namespace + * @memberof! Service_SPIKE + * @param {string} Port + * @returns {functions} + * @example + * // Initialize the Motor + * var motor = new serviceSPIKE.Motor("A") + */ + const Motor = function (port) { + + var motor = virtualSpike.ports[port]; // get the motor info by port + + // default settings + var defaultSpeed = 100; + var stopMethod = 1; // stop method doesnt seem to work in this current ujsonrpc config + var stallSetting = true; + + var direction = { + COUNTERCLOCKWISE: 'counterClockwise', + CLOCKWISE: 'clockwise' + } + + // check if device is a motor + if (motor.device != "smallMotor" && motor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + + /** Get current speed of the motor + * + * @returns {number} speed of motor [-100 to 100] + */ + function get_speed() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.speed; + + } + + /** Get current position of the motor. The position may differ by a little margin from + * the position to which a motor ran with run_to_position() + * @returns {number} position of motor [0 to 359] + */ + function get_position() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + let position = motorInfo.uAngle; + if (position < 0) + position = 360 + position; + return position; + } + + /** Get current degrees counted of the motor + * + * @returns {number} counted degrees of the motor [any number] + */ + function get_degrees_counted() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.angle; + } + + /** Get the power of the motor + * + * @returns {number} motor power + */ + function get_power() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.power; + } + + /** Get the default speed of this motor + * + * @returns {number} motor default speed [-100 to 100] + */ + function get_default_speed() { + return defaultSpeed; + } + + /** Set the default speed for this motor + * + * @param {number} speed [-100 to 100] + */ + function set_default_speed(speed) { + if (typeof speed == "number") { + defaultSpeed = speed; + } + } + + /** Turns stall detection on or off. + * Stall detection senses when a motor has been blocked and can’t move. + * If stall detection has been enabled and a motor is blocked, the motor will be powered off + * after two seconds and the current motor command will be interrupted. If stall detection has been + * disabled, the motor will keep trying to run and programs will “get stuck” until the motor is no + * longer blocked. + * @param {boolean} boolean - true if to detect stall, false otherwise + */ + function set_stall_detection(boolean) { + if (boolean === true) + stallSetting = 1; + else if (boolean === false) + stallSetting = 0; + else + throw new Error("argument of set_stall_detection must be a boolean type") + } + + + /** Runs the motor to an absolute position. + * The sign of the speed will be ignored (i.e., absolute value), and the motor will always travel in the direction that’s been specified by the "direction" parameter. + * If the speed is greater than "100," it will be limited to "100." + + * @param {integer} degrees [0 to 359] + * @param {string} direction "Clockwise" or "Counterclockwise" + * @param {integer} speed [-100 to 100] + * @param {function} callback Params: "stalled" or "done" + * @ignore + * @example + * motor.run_to_position(180, 100, function() { + * console.log("motor finished moving"); + * }) + */ + function run_to_position(degrees, direction, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Runs the motor until the number of degrees counted is equal to the value that has been specified by the "degrees" parameter. + * + * @param {integer} degrees any number + * @param {integer} speed [0 to 100] + * @param {any} [callback] (optional callback) callback param: "stalled" or "done" + */ + function run_to_degrees_counted(degrees, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Start the motor at some power + * + * @param {integer} power [-100 to 100] + */ + function start_at_power(power) { + ujsonLib.motorPwm(port, power, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + + /** Start the motor at some speed + * + * @param {integer} speed [-100 to 100] + */ + function start(speed = defaultSpeed) { + // if (speed !== undefined && typeof speed == "number") { + // ujsonLib.motorStart (port, speed, stallSetting); + // } + // else { + // ujsonLib.motorStart(port, defaultSpeed, stallSetting); + // } + + ujsonLib.motorStart(port, speed, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Run the motor for some seconds + * + * @param {integer} seconds + * @param {integer} speed [-100 to 100] + * @param {function} [callback==undefined] Parameters:"stalled" or "done" + * @example + * motor.run_for_seconds(10, 100, function() { + * console.log("motor just ran for 10 seconds"); + * }) + */ + function run_for_seconds(seconds, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorRunTimed(port, seconds, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Run the motor for some degrees + * + * @param {integer} degrees + * @param {integer} speed [-100 to 100] + * @param {function} [callback==undefined] Parameters:"stalled" or "done" + * motor.run_for_degrees(720, 100, function () { + * console.log("motor just ran for 720 degrees"); + * }) + */ + function run_for_degrees(degrees, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorRunDegrees(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }) + } + + /** Stop the motor + * + */ + function stop() { + ujsonLib.motorPwm(port, 0, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + run_to_position: run_to_position, + run_to_degrees_counted: run_to_degrees_counted, + start_at_power: start_at_power, + start: start, + stop: stop, + run_for_degrees: run_for_degrees, + run_for_seconds: run_for_seconds, + set_default_speed: set_default_speed, + set_stall_detection: set_stall_detection, + get_power: get_power, + get_degrees_counted: get_degrees_counted, + get_position: get_position, + get_speed: get_speed, + get_default_speed: get_default_speed + } + } + + + /** ColorSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the Color Sensor + * var color = new serviceSPIKE.ColorSensor("E") + */ + const ColorSensor = function (port) { + var waitForNewColorFirst = false; + + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + // check if device is a color sensor + if (colorsensor.device != "color") { + throw new Error("No Color Sensor detected at port " + port); + } + + /** Get the name of the detected color + * @returns {string} 'black','violet','blue','cyan','green','yellow','red','white' + */ + function get_color() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + var color = colorsensorData.color; + + return color; + } + + /** Retrieves the intensity of the ambient light. + * @ignore + * @returns {number} The ambient light intensity. [0 to 100] + */ + function get_ambient_light() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.Cambient; + } + + /** Retrieves the intensity of the reflected light. + * + * @returns {number} The reflected light intensity. [0 to 100] + */ + function get_reflected_light() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.Creflected; + } + + /** Retrieves the red, green, blue, and overall color intensity. + * @todo Implement overall intensity + * @ignore + * @returns {(number|Array)} Red, green, blue, and overall intensity (0-1024) + */ + function get_rgb_intensity() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + var toReturn = []; + toReturn.push(colorsensorData.Cr); + toReturn.push(colorsensorData.Cg); + toReturn.push(colorsensorData.Cb) + toReturn.push("TODO: unimplemented");; + } + + /** Retrieves the red color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_red() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[0]; + } + + /** Retrieves the green color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_green() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[1]; + } + + /** Retrieves the blue color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_blue() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[2]; + } + + /** Waits until the Color Sensor detects the specified color. + * + * @param {string} colorInput 'black','violet','blue','cyan','green','yellow','red','white' + * @param {function} callback callback function + */ + function wait_until_color(colorInput, callback) { + virtualSpike.spikeMemory.waitUntilColorCallback = [colorInput, callback]; + } + + + /** Execute callback when Color Sensor detects a new color. + * The first time this method is called, it returns immediately the detected color. + * After that, it waits until the Color Sensor detects a color that is different from the color that + * was detected the last time this method was used. + * @param {function(string)} callback params: detected new color + */ + function wait_for_new_color(callback) { + + // check if this method has been executed after start of program + if (virtualSpike.spikeMemory.waitForNewColorFirst) { + virtualSpike.spikeMemory.waitForNewColorFirst = false; + + var currentColor = get_color(); + callback(currentColor) + } + virtualSpike.spikeMemory.funcAfterNewColor = callback; + } + + return { + get_color: get_color, + wait_until_color: wait_until_color, + wait_for_new_color: wait_for_new_color, + get_ambient_light: get_ambient_light, + get_reflected_light: get_reflected_light, + get_rgb_intensity: get_rgb_intensity, + get_red: get_red, + get_green: get_green, + get_blue: get_blue + } + + } + + /** DistanceSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the DistanceSensor + * var distance_sensor = new serviceSPIKE.DistanceSensor("A"); + */ + const DistanceSensor = function (port) { + var distanceSensor = virtualSpike.ports[port]; // get the distance sensor info by port + + // check if device is a distance sensor + if (distanceSensor.device != "ultrasonic") { + console.error("Ports Info: ", ports); + throw new Error("No DistanceSensor detected at port " + port); + } + + /** Retrieves the measured distance in centimeters. + * @returns {number} [0 to 200] + * @todo find the short_range handling ujsonrpc script + * @example + * var distance_cm = distance_sensor.get_distance_cm(); + */ + function get_distance_cm() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + return distanceSensorData.distance; + } + + /** Retrieves the measured distance in inches. + * + * @returns {number} [0 to 79] + * @todo find the short_range handling ujsonrpc script + * @example + * var distance_inches = distance_sensor.get_distance_inches(); + */ + function get_distance_inches() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + var inches = distanceSensorData.distance * 0.393701; // convert to inches + + if (inches % 1 < 0.5) + inches = Math.floor(inches); + else + inches = Math.ceil(inches); + + return inches; + } + + /** Retrieves the measured distance in percent. + * + * @returns {number/string} [0 to 100] or 'none' if no distance is read + * var distance_percentage = distance_sensor.get_distance_percentage(); + */ + function get_distance_percentage() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + if (distanceSensorData.distance == null) { + return "none" + } + var percentage = distanceSensorData.distance / 200; + return percentage; + } + + /** Waits until the measured distance is greater than distance. + * @param {integer} threshold + * @param {string} unit 'cm','in','%' + * @param {function} callback function to execute when distance is farther than threshold + * @example + * distance_sensor.wait_for_distance_farther_than(10, 'cm', function () { + * console.log("distance is farther than 10 CM"); + * }) + */ + function wait_for_distance_farther_than(threshold, unit, callback) { + + // set callbacks to be executed in updateHubPortsInfo() + if (unit == 'cm') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [threshold, callback]; + } + else if (unit == 'in') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [threshold / 0.393701, callback]; + } + else if (unit == '%') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [(threshold * 0.01) * 200, callback]; + } + else { + throw new Error("The 'unit' argument in wait_for_distance_farther_than(threshold, unit, callback) must be either 'cm', 'in', or '%'.") + } + } + + /** Waits until the measured distance is less than distance. + * @param {integer} threshold + * @param {string} unit 'cm','in','%' + * @param {function} callback function to execute when distance is closer than threshold + * @example + * distance_sensor.wait_for_distance_closer_than(10, 'cm', function () { + * console.log("distance is closer than 10 CM"); + * }) + */ + function wait_for_distance_closer_than(threshold, unit, callback) { + // set callbacks to be executed in updateHubPortsInfo() + if (unit == 'cm') { + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [threshold, callback]; + } + else if (unit == 'in') { + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [threshold / 0.393701, callback]; + } + else if (unit == '%') { + + /* floor or ceil thresholds larger or smaller than what's possible */ + if (threshold > 100) { + threshold = 100; + } + else if (threshold < 0) { + threshold = 0; + } + + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [(threshold * 0.01) * 200, callback]; + } + else { + throw new Error("The 'unit' argument in wait_for_distance_closer_than(threshold, unit, callback) must be either 'cm', 'in', or '%'.") + } + } + + /** Sets the brightness of the individual lights on the Distance Sensor. + * + * @param {integer} right_top Brightness [1-100] + * @param {integer} left_top Brightness [1-100] + * @param {integer} right_bottom Brightness [1-100] + * @param {integer} left_bottom Brightness [1-100] + * @example + * distance_sensor.light_up(100,100,100,100); + */ + function light_up(right_top, left_top, right_bottom, left_bottom) { + let lightArray = [0, 0, 0, 0]; + lightArray[0] = right_top; + lightArray[1] = left_top; + lightArray[2] = right_bottom; + lightArray[3] = left_bottom; + + ujsonLib.ultrasonicLightUp(port, lightArray, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Lights up all of the lights on the Distance Sensor at the specified brightness. + * + * @param {number} [brightness=100] The specified brightness of all of the lights + * @example + * distance_sensor.light_up_all(50) + */ + function light_up_all(brightness = 100) { + + let lightArray = [brightness, brightness, brightness, brightness]; + + ujsonLib.ultrasonicLightUp(port, lightArray, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + get_distance_cm: get_distance_cm, + get_distance_inches: get_distance_inches, + get_distance_percentage: get_distance_percentage, + light_up: light_up, + light_up_all: light_up_all, + wait_for_distance_closer_than: wait_for_distance_closer_than, + wait_for_distance_farther_than: wait_for_distance_farther_than + } + + } + + /** ForceSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the ForceSensor + * var force_sensor = new serviceSPIKE.ForceSensor("E") + */ + const ForceSensor = function (port) { + + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + + if (sensor.device != "force") { + throw new Error("No Force Sensor detected at port " + port); + } + + /** Tests whether the button on the sensor is pressed. + * + * @returns {boolean} true if force sensor is pressed, false otherwise + * @example + * if (force_sensor.is_pressed() === true) { + * console.log("force sensor is pressed"); + * } + */ + function is_pressed() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + return ForceSensorData.pressed; + } + + /** Retrieves the measured force, in newtons. + * + * @returns {number} Force in newtons [0 to 10] + * @example + * var newtons = force_sensor.get_force_newtons(); + */ + function get_force_newton() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + return ForceSensorData.force; + } + + /** Retrieves the measured force as a percentage of the maximum force. + * + * @returns {number} percentage [0 to 100] + * var percentage = force_sensor.get_force_percentage(); + */ + function get_force_percentage() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + var denominator = 704 - 384 // highest detected - lowest detected forceSensitive values + var numerator = ForceSensorData.forceSensitive - 384 // 384 is the forceSensitive value when not pressed + var percentage = Math.round((numerator / denominator) * 100); + return percentage; + } + + /** Executes callback when Force Sensor is pressed + * The function is executed in updateHubPortsInfo()'s Force Sensor part + * @param {function} callback + * @example + * force_sensor.wait_until_pressed( function () { + * console.log("force sensor is pressed!"); + * }) + */ + function wait_until_pressed(callback) { + virtualSpike.spikeMemory.funcAfterForceSensorPress = callback; + } + + /** Executes callback when Force Sensor is released + * The function is executed in updateHubPortsInfo()'s Force Sensor part + * @param {function} callback + * @example + * force_sensor.wait_until_released ( function () { + * console.log("force sensor is released!"); + * }) + */ + function wait_until_released(callback) { + virtualSpike.spikeMemory.funcAfterForceSensorRelease = callback; + } + + return { + is_pressed: is_pressed, + get_force_newton: get_force_newton, + get_force_percentage: get_force_percentage, + wait_until_pressed: wait_until_pressed, + wait_until_released: wait_until_released + } + + } + + /** MotorPair + * @namespace + * @param {string} leftPort + * @param {string} rightPort + * @memberof Service_SPIKE + * @example + * var pair = new serviceSPIKE.MotorPair("A", "B") + */ + const MotorPair = function (leftPort, rightPort) { + // settings + var defaultSpeed = 100; + var stopMethod = 1; // stop method doesnt seem to work in this current ujsonrpc config + + var leftMotor = virtualSpike.ports[leftPort]; + var rightMotor = virtualSpike.ports[rightPort]; + + var DistanceTravelToRevolutionRatio = 17.6; + + // check if device is a motor + if (leftMotor.device != "smallMotor" && leftMotor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + if (rightMotor.device != "smallMotor" && rightMotor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + + /** Sets the ratio of one motor rotation to the distance traveled. + * + * If there are no gears used between the motors and the wheels of the Driving Base, + * then amount is the circumference of one wheel. + * + * Calling this method does not affect the Driving Base if it is already currently running. + * It will only have an effect the next time one of the move or start methods is used. + * + * @param {number} amount + * @param {string} unit 'cm','in' + */ + function set_motor_rotation(amount, unit) { + + // assume unit is 'cm' when undefined + if (unit == "cm" || unit !== undefined) { + DistanceTravelToRevolutionRatio = amount; + } + else if (unit == "in") { + // convert to cm + DistanceTravelToRevolutionRatio = amount * 2.54; + } + } + + function set_stop_action (action) { + + } + + /** Moves the Driving Base using differential (tank) steering. + * + * @param {number} amount + * @param {string} unit 'rotations', 'degrees', 'seconds' + * @param {number} left_spped [-100,100] + * @param {number} right_speed [-100,100] + */ + function move_tank (amount, unit, left_spped, right_speed) { + /* this function is not implemented because "rotation" depends on a set rotatation measured by 'cm' + */ + if (unit === 'rotations') { + ujsonLib.moveTankDegrees(360*amount, left_speed, right_speed, leftPort, rightPort, ) + } + } + + /** Starts moving the Driving Base + * + * @param {integer} left_speed [-100 to 100] + * @param {integer} right_speed [-100 to 100] + * @example + * pair.start_tank(100,100); + */ + function start_tank(left_speed, right_speed) { + ujsonLib.moveTankSpeeds(left_speed, right_speed, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Starts moving the Driving Base + * + * @param {integer} leftPower [-100 to 100] + * @param {integer} rightPower [-100 to 100] + * @example + * pair.start_tank_at_power(10, 10); + */ + function start_tank_at_power(leftPower, rightPower) { + ujsonLib.moveTankPowers(leftPower, rightPower, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Stops the 2 motors simultaneously, which will stop a Driving Base. + * @example + * pair.stop(); + */ + function stop() { + ujsonLib.moveTankPowers(0, 0, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + stop: stop, + set_motor_rotation: set_motor_rotation, + start_tank: start_tank, + start_tank_at_power: start_tank_at_power + } + + } + + const writeProgram = function (projectName, data, slotid, callback) { + virtualSpike.writeProgram(projectName, data, slotid, callback); + } + + const executeAfterInit = function (f) { + if (typeof f === "function") { + funcAtInit = f; + } + else { + throw new Error("Argument to executeAfterInit must be a function") + } + } + const executeAfterConnect = function (f) { + if (typeof f === "function") { + virtualSpike.passConnectCallback(f); + } + else { + throw new Error("Argument to executeAfterConnect must be a function") + } + } + const executeAfterDisconnect = function (f) { + if (typeof f === "function") { + virtualSpike.passDisconnectCallback(f); + } + else { + throw new Error("Argument to executeAfterDisconnect must be a function") + } + } + const executeAfterError = function (f) { + if (typeof f === "function") { + funcAfterError = f; + virtualSpike.passErrorCallback(f); + } + else { + throw new Error("Argument to executeAfterError must be a function") + } + } + const executeAfterPrint = function (f) { + if (typeof f === "function") { + virtualSpike.passPrintCallback(f); + } + else { + throw new Error("Argument to executeAfterPrint must be a function") + } + } + const executeWithStream = function (f) { + if (typeof f === "function") { + virtualSpike.passStreamCallback(f); + } + else { + throw new Error("Argument to executeWithStream must be a function") + } + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** Sleep function + * @private + * @param {number} ms Miliseconds to sleep + * @returns {Promise} + */ + function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); + } + + + return { + init: init, + isActive: isActive, + writeProgram: writeProgram, + // SPIKE devices + Motor: Motor, + PrimeHub: PrimeHub, + ForceSensor: ForceSensor, + DistanceSensor: DistanceSensor, + ColorSensor: ColorSensor, + MotorPair: MotorPair, + // key event callback setters + executeAfterConnect: executeAfterConnect, + executeAfterDisconnect: executeAfterDisconnect, + executeAfterError: executeAfterError, + executeAfterPrint: executeAfterPrint, + executeWithStream: executeWithStream, + executeAfterInit: executeAfterInit, + } +} \ No newline at end of file diff --git a/package.json b/package.json index 161992a..499db76 100644 --- a/package.json +++ b/package.json @@ -7,7 +7,8 @@ "test": "echo \"Error: no test specified\" && exit 1", "docs": "./node_modules/.bin/jsdoc ./server/examples/modules/ServiceDock_SystemLink.js ./server/examples/modules/ServiceDock_SPIKE.js --readme ./server/docsHome.html -c jsdoc.json", "builddocs": "./node_modules/.bin/jsdoc ./server/examples/modules/ServiceDock_SystemLink.js ./server/examples/modules/ServiceDock_Airtable.js ./server/examples/modules/ServiceDock_SPIKE.js --readme ./jsdocTemplate/docsHome.md -c jsdoc.json -u ./server/examples/tutorials", - "combine": "./node_modules/.bin/concat -o ./cdn/ServiceDock.js ./server/examples/modules/ServiceDock_SystemLink.js ./server/examples/modules/ServiceDock_Airtable.js ./server/examples/modules/ServiceDock_SPIKE.js" + "combine": "./node_modules/.bin/concat -o ./cdn/ServiceDock.js ./server/examples/modules/ServiceDock_SystemLink.js ./server/examples/modules/ServiceDock_Airtable.js ./server/examples/modules/ServiceDock_SPIKE.js", + "combineScaled": "./node_modules/.bin/concat -o ./cdn/ServiceDock_scaled.js ./server/examples/modules/ServiceDock_SystemLink.js ./server/examples/modules/ServiceDock_Airtable.js ./server/examples/modules/scaledSPIKE/webserial/WebSerial.js ./server/examples/modules/scaledSPIKE/spikeRPC/SpikeRPC.js ./server/examples/modules/scaledSPIKE/spikeRPC/SpikeUjsonLib.js ./server/examples/modules/scaledSPIKE/virtualSpike.js ./server/examples/modules/scaledSPIKE/Service_SPIKE_HTML.js ./server/examples/modules/scaledSPIKE/Service_SPIKE.js" }, "repository": { "type": "git", diff --git a/server/examples/modules/SPIKE/classSPIKE.js b/server/examples/modules/SPIKE/classSPIKE.js deleted file mode 100644 index a6d2759..0000000 --- a/server/examples/modules/SPIKE/classSPIKE.js +++ /dev/null @@ -1,201 +0,0 @@ -Service_SPIKE = function () { - - ////////////////////////////////////////// - // // - // Global Variables // - // // - ////////////////////////////////////////// - - /* private members */ - - this.VENDOR_ID = 0x0694; // LEGO SPIKE Prime Hub - - // common characters to send (for REPL/uPython on the Hub) - this.CONTROL_C = '\x03'; // CTRL-C character (ETX character) - this.CONTROL_D = '\x04'; // CTRL-D character (EOT character) - this.RETURN = '\x0D'; // RETURN key (enter, new line) - - /* using this filter in webserial setup will only take serial ports*/ - this.filter = { - usbVendorId: this.VENDOR_ID - }; - - // define for communication - this.port; - this.reader; - this.writer; - this.value; - this.done; - this.writableStreamClosed; - - //define for json concatenation - this.jsonline = ""; - - // contains latest full json object from SPIKE readings - this.lastUJSONRPC; - - // object containing real-time info on devices connected to each port of SPIKE Prime - this.ports = - { - "A": { "device": "none", "data": {} }, - "B": { "device": "none", "data": {} }, - "C": { "device": "none", "data": {} }, - "D": { "device": "none", "data": {} }, - "E": { "device": "none", "data": {} }, - "F": { "device": "none", "data": {} } - }; - - // object containing real-time info on hub sensor values - /* - !say the usb wire is the nose of the spike prime - - ( looks at which side of the hub is facing up) - gyro[0] - up/down detector ( down: 1000, up: -1000, neutral: 0) - gyro[1] - rightside/leftside detector ( leftside : 1000 , rightside: -1000, neutal: 0 ) - gyro[2] - front/back detector ( front: 1000, back: -1000, neutral: 0 ) - - ( assume the usb wire port is the nose of the spike prime ) - accel[0] - roll acceleration (roll to right: -, roll to left: +) - accel[1] - pitch acceleration (up: +, down: -) - accel[2] - yaw acceleration (counterclockwise: +. clockwise: -) - - () - pos[0] - yaw angle - pos[1] - pitch angle - pos[2] - roll angle - - */ - this.hub = - { - "gyro": [0, 0, 0], - "accel": [0, 0, 0], - "pos": [0, 0, 0] - } - - this.batteryAmount = 0; // battery [0-100] - - // string containing real-time info on hub events - this.hubFrontEvent; - - /* - up: hub is upright/standing, with the display looking horizontally - down: hub is upsidedown with the display, with the display looking horizontally - front: hub's display facing towards the sky - back: hub's display facing towards the earth - leftside: hub rotated so that the side to the left of the display is facing the earth - rightside: hub rotated so that the side to the right of the display is facing the earth - */ - this.lastHubOrientation; //PrimeHub orientation read from caught UJSONRPC - - /* - shake - freefall - */ - this.hubGesture; - - // - this.hubMainButton = { "pressed": false, "duration": 0 }; - - this.hubBluetoothButton = { "pressed": false, "duration": 0 }; - - this.hubLeftButton = { "pressed": false, "duration": 0 }; - - this.hubRightButton = { "pressed": false, "duration": 0 }; - - /* PrimeHub data storage arrays for was_***() functions */ - this.hubGestures = []; // array of hubGestures run since program started or since was_gesture() ran - this.hubButtonPresses = []; - this.hubName = undefined; - this.lastDetectedColor = undefined; - - /* SPIKE Prime Projects */ - - this.hubProjects = { - "0": "None", - "1": "None", - "2": "None", - "3": "None", - "4": "None", - "5": "None", - "6": "None", - "7": "None", - "8": "None", - "9": "None", - "10": "None", - "11": "None", - "12": "None", - "13": "None", - "14": "None", - "15": "None", - "16": "None", - "17": "None", - "18": "None", - "19": "None" - }; - - this.colorDictionary = { - 0: "BLACK", - 1: "VIOLET", - 3: "BLUE", - 4: "AZURE", - 5: "GREEN", - 7: "YELLOW", - 9: "RED", - 1: "WHITE", - }; - - // true after Force Sensor is pressed, turned to false after reading it for the first time that it is released - this.ForceSensorWasPressed = false; - - this.micropython_interpreter = false; // whether micropython was reached or not - - this.serviceActive = false; //serviceActive flag - - this.waitForNewOriFirst = true; //whether the wait_for_new_orientation method would be the first time called - - /* stored callback functions from wait_until functions and etc. */ - - this.funcAtInit = undefined; // function to call after init of SPIKE Service - - this.funcAfterNewGesture = undefined; - this.funcAfterNewOrientation = undefined; - - this.funcAfterLeftButtonPress = undefined; - this.funcAfterLeftButtonRelease = undefined; - this.funcAfterRightButtonPress = undefined; - this.funcAfterRightButtonRelease = undefined; - - this.funcAfterNewColor = undefined; - - this.waitUntilColorCallback = undefined; // [colorToDetect, function to execute] - this.waitForDistanceFartherThanCallback = undefined; // [distance, function to execute] - this.waitForDistanceCloserThanCallback = undefined; // [distance, function to execute] - - this.funcAfterForceSensorPress = undefined; - this.funcAfterForceSensorRelease = undefined; - - /* array that holds the pointers to callback functions to be executed after a UJSONRPC response */ - this.responseCallbacks = []; - - // array of information needed for writing program - this.startWriteProgramCallback = undefined; // [message_id, function to execute ] - this.writePackageInformation = undefined; // [ message_id, remaining_data, transfer_id, blocksize] - this.writeProgramCallback = undefined; // callback function to run after a program was successfully written - this.writeProgramSetTimeout = undefined; // setTimeout object for looking for response to start_write_program - - /* callback functions added for Coding Rooms */ - - this.getFirmwareInfoCallback = undefined; - - this.funcAfterPrint = undefined; // function to call for SPIKE python program print statements or errors - this.funcAfterError = undefined; // function to call for errors in ServiceDock - - this.funcAfterDisconnect = undefined; // function to call after SPIKE Prime is disconnected - - this.funcWithStream = undefined; // function to call after every parsed UJSONRPC package - - this.triggerCurrentStateCallback = undefined; - - // namespace for all UJSONRPC scripts - // this.UJSONRPC = this.UJSONRPC.bind(this); -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/general/initUtils.js b/server/examples/modules/SPIKE/general/initUtils.js deleted file mode 100644 index cee1395..0000000 --- a/server/examples/modules/SPIKE/general/initUtils.js +++ /dev/null @@ -1,98 +0,0 @@ - -/** initialize SPIKE_service - *

Makes prompt in Google Chrome ( Google Chrome Browser needs "Experimental Web Interface" enabled)

- *

Starts streaming UJSONRPC

- *

this function needs to be executed after executeAfterInit but before all other public functions

- * @public - * @returns {boolean} True if service was successsfully initialized, false otherwise - */ -Service_SPIKE.prototype.init = async function () { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "navigator.product is ", navigator.product); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "navigator.appName is ", navigator.appName); - // reinit variables in the case of hardware disconnection and Service reactivation - this.reader = undefined; - this.writer = undefined; - - // initialize web serial connection - var webSerialConnected = await this.initWebSerial(); - - if (webSerialConnected) { - - // start streaming UJSONRPC - this.streamUJSONRPC(); - - await this.sleep(1000); - - // this.triggerCurrentState(); - this.serviceActive = true; - - await this.sleep(2000); // wait for service to init - - // call funcAtInit if defined - if (this.funcAtInit !== undefined) { - this.funcAtInit(); - } - return true; - } - else { - return false; - } -} - - -/** Get the callback function to execute after service is initialized. - *

This function needs to be executed before calling init()

- * @public - * @param {function} callback Function to execute after initialization ( during init() ) - * @example - * mySPIKE.executeAfterInit( function () { - * var motor = mySPIKE.Motor("A"); - * var speed = motor.get_speed(); - * // do something with speed - * }) - */ -Service_SPIKE.prototype.executeAfterInit = function (callback) { - // Assigns global variable funcAtInit a pointer to callback function - this.funcAtInit = callback; -} - -/** Get the callback function to execute after a print or error from SPIKE python program - * @ignore - * @param {function} callback - */ -Service_SPIKE.prototype.executeAfterPrint = function (callback) { - this.funcAfterPrint = callback; -} - -/** Get the callback function to execute after Service Dock encounters an error - * @ignore - * @param {any} callback - */ -Service_SPIKE.prototype.executeAfterError = function (callback) { - this.funcAfterError = callback; -} - -/** Execute a stack of functions continuously with SPIKE sensor feed - * - * @public - * @param {any} callback - * @example - * var motor = new mySPIKE.Motor('A') - * mySPIKE.executeWithStream( async function() { - * var speed = await motor.get_speed(); - * // do something with motor speed - * }) - */ -Service_SPIKE.prototype.executeWithStream = function (callback) { - this.funcWithStream = callback; -} - -/** Get the callback function to execute after service is disconnected - * @ignore - * @param {any} callback - */ -Service_SPIKE.prototype.executeAfterDisconnect = function (callback) { - this.funcAfterDisconnect = callback; -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/misc/misc.js b/server/examples/modules/SPIKE/misc/misc.js deleted file mode 100644 index 1a9debb..0000000 --- a/server/examples/modules/SPIKE/misc/misc.js +++ /dev/null @@ -1,8 +0,0 @@ -/** Sleep function - * @private - * @param {number} ms Miliseconds to sleep - * @returns {Promise} - */ -Service_SPIKE.prototype.sleep = function (ms) { - return new Promise(resolve => setTimeout(resolve, ms)); -} diff --git a/server/examples/modules/SPIKE/spike/forcesensor.js b/server/examples/modules/SPIKE/spike/forcesensor.js deleted file mode 100644 index fdcf57b..0000000 --- a/server/examples/modules/SPIKE/spike/forcesensor.js +++ /dev/null @@ -1,79 +0,0 @@ - -/** ForceSensor - * @namespace - * @param {string} Port - * @memberof Service_SPIKE - * @example - * // Initialize the ForceSensor - * var force = new mySPIKE.ForceSensor("E") - */ -Service_SPIKE.prototype.ForceSensor = function (port) { - - var sensor = this.ports[port]; // get the force sensor info by port - - if (sensor.device != "force") { - throw new Error("No Force Sensor detected at port " + port); - } - - /** Tests whether the button on the sensor is pressed. - * - * @returns {boolean} true if force sensor is pressed, false otherwise - */ - function is_pressed() { - var sensor = this.ports[port]; // get the force sensor info by port - var ForceSensorData = sensor.data; - - return ForceSensorData.pressed; - } - - /** Retrieves the measured force, in newtons. - * - * @returns {number} Force in newtons [0 to 10] - */ - function get_force_newton() { - var sensor = this.ports[port]; // get the force sensor info by port - var ForceSensorData = sensor.data; - - return ForceSensorData.force; - } - - /** Retrieves the measured force as a percentage of the maximum force. - * - * @returns {number} percentage [0 to 100] - */ - function get_force_percentage() { - var sensor = this.ports[port]; // get the force sensor info by port - var ForceSensorData = sensor.data; - - var denominator = 704 - 384 // highest detected - lowest detected forceSensitive values - var numerator = ForceSensorData.forceSensitive - 384 // 384 is the forceSensitive value when not pressed - var percentage = Math.round((numerator / denominator) * 100); - return percentage; - } - - /** Executes callback when Force Sensor is pressed - * The function is executed in updateHubPortsInfo()'s Force Sensor part - * - * @param {function} callback - */ - function wait_until_pressed(callback) { - this.funcAfterForceSensorPress = callback; - } - - /** Executes callback when Force Sensor is released - * The function is executed in updateHubPortsInfo()'s Force Sensor part - * @param {function} callback - */ - function wait_until_released(callback) { - this.funcAfterForceSensorRelease = callback; - } - - return { - is_pressed: is_pressed, - get_force_newton: get_force_newton, - get_force_percentage: get_force_percentage, - wait_until_pressed: wait_until_pressed, - wait_until_released: wait_until_released - } - -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/spike/getters.js b/server/examples/modules/SPIKE/spike/getters.js deleted file mode 100644 index dfb73e1..0000000 --- a/server/examples/modules/SPIKE/spike/getters.js +++ /dev/null @@ -1,82 +0,0 @@ -/** Get the information of all the ports and devices connected to them - * @ignore - * @returns {object}

An object with keys as port letters and values as objects of device type and info

- * @example - * // USAGE - * - * var portsInfo = await mySPIKE.getPortsInfo(); - * // ports.{yourPortLetter}.device --returns--> device type (ex. "smallMotor" or "ultrasonic")

- * // ports.{yourPortLetter}.data --returns--> device info (ex. {"speed": 0, "angle":0, "uAngle": 0, "power":0} )

- * - * // Motor on port A - * var motorSpeed = portsInfo["A"]["speed"]; // motor speed - * var motorDegreesCounted = portsInfo["A"]["angle"]; // motor angle - * var motorPosition = portsInfo["A"]["uAngle"]; // motor angle in unit circle ( -180 ~ 180 ) - * var motorPower = portsInfo["A"]["power"]; // motor power - * - * // Ultrasonic Sensor on port A - * var distance = portsInfo["A"]["distance"] // distance value from ultrasonic sensor - * - * // Color Sensor on port A - * var reflectedLight = portsInfo["A"]["reflected"]; // reflected light - * var color = portsInfo["A"]["color"]; // name of detected color - * var RGB = portsInfo["A"]["RGB"]; // [R, G, B] - * - * // Force Sensor on port A - * var forceNewtons = portsInfo["A"]["force"]; // Force in Newtons ( 1 ~ 10 ) - * var pressedBool = portsInfo["A"]["pressed"] // whether pressed or not ( true or false ) - * var forceSensitive = portsInfo["A"]["forceSensitive"] // More sensitive force output( 0 ~ 900 ) - */ -Service_SPIKE.prototype.getPortsInfo = function () { - return this.ports; -} - -/** get the info of a single port - * @ignore - * @param {string} letter Port on the SPIKE hub - * @returns {object} Keys as device and info as value - */ -Service_SPIKE.prototype.getPortInfo = function (letter) { - return this.ports[letter]; -} - -/** Get battery status - * @ignore - * @returns {integer} battery percentage - */ -Service_SPIKE.prototype.getBatteryStatus = function () { - return this.batteryAmount; -} - -/** Get info of the hub - * @ignore - * @returns {object} Info of the hub - * @example - * var hubInfo = await mySPIKE.getHubInfo(); - * - * var upDownDetector = hubInfo["gyro"][0]; - * var rightSideLeftSideDetector = hubInfo["gyro"][1]; - * var frontBackDetector = hubInfo["gyro"][2]; - * - * var rollAcceleration = hubInfo["pos"][0]; - * var pitchAcceleration = hubInfo["pos"][1]; - * var yawAcceleration = hubInfo["pos"][2]; - * - * var yawAngle = hubInfo["pos"][0]; - * var pitchAngle = hubInfo["pos"][1]; - * var rollAngle = hubInfo["pos"][2]; - * - * - */ -Service_SPIKE.prototype.getHubInfo = function () { - return this.hub; -} - -/** Get the name of the hub - * - * @public - * @returns name of hub - */ -Service_SPIKE.prototype.getHubName = function () { - return this.hubName; -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/spike/interfaces.js b/server/examples/modules/SPIKE/spike/interfaces.js deleted file mode 100644 index 519f5c0..0000000 --- a/server/examples/modules/SPIKE/spike/interfaces.js +++ /dev/null @@ -1,335 +0,0 @@ -/** Get the most recently detected event on the display of the hub - * @public - * @returns {string} ['tapped','doubletapped'] - * var event = await mySPIKE.getHubEvent(); - * if (event == "tapped" ) { - * console.log("SPIKE is tapped"); - * } - */ -Service_SPIKE.prototype.getHubEvent = function () { - return hubFrontEvent; -} - -/** Get the most recently detected gesture of the hub ( Gesture names differ from SPIKE app ) - * @public - * @returns {string} ['shaken', 'freefall', 'tapped', 'doubletapped'] - * @example - * var gesture = await mySPIKE.getHubGesture(); - * if (gesture == "shaken") { - * console.log("SPIKE is being shaked"); - * } - */ -Service_SPIKE.prototype.getHubGesture = function () { - return hubGesture; -} - -/** Get the most recently detected orientation of the hub - * @public - * @returns {string} ['up','down','front','back','leftside','rightside'] - * @example - * var orientation = await mySPIKE.getHubOrientation(); - * if (orientation == "front") { - * console.log("SPIKE is facing up"); - * } - */ -Service_SPIKE.prototype.getHubOrientation = function () { - return lastHubOrientation; -} - - -/** Get the latest press event information on the "connect" button - * @ignore - * @returns {object} { "pressed": BOOLEAN, "duration": NUMBER } - * @example - * var bluetoothButtonInfo = await mySPIKE.getBluetoothButton(); - * var pressedBool = bluetoothButtonInfo["pressed"]; - * var pressedDuration = bluetoothButtonInfo["duration"]; // duration is miliseconds the button was pressed until release - */ -Service_SPIKE.prototype.getBluetoothButton = function () { - return hubBluetoothButton; -} - -/** Get the latest press event information on the "center" button - * @ignore - * @returns {object} { "pressed": BOOLEAN, "duration": NUMBER } - * @example - * var mainButtonInfo = await mySPIKE.getMainButton(); - * var pressedBool = mainButtonInfo["pressed"]; - * var pressedDuration = mainButtonInfo["duration"]; // duration is miliseconds the button was pressed until release - * - */ -Service_SPIKE.prototype.getMainButton = function () { - return hubMainButton; -} - -/** Get the latest press event information on the "left" button - * @ignore - * @returns {object} { "pressed": BOOLEAN, "duration": NUMBER } - * @example - * var leftButtonInfo = await mySPIKE.getLeftButton(); - * var pressedBool = leftButtonInfo["pressed"]; - * var pressedDuration = leftButtonInfo["duration"]; // duration is miliseconds the button was pressed until release - * - */ -Service_SPIKE.prototype.getLeftButton = function () { - return hubLeftButton; -} - -/** Get the latest press event information on the "right" button - * @ignore - * @returns {object} { "pressed": BOOLEAN, "duration": NUMBER } - * @example - * var rightButtonInfo = await mySPIKE.getRightButton(); - * var pressedBool = rightButtonInfo["pressed"]; - * var pressedDuration = rightButtonInfo["duration"]; // duration is miliseconds the button was pressed until release - */ -Service_SPIKE.prototype.getRightButton = function () { - return hubRightButton; -} - -/** Get the letters of ports connected to any kind of Motors - * @public - * @returns {(string|Array)} Ports that are connected to Motors - * @example - * var motorPorts = mySPIKE.getMotorPorts(); - * - * // get the alphabetically earliest port connected to a motor - * var randomPort = motorPorts[0]; - * - * // get Motor object connected to the port - * var mySensor = new Motor(randomPort); - */ -Service_SPIKE.prototype.getMotorPorts = function () { - - var portsInfo = this.getPortsInfo(); - var motorPorts = []; - for (var key in portsInfo) { - if (portsInfo[key].device == "smallMotor" || portsInfo[key].device == "bigMotor") { - motorPorts.push(key); - } - } - return motorPorts; - -} - -/** Get the letters of ports connected to Small Motors - * @public - * @returns {(string|Array)} Ports that are connected to Small Motors - * @example - * var smallMotorPorts = mySPIKE.getSmallMotorPorts(); - * - * // get the alphabetically earliest port connected to a small motor - * var randomPort = smallMotorPorts[0]; - * - * // get Motor object connected to the port - * var mySensor = new Motor(randomPort); - */ -Service_SPIKE.prototype.getSmallMotorPorts = function () { - - var portsInfo = this.getPortsInfo(); - var motorPorts = []; - for (var key in portsInfo) { - if (portsInfo[key].device == "smallMotor") { - motorPorts.push(key); - } - } - return motorPorts; - -} - -/** Get the letters of ports connected to Big Motors - * @public - * @returns {(string|Array)} Ports that are connected to Big Motors - * @example - * var bigMotorPorts = mySPIKE.getBigMotorPorts(); - * - * // get the alphabetically earliest port connected to a big motor - * var randomPort = bigMotorPorts[0]; - * - * // get Motor object connected to the port - * var mySensor = new Motor(randomPort); - */ -Service_SPIKE.prototype.getBigMotorPorts = function () { - var portsInfo = this.getPortsInfo(); - var motorPorts = []; - for (var key in portsInfo) { - if (portsInfo[key].device == "bigMotor") { - motorPorts.push(key); - } - } - return motorPorts; -} - -/** Get the letters of ports connected to Distance Sensors - * @public - * @returns {(string|Array)} Ports that are connected to Distance Sensors - * @example - * var distanceSensorPorts = mySPIKE.getDistancePorts(); - * - * // get the alphabetically earliest port connected to a DistanceSensor - * var randomPort = distanceSensorPorts[0]; - * - * // get DistanceSensor object connected to the port - * var mySensor = new DistanceSensor(randomPort); - */ -Service_SPIKE.prototype.getUltrasonicPorts = function () { - - var portsInfo = this.getPortsInfo(); - var ultrasonicPorts = []; - - for (var key in portsInfo) { - if (portsInfo[key].device == "ultrasonic") { - ultrasonicPorts.push(key); - } - } - - return ultrasonicPorts; - -} - -/** Get the letters of ports connected to Color Sensors - * @public - * @returns {(string|Array)} Ports that are connected to Color Sensors - * @example - * var colorSensorPorts = mySPIKE.getColorPorts(); - * - * // get the alphabetically earliest port connected to a ColorSensor - * var randomPort = colorSensorPorts[0]; - * - * // get ColorSensor object connected to the port - * var mySensor = new ColorSensor(randomPort); - */ -Service_SPIKE.prototype.getColorPorts = function () { - - var portsInfo = this.getPortsInfo(); - var colorPorts = []; - - for (var key in portsInfo) { - if (portsInfo[key].device == "color") { - colorPorts.push(key); - } - } - - return colorPorts; - -} - -/** Get the letters of ports connected to Force Sensors - * @public - * @returns {(string|Array)} Ports that are connected to Force Sensors - * @example - * var forceSensorPorts = mySPIKE.getForcePorts(); - * - * // get the alphabetically earliest port connected to a ForceSensor - * var randomPort = forceSensorPorts[0]; - * - * // get ForceSensor object connected to the port - * var mySensor = new ForceSensor(randomPort); - */ -Service_SPIKE.prototype.getForcePorts = function () { - - var portsInfo = this.getPortsInfo(); - var forcePorts = []; - - for (var key in portsInfo) { - if (portsInfo[key].device == "force") { - forcePorts.push(key); - } - } - - return forcePorts; - -} - -/** Get all motor objects currently connected to SPIKE - * - * @public - * @returns {object} All connected Motor objects - * @example - * var motors = await mySPIKE.getMotors(); - * - * // get Motor object connected to Port A - * var myMotor = motors["A"] - * - * // run motor for 10 seconds at 100 speed - * myMotor.run_for_seconds(10,100); - */ -Service_SPIKE.prototype.getMotors = function () { - var portsInfo = this.getPortsInfo(); - var motors = {}; - for (var key in portsInfo) { - if (portsInfo[key].device == "smallMotor" || portsInfo[key].device == "bigMotor") { - motors[key] = new Motor(key); - } - } - return motors; -} - -/** Get all distance sensor objects currently connected to SPIKE - * - * @public - * @returns {object} All connected DistanceSensor objects - * @example - * var distanceSensors = await mySPIKE.getDistanceSensors(); - * - * // get DistanceSensor object connected to Port A - * var mySensor = distanceSensors["A"]; - * - * // get distance in centimeters - * console.log("distance in CM: ", mySensor.get_distance_cm()) - */ -Service_SPIKE.prototype.getDistanceSensors = function () { - var portsInfo = this.getPortsInfo(); - var distanceSensors = {}; - for (var key in portsInfo) { - if (portsInfo[key].device == "ultrasonic") { - distanceSensors[key] = new DistanceSensor(key); - } - } - return distanceSensors; -} - -/** Get all color sensor objects currently connected to SPIKE - * - * @public - * @returns {object} All connected ColorSensor objects - * @example - * var colorSensors = await mySPIKE.getColorSensors(); - * var mySensor = colorSensors["A"]; - */ -Service_SPIKE.prototype.getColorSensors = function () { - var portsInfo = this.getPortsInfo(); - var colorSensors = {}; - for (var key in portsInfo) { - if (portsInfo[key].device == "color") { - colorSensors[key] = new ColorSensor(key); - } - } - return colorSensors; -} - -/** Get all force sensor objects currently connected to SPIKE - * - * @public - * @returns {object} All connected ForceSensor objects - * @example - * var forceSensors = mySPIKE.getForceSensors(); - * - * // get ForceSensor object connected to port A - * var mySensor = forceSensors["A"]; - * - * // when ForceSensor is pressed, indicate button state on console - * mySensor.wait_until_pressed( function() { - * console.log("ForceSensor at port A was pressed"); - * }) - */ -Service_SPIKE.prototype.getForceSensors = function () { - var portsInfo = this.getPortsInfo(); - var forceSensors = {}; - for (var key in portsInfo) { - if (portsInfo[key].device == "force") { - forceSensors[key] = new ForceSensor(key); - } - } - return forceSensors; -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/spike/motor.js b/server/examples/modules/SPIKE/spike/motor.js deleted file mode 100644 index dc6bbad..0000000 --- a/server/examples/modules/SPIKE/spike/motor.js +++ /dev/null @@ -1,221 +0,0 @@ -/** Motor - * @namespace - * @memberof! Service_SPIKE - * @param {string} Port - * @returns {functions} - * @example - * // Initialize the Motor - * var motor = new mySPIKE.Motor("A") - */ -Service_SPIKE.prototype.Motor = function (port) { - - var motor = this.ports[port]; // get the motor info by port - - // default settings - var defaultSpeed = 100; - var stopMethod = 1; // stop method doesnt seem to work in this current ujsonrpc config - var stallSetting = true; - - var direction = { - COUNTERCLOCKWISE: 'counterClockwise', - CLOCKWISE: 'clockwise' - } - - // check if device is a motor - if (motor.device != "smallMotor" && motor.device != "bigMotor") { - throw new Error("No motor detected at port " + port); - } - - /** Get current speed of the motor - * - * @returns {number} speed of motor [-100 to 100] - */ - function get_speed() { - var motor = this.ports[port]; // get the motor info by port - var motorInfo = motor.data; - return motorInfo.speed; - - } - - /** Get current position of the motor. The position may differ by a little margin from - * the position to which a motor ran with run_to_position() - * @returns {number} position of motor [0 to 359] - */ - function get_position() { - var motor = this.ports[port]; // get the motor info by port - var motorInfo = motor.data; - let position = motorInfo.uAngle; - if (position < 0) - position = 360 + position; - return position; - } - - /** Get current degrees counted of the motor - * - * @returns {number} counted degrees of the motor [any number] - */ - function get_degrees_counted() { - var motor = this.ports[port]; // get the motor info by port - var motorInfo = motor.data; - return motorInfo.angle; - } - - /** Get the power of the motor - * - * @returns {number} motor power - */ - function get_power() { - var motor = this.ports[port]; // get the motor info by port - var motorInfo = motor.data; - return motorInfo.power; - } - - /** Get the default speed of this motor - * - * @returns {number} motor default speed [-100 to 100] - */ - function get_default_speed() { - return defaultSpeed; - } - - /** Set the default speed for this motor - * - * @param {number} speed [-100 to 100] - */ - function set_default_speed(speed) { - if (typeof speed == "number") { - defaultSpeed = speed; - } - } - - /** Turns stall detection on or off. - * Stall detection senses when a motor has been blocked and can’t move. - * If stall detection has been enabled and a motor is blocked, the motor will be powered off - * after two seconds and the current motor command will be interrupted. If stall detection has been - * disabled, the motor will keep trying to run and programs will “get stuck” until the motor is no - * longer blocked. - * @param {boolean} boolean - true if to detect stall, false otherwise - */ - function set_stall_detection(boolean) { - if (typeof boolean == "boolean") { - stallSetting = boolean; - } - } - - - /** Runs the motor to an absolute position. - * The sign of the speed will be ignored (i.e., absolute value), and the motor will always travel in the direction that’s been specified by the "direction" parameter. - * If the speed is greater than "100," it will be limited to "100." - - * @param {integer} degrees [0 to 359] - * @param {string} direction "Clockwise" or "Counterclockwise" - * @param {integer} speed [-100 to 100] - * @param {function} callback Params: "stalled" or "done" - * @ignore - * @example - * mySPIKE.run_to_position(180, 100, function() { - * console.log("motor finished moving"); - * }) - */ - function run_to_position(degrees, direction, speed, callback = undefined) { - if (speed !== undefined && typeof speed == "number") - this.UJSONRPC.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback); - else - this.UJSONRPC.motorGoRelPos(port, degrees, defaultSpeed, stallSetting, stopMethod, callback); - } - - /** Runs the motor until the number of degrees counted is equal to the value that has been specified by the "degrees" parameter. - * - * @param {integer} degrees any number - * @param {integer} speed [0 to 100] - * @param {any} [callback] (optional callback) callback param: "stalled" or "done" - */ - this.run_to_degrees_counted = function (degrees, speed, callback = undefined) { - console.log("this in runtodeg: ", this); - if (speed !== undefined && typeof speed == "number") - this.UJSONRPC.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback); - else - this.UJSONRPC.motorGoRelPos(port, degrees, defaultSpeed, stallSetting, stopMethod, callback); - - - }.bind(this); - - /** Start the motor at some power - * - * @param {integer} power [-100 to 100] - */ - function start_at_power(power) { - this.UJSONRPC.motorPwm(port, power, stallSetting); - } - - - /** Start the motor at some speed - * - * @param {integer} speed [-100 to 100] - */ - function start(speed = defaultSpeed) { - - this.UJSONRPC.motorStart(port, speed, stallSetting); - } - - /** Run the motor for some seconds - * - * @param {integer} seconds - * @param {integer} speed [-100 to 100] - * @param {function} [callback==undefined] Parameters:"stalled" or "done" - * @example - * mySPIKE.run_for_seconds(10, 100, function() { - * console.log("motor just ran for 10 seconds"); - * }) - */ - function run_for_seconds(seconds, speed, callback = undefined) { - if (speed !== undefined && typeof speed == "number") { - this.UJSONRPC.motorRunTimed(port, seconds, speed, stallSetting, stopMethod, callback) - } - else { - this.UJSONRPC.motorRunTimed(port, seconds, defaultSpeed, stallSetting, stopMethod, callback) - } - } - - /** Run the motor for some degrees - * - * @param {integer} degrees - * @param {integer} speed [-100 to 100] - * @param {function} [callback==undefined] Parameters:"stalled" or "done" - * mySPIKE.run_for_degrees(720, 100, function () { - * console.log("motor just ran for 720 degrees"); - * }) - */ - function run_for_degrees(degrees, speed, callback = undefined) { - if (speed !== undefined && typeof speed == "number") { - this.UJSONRPC.motorRunDegrees(port, degrees, speed, stallSetting, stopMethod, callback); - } - else { - this.UJSONRPC.motorRunDegrees(port, degrees, defaultSpeed, stallSetting, stopMethod, callback); - } - } - - /** Stop the motor - * - */ - function stop() { - this.UJSONRPC.motorPwm(port, 0, stallSetting); - } - - return { - run_to_position: run_to_position, - run_to_degrees_counted: this.run_to_degrees_counted, - start_at_power: start_at_power, - start: start, - stop: stop, - run_for_degrees: run_for_degrees, - run_for_seconds: run_for_seconds, - set_default_speed: set_default_speed, - set_stall_detection: set_stall_detection, - get_power: get_power, - get_degrees_counted: get_degrees_counted, - get_position: get_position, - get_speed: get_speed, - get_default_speed: get_default_speed - } -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/spike/motorpair.js b/server/examples/modules/SPIKE/spike/motorpair.js deleted file mode 100644 index 67d51e4..0000000 --- a/server/examples/modules/SPIKE/spike/motorpair.js +++ /dev/null @@ -1,92 +0,0 @@ - -/** MotorPair - * @namespace - * @param {string} leftPort - * @param {string} rightPort - * @memberof Service_SPIKE - * @example - * var pair = new mySPIKE.MotorPair("A", "B") - */ -Service_SPIKE.prototype.MotorPair = function (leftPort, rightPort) { - // settings - var defaultSpeed = 100; - - var leftMotor = this.ports[leftPort]; - var rightMotor = this.ports[rightPort]; - - var DistanceTravelToRevolutionRatio = 17.6; - - // check if device is a motor - if (leftMotor.device != "smallMotor" && leftMotor.device != "bigMotor") { - throw new Error("No motor detected at port " + this.port); - } - if (rightMotor.device != "smallMotor" && rightMotor.device != "bigMotor") { - throw new Error("No motor detected at port " + this.port); - } - - /** Sets the ratio of one motor rotation to the distance traveled. - * - * If there are no gears used between the motors and the wheels of the Driving Base, - * then amount is the circumference of one wheel. - * - * Calling this method does not affect the Driving Base if it is already currently running. - * It will only have an effect the next time one of the move or start methods is used. - * - * @param {number} amount - * @param {string} unit 'cm','in' - */ - function set_motor_rotation(amount, unit) { - - // assume unit is 'cm' when undefined - if (unit == "cm" || unit !== undefined) { - DistanceTravelToRevolutionRatio = amount; - } - else if (unit == "in") { - // convert to cm - DistanceTravelToRevolutionRatio = amount * 2.54; - } - } - - /** Starts moving the Driving Base - * - * @param {integer} left_speed [-100 to 100] - * @param {integer} right_speed [-100 to 100] - */ - function start_tank(left_speed, right_speed) { - UJSONRPC.moveTankSpeeds(left_speed, right_speed, leftPort, rightPort); - } - - // /** Starts moving the Driving Base without speed control. - // * - // * @param {any} power - // * @param {any} steering - // * @todo Implement this function - // */ - // function start_at_power (power, steering) { - - // } - - /** Starts moving the Driving Base - * - * @param {integer} leftPower - * @param {integer} rightPower - */ - function start_tank_at_power(leftPower, rightPower) { - UJSONRPC.moveTankPowers(leftPower, rightPower, leftPort, rightPort); - } - - /** Stops the 2 motors simultaneously, which will stop a Driving Base. - * - */ - function stop() { - UJSONRPC.moveTankPowers(0, 0, leftPort, rightPort); - } - - return { - stop: stop, - set_motor_rotation: set_motor_rotation, - start_tank: start_tank, - start_tank_at_power: start_tank_at_power - } - -} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/webserial/parsing.js b/server/examples/modules/SPIKE/webserial/parsing.js deleted file mode 100644 index 9ee47af..0000000 --- a/server/examples/modules/SPIKE/webserial/parsing.js +++ /dev/null @@ -1,798 +0,0 @@ - -/** clean the json_string for concatenation into jsonline - * @private - * - * @param {any} json_string - * @returns {string} - */ -Service_SPIKE.prototype.cleanJsonString = function (json_string) { - var cleanedJsonString = ""; - json_string = json_string.trim(); - - let findEscapedQuotes = /\\"/g; - - cleanedJsonString = json_string.replace(findEscapedQuotes, '"'); - cleanedJsonString = cleanedJsonString.substring(1, cleanedJsonString.length - 1); - // cleanedJsonString = cleanedJsonString.replace(findNewLines,''); - - return cleanedJsonString; -} - -/** Process the UJSON RPC script - * - * @private - * @param {any} lastUJSONRPC - * @param {string} [json_string="undefined"] - * @param {boolean} [testing=false] - * @param {any} callback - */ -Service_SPIKE.prototype.processFullUJSONRPC = async function (lastUJSONRPCToProcess, cleanedJsonString = "undefined", json_string = "undefined", testing = false, callback) { - - try { - - var parseTest = await JSON.parse(lastUJSONRPCToProcess); - - if (testing) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "processing FullUJSONRPC line: ", lastUJSONRPCToProcess); - } - - // update hub information using lastUJSONRPCToProcess - if (parseTest["m"] == 0) { - this.updateHubPortsInfo(); - } - this.PrimeHubEventHandler(); - - if (this.funcWithStream) { - await this.funcWithStream(); - } - - } - catch (e) { - // don't throw error when failure of processing UJSONRPC is due to micropython - if (lastUJSONRPCToProcess.indexOf("Traceback") == -1 && lastUJSONRPCToProcess.indexOf(">>>") == -1 && json_string.indexOf("Traceback") == -1 && json_string.indexOf(">>>") == -1) { - if (this.funcAfterError != undefined) { - this.funcAfterError("Fatal Error: Please close any other window or program that is connected to your SPIKE Prime"); - } - } - console.log(e); - console.log("%cTuftsCEEO ", "color: #3ba336;", "error parsing lastUJSONRPCToProcess: ", lastUJSONRPCToProcess); - console.log("%cTuftsCEEO ", "color: #3ba336;", "current jsonline: ", jsonline); - console.log("%cTuftsCEEO ", "color: #3ba336;", "current cleaned json_string: ", cleanedJsonString) - console.log("%cTuftsCEEO ", "color: #3ba336;", "current json_string: ", json_string); - console.log("%cTuftsCEEO ", "color: #3ba336;", "current value: ", value); - - if (callback != undefined) { - callback(); - } - - } -} - -/** Process a packet in UJSONRPC -* @private -* -*/ -Service_SPIKE.prototype.parsePacket = async function (value, testing = false, callback) { - // console.log("%cTuftsCEEO ", "color: #3ba336;", value); - - // stringify the packet to look for carriage return - var json_string = await JSON.stringify(value); - - // remove quotation marks from json_string - var cleanedJsonString = this.cleanJsonString(json_string); - // cleanedJsonString = cleanedJsonString.replace(findNewLines,''); - - // console.log(cleanedJsonString); - - this.jsonline = this.jsonline + cleanedJsonString; // concatenate packet to data - this.jsonline = this.jsonline.trim(); - - // regex search for carriage return - let pattern = /\\r/g; - var carriageReIndex = this.jsonline.search(pattern); - - // there is at least one carriage return in this packet - if (carriageReIndex > -1) { - //////////////////////////////// NEW parsePacket implementation ongoing since (29/12/20) - - let jsonlineSplitByCR = this.jsonline.split(/\\r/); // array of jsonline split by \r - - this.jsonline = ""; //reset jsonline - /* - each element in this array will be assessed for processing, - and the last element, if unable to be processed, will be concatenated to jsonline - */ - - for (let i = 0; i < jsonlineSplitByCR.length; i++) { - - // set lastUJSONRPC to an element in split array - this.lastUJSONRPC = jsonlineSplitByCR[i]; - // remove any newline character in the beginning of this.lastUJSONRPC - if (this.lastUJSONRPC.search(/\\n/g) == 0) - this.lastUJSONRPC = this.lastUJSONRPC.substring(2, this.lastUJSONRPC.length); - - /* Case 1: this.lastUJSONRPC is a valid, complete, and standard UJSONRPC packet */ - if (this.lastUJSONRPC[0] == "{" && this.lastUJSONRPC[this.lastUJSONRPC.length - 1] == "}") { - await this.processFullUJSONRPC(this.lastUJSONRPC, cleanedJsonString, json_string, testing, callback); - } - /* Case 3: this.lastUJSONRPC is a micropy print result */ - else if (this.lastUJSONRPC != "" && this.lastUJSONRPC.indexOf('"p":') == -1 && this.lastUJSONRPC.indexOf('],') == -1 && this.lastUJSONRPC.indexOf('"m":') == -1 && - this.lastUJSONRPC.indexOf('}') == -1 && this.lastUJSONRPC.indexOf('{"i":') == -1 && this.lastUJSONRPC.indexOf('{') == -1) { - /* filter reboot message */ - var rebootMessage = - 'Traceback (most recent call last): File "main.py", line 8, in File "hub_runtime.py", line 1, in start File "event_loop/event_loop.py", line 1, in run_forever File "event_loop/event_loop.py", line 1, in step KeyboardInterrupt: MicroPython v1.12-1033-g97d7f7dd4 on 2020-09-18; LEGO Technic Large Hub with STM32F413xx Type "help()" for more in formation. >>> HUB: sync filesystems HUB: soft reboot' - let rebootMessageRemovedWS = rebootMessage.replace(/[' ']/g, ""); - let lastUJSONRPCRemovedWS = this.lastUJSONRPC.replace(/[' ']/g, ""); - if (rebootMessageRemovedWS.indexOf(lastUJSONRPCRemovedWS) == -1) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "micropy print: ", this.lastUJSONRPC); - if (this.funcAfterPrint != undefined) - this.funcAfterPrint(this.lastUJSONRPC); - } - } - /* Case 3: lastUJSONRPC is only a portion of a standard UJSONRPC packet - Then lastUJSONRPC must be EITHER THE FIRST OR THE LAST ELEMENT in jsonlineSplitByCR - because - an incomplete UJSONRPC can either be - Case 3A: the beginning portion of a UJSONRPC packet with no \r in the end (LAST) - Case 3B: the last portion of a UJSONRPC packet with \r in the end (FIRST) - */ - else { - /* Case 3A: */ - if (this.lastUJSONRPC[0] == "{") { - this.jsonline = this.lastUJSONRPC; - // console.log("TEST (last elemnt in split array): ", i == jsonlineSplitByCR.length-1); - // console.log("%cTuftsCEEO ", "color: #3ba336;", "jsonline was reset to:" + jsonline); - } - /* Case 3B: */ - else { - /* the last portion of UJSONRPC cannot be concatenated to form a full packet - -> need to purge lastUJSONRPC - */ - } - } - } - } - -} - - -/** Get the devices that are connected to each port on the SPIKE Prime - *

Effect:

- *

Modifies {ports} global variable

- *

Modifies {hub} global variable

- * @private - */ -Service_SPIKE.prototype.updateHubPortsInfo = async function () { - // if a complete ujson rpc line was read - if (this.lastUJSONRPC) { - var data_stream; //UJSON RPC info to be parsed - - //get a line from the latest JSON RPC stream and parse to devices info - try { - data_stream = await JSON.parse(this.lastUJSONRPC); - data_stream = data_stream.p; - } - catch (e) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "error parsing lastUJSONRPC at updateHubPortsInfo", this.lastUJSONRPC); - console.log("%cTuftsCEEO ", "color: #3ba336;", typeof this.lastUJSONRPC); - console.log("%cTuftsCEEO ", "color: #3ba336;", this.lastUJSONRPC.p); - - if (this.funcAfterError != undefined) { - this.funcAfterError("Fatal Error: Please reboot the Hub and refresh this environment"); - } - - } - - var index_to_port = ["A", "B", "C", "D", "E", "F"] - - // iterate through each port and assign a device_type to {ports} - for (var key = 0; key < 6; key++) { - - let device_value = { "device": "none", "data": {} }; // value to go in ports associated with the port letter keys - - try { - var letter = index_to_port[key] - - // get SMALL MOTOR information - if (data_stream[key][0] == 48) { - - // parse motor information - var Mspeed = await data_stream[key][1][0]; - var Mangle = await data_stream[key][1][1]; - var Muangle = await data_stream[key][1][2]; - var Mpower = await data_stream[key][1][3]; - - // populate value object - device_value.device = "smallMotor"; - device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; - this.ports[letter] = device_value; - - } - // get BIG MOTOR information - else if (data_stream[key][0] == 49) { - - // parse motor information - var Mspeed = await data_stream[key][1][0]; - var Mangle = await data_stream[key][1][1]; - var Muangle = await data_stream[key][1][2]; - var Mpower = await data_stream[key][1][3]; - - // populate value object - device_value.device = "bigMotor"; - device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; - this.ports[letter] = device_value; - - } - // get ULTRASONIC sensor information - else if (data_stream[key][0] == 62) { - - // parse ultrasonic sensor information - var Udist = await data_stream[key][1][0]; - - // populate value object - device_value.device = "ultrasonic"; - device_value.data = { "distance": Udist }; - this.ports[letter] = device_value; - - /* check if callback from wait_for_distance_farther_than() can be executed */ - if (this.waitForDistanceFartherThanCallback != undefined) { - let thresholdDistance = this.waitForDistanceFartherThanCallback[0]; - - if (Udist > thresholdDistance) { - - // current distance is farther than threshold, so execute callback - this.waitForDistanceFartherThanCallback[1](); - this.waitForDistanceFartherThanCallback = undefined; // reset callback - } - } - - /* check if callback from wait_for_distance_closer_than() can be executed */ - if (this.waitForDistanceCloserThanCallback != undefined) { - let thresholdDistance = this.waitForDistanceCloserThanCallback[0]; - - if (Udist < thresholdDistance) { - - // current distance is closer than threshold, so execute callback - this.waitForDistanceCloserThanCallback[1](); - this.waitForDistanceCloserThanCallback = undefined; // reset callback - } - } - - - } - // get FORCE sensor information - else if (data_stream[key][0] == 63) { - - // parse force sensor information - var Famount = await data_stream[key][1][0]; - var Fbinary = await data_stream[key][1][1]; - var Fbigamount = await data_stream[key][1][2]; - - // convert the binary output to boolean for "pressed" key - if (Fbinary == 1) { - var Fboolean = true; - } else { - var Fboolean = false; - } - // execute callback from ForceSensor.wait_until_pressed() - if (Fboolean) { - // execute call back from wait_until_pressed() if it is defined - this.funcAfterForceSensorPress !== undefined && this.funcAfterForceSensorPress(); - - // destruct callback function - this.funcAfterForceSensorPress = undefined; - - // indicate that the ForceSensor was pressed - this.ForceSensorWasPressed = true; - } - // execute callback from ForceSensor.wait_until_released() - else { - // check if the Force Sensor was just released - if (this.ForceSensorWasPressed) { - this.ForceSensorWasPressed = false; - this.funcAfterForceSensorRelease !== undefined && this.funcAfterForceSensorRelease(); - this.funcAfterForceSensorRelease = undefined; - } - } - - // populate value object - device_value.device = "force"; - device_value.data = { "force": Famount, "pressed": Fboolean, "forceSensitive": Fbigamount } - this.ports[letter] = device_value; - } - // get COLOR sensor information - else if (data_stream[key][0] == 61) { - - // parse color sensor information - var Creflected = await data_stream[key][1][0]; - var CcolorID = await data_stream[key][1][1]; - var Ccolor = colorDictionary[CcolorID]; - var Cr = await data_stream[key][1][2]; - var Cg = await data_stream[key][1][3]; - var Cb = await data_stream[key][1][4]; - var rgb_array = [Cr, Cg, Cb]; - - // populate value object - device_value.device = "color"; - - // convert Ccolor to lower case because in the SPIKE APP the color is lower case - Ccolor = Ccolor.toLowerCase(); - device_value.data = { "reflected": Creflected, "color": Ccolor, "RGB": rgb_array }; - - // execute wait_until_color callback when color matches its argument - if (this.waitUntilColorCallback != undefined) - if (Ccolor == this.waitUntilColorCallback[0]) { - this.waitUntilColorCallback[1](); - - this.waitUntilColorCallback = undefined; - } - - if (this.lastDetectedColor != Ccolor) { - - if (this.funcAfterNewColor != undefined) { - this.funcAfterNewColor(Ccolor); - this.funcAfterNewColor = undefined; - } - - this.lastDetectedColor = Ccolor; - } - - this.ports[letter] = device_value; - } - /// NOTHING is connected - else if (data_stream[key][0] == 0) { - // populate value object - device_value.device = "none"; - device_value.data = {}; - this.ports[letter] = device_value; - } - - //parse hub information - var gyro_x = data_stream[6][0]; - var gyro_y = data_stream[6][1]; - var gyro_z = data_stream[6][2]; - var gyro = [gyro_x, gyro_y, gyro_z]; - this.hub["gyro"] = gyro; - - var newOri = this.setHubOrientation(gyro); - // see if currently detected orientation is different from the last detected orientation - if (newOri !== this.lastHubOrientation) { - this.lastHubOrientation = newOri; - - if (typeof this.funcAfterNewOrientation == "function") { - this.funcAfterNewOrientation(newOri); - this.funcAfterNewOrientation = undefined; - } - } - - var accel_x = data_stream[7][0]; - var accel_y = data_stream[7][1]; - var accel_z = data_stream[7][2]; - var accel = [accel_x, accel_y, accel_z]; - this.hub["accel"] = accel; - - var posi_x = data_stream[8][0]; - var posi_y = data_stream[8][1]; - var posi_z = data_stream[8][2]; - var pos = [posi_x, posi_y, posi_z]; - this.hub["pos"] = pos; - - } catch (e) { } //ignore errors - } - } -} - -/** Catch hub events in UJSONRPC - *

Effect:

- *

Logs in the console when some particular messages are caught

- *

Assigns the hub events global variables

- * @private - */ -Service_SPIKE.prototype.PrimeHubEventHandler = async function () { - - var parsedUJSON = await JSON.parse(this.lastUJSONRPC); - - var messageType = parsedUJSON["m"]; - - //catch runtime_error made at ujsonrpc level - if (messageType == "runtime_error") { - var decodedResponse = atob(parsedUJSON["p"][3]); - - decodedResponse = JSON.stringify(decodedResponse); - - console.log("%cTuftsCEEO ", "color: #3ba336;", decodedResponse); - - var splitData = decodedResponse.split(/\\n/); // split the code by every newline - - // execute function after print if defined (only print the last line of error message) - if (funcAfterError != undefined) { - var errorType = splitData[splitData.length - 2]; - - // error is a syntax error - if (errorType.indexOf("SyntaxError") > -1) { - /* get the error line number*/ - var lineNumberLine = splitData[splitData.length - 3]; - console.log("%cTuftsCEEO ", "color: #3ba336;", "lineNumberLine: ", lineNumberLine); - var indexLine = lineNumberLine.indexOf("line"); - var lineNumberSubstring = lineNumberLine.substring(indexLine, lineNumberLine.length); - var numberPattern = /\d+/g; - var lineNumber = lineNumberSubstring.match(numberPattern)[0]; - console.log("%cTuftsCEEO ", "color: #3ba336;", lineNumberSubstring.match(numberPattern)); - console.log("%cTuftsCEEO ", "color: #3ba336;", "lineNumber:", lineNumber); - console.log("%cTuftsCEEO ", "color: #3ba336;", "typeof lineNumber:", typeof lineNumber); - var lineNumberInNumber = parseInt(lineNumber) - 5; - console.log("%cTuftsCEEO ", "color: #3ba336;", "typeof lineNumberInNumber:", typeof lineNumberInNumber); - - this.funcAfterError("line " + lineNumberInNumber + ": " + errorType); - } - else { - this.funcAfterError(errorType); - } - } - } - else if (messageType == 0) { - /* - DEV NOTE (26/12/2020): - messageType = 0 is regular UJSONRPC stream. - Pixel matrix SOMETIMES shows in this message, but exactly when is not clear. - */ - // console.log("%cTuftsCEEO ", "color: #3ba336;", lastUJSONRPC); - } - // storage information - else if (messageType == 1) { - - var storageInfo = parsedUJSON["p"]["slots"]; // get info of all the slots - - for (var slotid in storageInfo) { - this.hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable - } - - } - // battery status - else if (messageType == 2) { - this.batteryAmount = parsedUJSON["p"][1]; - } - // give center button click, left, right (?) - else if (messageType == 3) { - console.log("%cTuftsCEEO ", "color: #3ba336;", this.lastUJSONRPC); - if (parsedUJSON.p[0] == "center") { - this.hubMainButton.pressed = true; - - if (parsedUJSON.p[1] > 0) { - this.hubMainButton.pressed = false; - this.hubMainButton.duration = parsedUJSON.p[1]; - } - } - else if (parsedUJSON.p[0] == "connect") { - this.hubBluetoothButton.pressed = true; - - if (parsedUJSON.p[1] > 0) { - this.hubBluetoothButton.pressed = false; - this.hubBluetoothButton.duration = parsedUJSON.p[1]; - } - } - else if (parsedUJSON.p[0] == "left") { - this.hubLeftButton.pressed = true; - - // execute callback for wait_until_pressed() if defined - if (this.funcAfterLeftButtonPress != undefined) { - this.funcAfterLeftButtonPress(); - } - this.funcAfterLeftButtonPress = undefined; - - if (parsedUJSON.p[1] > 0) { - this.hubLeftButton.pressed = false; - this.hubLeftButton.duration = parsedUJSON.p[1]; - - // execute callback for wait_until_released() if defined - if (this.funcAfterLeftButtonRelease != undefined) { - this.funcAfterLeftButtonRelease(); - } - - this.funcAfterLeftButtonRelease = undefined; - } - - } - else if (parsedUJSON.p[0] == "right") { - this.hubRightButton.pressed = true; - - // execute callback for wait_until_pressed() if defined - if (this.funcAfterRightButtonPress != undefined) { - this.funcAfterRightButtonPress(); - } - - this.funcAfterRightButtonPress = undefined; - - if (parsedUJSON.p[1] > 0) { - this.hubRightButton.pressed = false; - this.hubRightButton.duration = parsedUJSON.p[1]; - - // execute callback for wait_until_released() if defined - if (this.funcAfterRightButtonRelease != undefined) { - this.funcAfterRightButtonRelease(); - } - - this.funcAfterRightButtonRelease = undefined; - } - } - - } - // gives orientation of the hub (leftside, up,..) - else if (messageType == 14) { - /* this data stream is about hub orientation */ - - var newOrientation = parsedUJSON.p; - // console.log(newOrientation); - if (newOrientation == "1") { - this.lastHubOrientation = "up"; - } - else if (newOrientation == "4") { - this.lastHubOrientation = "down"; - } - else if (newOrientation == "0") { - this.lastHubOrientation = "front"; - } - else if (newOrientation == "3") { - this.lastHubOrientation = "back"; - } - else if (newOrientation == "2") { - this.lastHubOrientation = "rightside"; - } - else if (newOrientation == "5") { - this.lastHubOrientation = "leftside"; - } - - console.log("%cTuftsCEEO ", "color: #3ba336;", this.lastUJSONRPC); - } - else if (messageType == 7) { - if (this.funcAfterPrint != undefined) { - this.funcAfterPrint(">>> Program started!"); - } - } - else if (messageType == 8) { - if (this.funcAfterPrint != undefined) { - this.funcAfterPrint(">>> Program finished!"); - } - } - else if (messageType == 9) { - var encodedName = parsedUJSON["p"]; - var decodedName = atob(encodedName); - this.hubName = decodedName; - - if (this.triggerCurrentStateCallback != undefined) { - this.triggerCurrentStateCallback(); - } - } - else if (messageType == 11) { - console.log("%cTuftsCEEO ", "color: #3ba336;", this.lastUJSONRPC); - } - else if (messageType == 12) { - // this is usually the response from trigger_current_state, don't console log to avoid spam - } - else if (messageType == 4) { - var newGesture = parsedUJSON.p; - - if (newGesture == "3") { - this.hubGesture = "freefall"; - this.hubGestures.push(this.hubGesture); - } - else if (newGesture == "2") { - this.hubGesture = "shaken"; - this.hubGestures.push("shaken"); // the string is different at higher level - } - else if (newGesture == "1") { - this.hubFrontEvent = "doubletapped"; - this.hubGesture = "doubletapped"; - this.hubGestures.push(this.hubGesture); - } - else if (newGesture == "0") { - this.hubFrontEvent = "tapped"; - this.hubGesture = "tapped"; - this.hubGestures.push(this.hubGesture); - } - - // execute funcAfterNewGesture callback that was taken at wait_for_new_gesture() - if (typeof funcAfterNewGesture === "function") { - this.funcAfterNewGesture(hubGesture); - this.funcAfterNewGesture = undefined; - } - - console.log("%cTuftsCEEO ", "color: #3ba336;", this.lastUJSONRPC); - - } - else { - - // general parameters check - if (parsedUJSON["r"]) { - if (parsedUJSON["r"]["slots"]) { - - var storageInfo = parsedUJSON["r"]["slots"]; // get info of all the slots - - for (var slotid in storageInfo) { - this.hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable - } - - } - } - - // getFirmwareInfo callback check - if (this.getFirmwareInfoCallback != undefined) { - if (this.getFirmwareInfoCallback[0] == parsedUJSON["i"]) { - var version = parsedUJSON["r"]["runtime"]["version"]; - var stringVersion = "" - for (var index in version) { - if (index < version.length - 1) { - stringVersion = stringVersion + version[index] + "."; - } - else { - stringVersion = stringVersion + version[index]; - } - } - console.log("%cTuftsCEEO ", "color: #3ba336;", "firmware version: ", stringVersion); - this.getFirmwareInfoCallback[1](stringVersion); - } - } - // COMMENTED BY JEREMY JUNG ON DECEMBER 10TH AFTER REMOVING TRIGGER_CURRENT_STATE INTERVAL - // if (parsedUJSON.r !== undefined && parsedUJSON.r !== null) { - // if (Object.keys(parsedUJSON.r).length !== 0 && parsedUJSON.r.constructor === Object) { - // console.log("%cTuftsCEEO ", "color: #3ba336;", "received response: ", lastUJSONRPC); - // } - // } - // else { - // console.log("%cTuftsCEEO ", "color: #3ba336;", "received response: ", lastUJSONRPC); - // } - - console.log("%cTuftsCEEO ", "color: #3ba336;", "received response: ", this.lastUJSONRPC); - /* See if any of the stored responseCallbacks need to be executed due to this UJSONRPC response */ - for (var index = 0; index < this.responseCallbacks.length; index++) { - - var currCallbackInfo = this.responseCallbacks[index]; - - if (currCallbackInfo != undefined) { - - if (currCallbackInfo[0] == parsedUJSON["i"]) { - /* the message id of UJSONRPC corresponds to that of a response callback */ - - var response = "null"; - - // parse motor stoppage reason responses - if (parsedUJSON["r"] == 0) { - response = "done"; - } - else if (parsedUJSON["r"] == 2) { - response = "stalled"; - } - - // execute callback with the response - currCallbackInfo[1](response); - - // empty the index of which callback that was just executed - this.responseCallbacks[index] = undefined; - } - } - } - - // execute the callback function after sending start_write_program UJSONRPC - if (this.startWriteProgramCallback != undefined) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "startWriteProgramCallback is defined. Looking for matching mesasage id: ", this.startWriteProgramCallback[0]); - - // check if the message id of UJSONRPC corresponds to that of a response callback - if (this.startWriteProgramCallback[0] == parsedUJSON["i"]) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "matching message id detected with startWriteProgramCallback[0]: ", this.startWriteProgramCallback[0]) - - // get the information for the packet sending - var blocksize = parsedUJSON["r"]["blocksize"]; // maximum size of each packet to be sent in bytes - var transferid = parsedUJSON["r"]["transferid"]; // id to use for transferring this program - - console.log("%cTuftsCEEO ", "color: #3ba336;", "executing writePackageFunc expecting transferID of ", transferid); - - // execute callback - await this.startWriteProgramCallback[1](blocksize, transferid); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "deallocating startWriteProgramCallback"); - - // deallocate callback - this.startWriteProgramCallback = undefined; - } - - } - - // check if the program should write packages for a program - if (this.writePackageInformation != undefined) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "writePackageInformation is defined. Looking for matching mesasage id: ", this.writePackageInformation[0]); - - // check if the message id of UJSONRPC corresponds to that of the first write_package script that was sent - if (this.writePackageInformation[0] == parsedUJSON["i"]) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "matching message id detected with writePackageInformation[0]: ", this.writePackageInformation[0]); - - // get the information for the package sending process - var remainingData = this.writePackageInformation[1]; - var transferID = this.writePackageInformation[2]; - var blocksize = this.writePackageInformation[3]; - - // the size of the remaining data to send is less than or equal to blocksize - if (remainingData.length <= blocksize) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "remaining data's length is less than or equal to blocksize"); - - // the size of remaining data is not zero - if (remainingData.length != 0) { - - var dataToSend = remainingData.substring(0, remainingData.length); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "reminaing data's length is not zero, sending entire remaining data: ", dataToSend); - - var base64data = btoa(dataToSend); - - this.UJSONRPC.writePackage(base64data, transferID); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "deallocating writePackageInforamtion") - - if (this.writeProgramCallback != undefined) { - - this.writeProgramCallback(); - } - - - this.writePackageInformation = undefined; - } - } - // the size of remaining data is more than the blocksize - else if (remainingData.length > blocksize) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "remaining data's length is more than blocksize"); - - var dataToSend = remainingData.substring(0, blocksize); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "sending blocksize amount of data: ", dataToSend) - - var base64data = btoa(dataToSend); - - var messageid = UJSONRPC.writePackage(base64data, transferID); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "expected response with message id of ", messageid); - - var remainingData = remainingData.substring(blocksize, remainingData.length); - - this.writePackageInformation = [messageid, remainingData, transferID, blocksize]; - } - } - } - } -} - -/** Get the orientation of the hub based on gyroscope values - * - * @private - * @param {(number|Array)} gyro - */ -Service_SPIKE.prototype.setHubOrientation = function (gyro) { - var newOrientation; - if (gyro[0] < 500 && gyro[0] > -500) { - if (gyro[1] < 500 && gyro[1] > -500) { - - if (gyro[2] > 500) { - newOrientation = "front"; - } - else if (gyro[2] < -500) { - newOrientation = "back"; - } - } - else if (gyro[1] > 500) { - newOrientation = "up"; - } - else if (gyro[1] < -500) { - newOrientation = "down"; - } - } else if (gyro[0] > 500) { - newOrientation = "rightside"; - } - else if (gyro[0] < -500) { - newOrientation = "leftside"; - } - - return newOrientation; -} diff --git a/server/examples/modules/SPIKE/webserial/webserial.js b/server/examples/modules/SPIKE/webserial/webserial.js deleted file mode 100644 index 6dbcefb..0000000 --- a/server/examples/modules/SPIKE/webserial/webserial.js +++ /dev/null @@ -1,227 +0,0 @@ - -/** Prompt user to select web serial port and make connection to SPIKE Prime - *

Effect Makes prompt in Google Chrome ( Google Chrome Browser needs "Experimental Web Interface" enabled)

- *

Note:

- *

This function is to be executed before reading in JSON RPC streams from the hub

- *

This function needs to be called when system is handling a user gesture (like button click)

- * @private - * @returns {boolean} True if web serial initialization is successful, false otherwise - */ -Service_SPIKE.prototype.initWebSerial = async function () { - try { - var success = false; - - this.port = await navigator.serial.getPorts(); - console.log("%cTuftsCEEO ", "color: #3ba336;", "ports:", this.port); - // select device - this.port = await navigator.serial.requestPort({ - // filters:[filter] - }); - // wait for the port to open. - try { - await this.port.open({ baudRate: 115200 }); - } - catch (er) { - console.log("%cTuftsCEEO ", "color: #3ba336;", er); - // check if system requires baudRate syntax - if (er.message.indexOf("baudrate") > -1) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "baudRate needs to be baudrate"); - await this.port.open({ baudrate: 115200 }); - } - // check if error is due to unsuccessful closing of previous port - else if (er.message.indexOf("close") > -1) { - if (this.funcAfterError != undefined) { - this.funcAfterError(er + "\nPlease try again. If error persists, refresh this environment."); - } - await this.port.close(); - } else { - if (this.funcAfterError != undefined) { - this.funcAfterError(er + "\nPlease try again. If error persists, refresh this environment."); - } - } - await this.port.close(); - } - - if (this.port.readable) { - success = true; - } - else { - success = false; - } - - return success; - - - } catch (e) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "Cannot read port:", e); - if (this.funcAfterError != undefined) { - this.funcAfterError(e); - } - return false; - } -} - - -/** Send command to the SPIKE Prime (UJSON RPC or Micropy depending on current interpreter) - *

May make the SPIKE Prime do something

- * @ignore - * @param {string} command Command to send (or sequence of commands, separated by new lines) - */ -Service_SPIKE.prototype.sendDATA = async function (command) { - // look up the command to send - var commands = command.split("\n"); // split on new line - - // ignore console logging trigger_current_state (to avoid it spamming) - if (command.indexOf("trigger_current_state") == -1) - console.log("%cTuftsCEEO ", "color: #3ba336;", "sendDATA: " + commands); - - // make sure ready to write to device - setupWriter(); - - // send it in micropy if micropy reached - if (this.micropython_interpreter) { - - for (var i = 0; i < commands.length; i++) { - // console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) - - // trim trailing, leading whitespaces - var current = commands[i].trim(); - - this.writer.write(current); - this.writer.write(RETURN); // extra return at the end - } - } - // expect json scripts if micropy not reached - else { - // go through each line of the command - // trim it, send it, and send a return... - for (var i = 0; i < commands.length; i++) { - - //console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) - - current = commands[i].trim(); - //console.log("%cTuftsCEEO ", "color: #3ba336;", "current", current); - // turn string into JSON - - //string_current = (JSON.stringify(current)); - //myobj = JSON.parse(string_current); - var myobj = await JSON.parse(current); - - // turn JSON back into string and write it out - this.writer.write(JSON.stringify(myobj)); - this.writer.write(RETURN); // extra return at the end - } - } -} - - -/** Continuously take UJSON RPC input from SPIKE Prime - * @private - */ -Service_SPIKE.prototype.streamUJSONRPC = async function () { - try { - // COMMENTED BY JEREMY JUNG (DECEMBER/10/2020) - // var triggerCurrentStateInterval = setInterval(function() { - // UJSONRPC.triggerCurrentState(); - // }, 500); - - var firstReading = true; - // read when port is set up - while (this.port.readable) { - - // initialize readers - const decoder = new TextDecoderStream(); - const readableStreamClosed = this.port.readable.pipeTo(decoder.writable); - this.reader = decoder.readable.getReader(); - - // continuously get - while (true) { - try { - - if (firstReading) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "##### READING FIRST UJSONRPC LINE ##### CHECKING VARIABLES"); - console.log("%cTuftsCEEO ", "color: #3ba336;", "jsonline: ", this.jsonline); - console.log("%cTuftsCEEO ", "color: #3ba336;", "lastUJSONRPC: ", this.lastUJSONRPC); - firstReading = false; - } - // read UJSON RPC stream ( actual data in {value} ) - ({ value, done } = await this.reader.read()); - - // log value - if (this.micropython_interpreter) { - console.log("%cTuftsCEEO ", "color: #3ba336;", value); - } - - // console.log("%cTuftsCEEO ", "color: #3ba336;", value); - - //concatenate UJSONRPC packets into complete JSON objects - if (value) { - await this.parsePacket(value); - } - if (done) { - this.serviceActive = false; - // reader has been canceled. - console.log("%cTuftsCEEO ", "color: #3ba336;", "[readLoop] DONE", done); - } - } - // error handler - catch (error) { - console.log("%cTuftsCEEO ", "color: #3ba336;", '[readLoop] ERROR', error); - - this.serviceActive = false; - - if (this.funcAfterDisconnect != undefined) { - this.funcAfterDisconnect(); - } - - if (this.funcAfterError != undefined) { - this.funcAfterError("SPIKE Prime hub has been disconnected"); - } - - this.writer.close(); - //await writer.releaseLock(); - await this.writableStreamClosed; - - this.reader.cancel(); - //await reader.releaseLock(); - await this.readableStreamClosed.catch(reason => { }); - - await this.port.close(); - - this.writer = undefined; - this.reader = undefined; - this.jsonline = ""; - this.lastUJSONRPC = undefined; - json_string = undefined; - cleanedJsonString = undefined; - - break; // stop trying to read - } - } // end of: while (true) [reader loop] - - // release the lock - this.reader.releaseLock(); - - } // end of: while (port.readable) [checking if readable loop] - console.log("%cTuftsCEEO ", "color: #3ba336;", "- port.readable is FALSE") - } // end of: trying to open port - catch (e) { - this.serviceActive = false; - // Permission to access a device was denied implicitly or explicitly by the user. - console.log("%cTuftsCEEO ", "color: #3ba336;", 'ERROR trying to open:', e); - } -} - -/** Initialize writer object before sending commands - * @private - * - */ -Service_SPIKE.prototype.setupWriter = function () { - // if writer not yet defined: - if (typeof this.writer === 'undefined') { - // set up writer for the first time - const encoder = new TextEncoderStream(); - this.writableStreamClosed = encoder.readable.pipeTo(port.writable); - this.writer = encoder.writable.getWriter(); - } -} \ No newline at end of file diff --git a/server/examples/modules/ServiceDock_SPIKE.js b/server/examples/modules/ServiceDock_SPIKE.js index bd1971a..3e528a1 100644 --- a/server/examples/modules/ServiceDock_SPIKE.js +++ b/server/examples/modules/ServiceDock_SPIKE.js @@ -2821,7 +2821,7 @@ function Service_SPIKE() { * @param {string} data entire data to send in ASCII * @param {integer} slotid slot to which to assign the program */ - UJSONRPC.startWriteProgram = async function startWriteProgram(projectName, type, data, slotid) { + UJSONRPC.startWriteProgram = async function startWriteProgram (projectName, type, data, slotid) { console.log("%cTuftsCEEO ", "color: #3ba336;", "in startWriteProgram..."); console.log("%cTuftsCEEO ", "color: #3ba336;", "constructing start_write_program script..."); diff --git a/server/examples/modules/scaledSPIKE/Service_SPIKE.js b/server/examples/modules/scaledSPIKE/Service_SPIKE.js new file mode 100644 index 0000000..87f7b95 --- /dev/null +++ b/server/examples/modules/scaledSPIKE/Service_SPIKE.js @@ -0,0 +1,1438 @@ +/* +Project Name: SPIKE Prime Web Interface +File name: Service_SPIKE.js +Author: Jeremy Jung +Last update: 3/14/21 +Description: Main interface for users to interact with their SPIKE Primes. +Credits/inspirations: + Based on code wrriten by Ethan Danahy, Chris Rogers +History: + Created by Jeremy on 7/15/20 +LICENSE: MIT +(C) Tufts Center for Engineering Education and Outreach (CEEO) +*/ + + + +/** + * @class Service_SPIKE + * @classdesc + * ServiceDock library for interfacing with LEGO® SPIKE™ Prime + * @example + * // assuming you declared with the id, "service_spike" + * var serviceSPIKE = document.getElemenyById("service_spike").getService(); + * serviceSPIKE.executeAfterInit(async function() { + * // write code here + * }) + * + * serviceSPIKE.init(); + */ +function Service_SPIKE () { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // Service Dock variables + let virtualSpike = new _virtualSpike(); + let ujsonLib = _SpikeUjsonLib; + let serviceActive = false; // flag for service initialization state + + // flag for development + let dev = false; + + var funcAtInit = () => {} + var funcAfterPrint = (m) => {}; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => {}; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => {}; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => {}; // function to call after SPIKE Prime is connected + var funcWithStream = () => {} // function to call during SPIKE Prime data stream + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + /** Connect to a webserial port and begin data stream with hub + * @public + */ + const init = async function (isDev) { + try { + dev = isDev; + console.log(dev); + let serviceActive = await virtualSpike.init(isDev); + + if (serviceActive === true) { + await sleep(1000); + } + + devConsoleLog("serviceActive: " + serviceActive); + return serviceActive; + } + catch (e) { + consoleError(e); + } + + + // initialize web serial connection + // var webSerialConnected = await initWebSerial(); + + // if (webSerialConnected) { + + // start streaming UJSONRPC + // streamUJSONRPC(); + + // await sleep(1000); + + // triggerCurrentState(); + // getFirmwareInfo(function (version) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "This SPIKE Prime is using Hub OS ", version); + // }); + // serviceActive = true; + + // await sleep(2000); // wait for service to init + + // // call funcAtInit if defined + // if (funcAtInit !== undefined) { + // funcAtInit(); + // } + // return true; + // } + // else { + // return false; + // } + } + + const isActive = function () { + return serviceActive; + } + + /** The PrimeHub object includes controllable interfaces ("constants") for your SPIKE Prime, such as left_button, right_button, motion_sensor, and light_matrix. + * @namespace + * @memberof Service_SPIKE + * @example + * // Initialize the Hub + * var hub = new serviceSPIKE.PrimeHub() + */ + const PrimeHub = function () { + var newOrigin = 0; + + /** The left button on the hub + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.left_button + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * // do something with left_button + */ + var left_button = {}; + + /** execute callback after this button is pressed + * @param {function} callback function to run when button is pressed + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * left_button.wait_until_pressed ( function () { + * console.log("left_button was pressed"); + * }) + * + */ + left_button.wait_until_pressed = function (callback) { + virtualSpike.spikeMemory.funcAfterLeftButtonPress = callback; + } + /** execute callback after this button is released + * + * @param {function} callback function to run when button is released + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var left_button = hub.left_button; + * left_button.wait_until_released ( function () { + * console.log("left_button was released"); + * }) + */ + left_button.wait_until_released = function (callback) { + virtualSpike.spikeMemory.funcAfterLeftButtonRelease = callback; + } + /** Tests to see whether the button has been pressed since the last time this method called. + * + * @returns {boolean} - True if was pressed, false otherwise + * @example + * if (left_button.was_pressed()) { + * console.log("left_button was pressed") + * } + */ + left_button.was_pressed = function () { + if (virtualSpike.hub.leftButton.duration > 0) { + virtualSpike.hub.leftButton.duration = 0; + return true; + } else { + return false; + } + } + + /** Tests to see whether the button is pressed + * + * @returns {boolean} True if pressed, false otherwise + * @example + * if (left_button.is_pressed()) { + * console.log("left_button is pressed") + * } + */ + left_button.is_pressed = function () { + if (virtualSpike.hub.leftButton.pressed) { + return true; + } + else { + return false; + } + } + + /** The right button on the hub + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from PrimeHub.right_button + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * // do something with right_button + */ + var right_button = {}; + + /** execute callback after this button is pressed + * + * @param {function} callback function to run when button is pressed + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * right_button.wait_until_pressed ( function () { + * console.log("right_button was pressed"); + * }) + */ + right_button.wait_until_pressed = function (callback) { + + virtualSpike.spikeMemory.funcAfterRightButtonPress = callback; + } + + /** execute callback after this button is released + * + * @param {function} callback function to run when button is released + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * var right_button = hub.right_button; + * right_button.wait_until_released ( function () { + * console.log("right_button was released"); + * }) + */ + right_button.wait_until_released = function (callback) { + + virtualSpike.spikeMemory.funcAfterRightButtonRelease = callback; + } + + /** Tests to see whether the button has been pressed since the last time this method called. + * + * @returns {boolean} - True if was pressed, false otherwise + * @example + * var hub = new serviceSPIKE.PrimeHub(); + * if ( hub.right_button.was_pressed() ) { + * console.log("right_button was pressed"); + * } + */ + right_button.was_pressed = function () { + if (virtualSpike.hub.rightButton.duration > 0) { + virtualSpike.hub.rightButton.duration = 0; + return true; + } else { + return false; + } + } + + /** Tests to see whether the button is pressed + * + * @returns {boolean} True if pressed, false otherwise + * @example + * if (right_button.is_pressed()) { + * console.log("right_button is pressed") + * } + */ + right_button.is_pressed = function () { + if (virtualSpike.hub.rightButton.pressed) { + return true; + } + else { + return false; + } + } + /** Following are all of the functions that are linked to the Hub’s programmable Brick Status Light. + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.light_matrix + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var status_light = hub.status_light; + * // do something with status_light + */ + var status_light = {}; + + /** Sets the color of the light. + * @param {string} color ["azure","black","blue","cyan","green","orange","pink","red","violet","yellow","white"] + * @example + * var hub = new Primehub() + * hub.status_light.on("blue") + * + */ + status_light.on = function (color) { + let dictColor = { + "azure": 4, + "black": 12, + "blue": 3, + "cyan": 5, + "green": 6, + "orange": 8, + "pink": 1, + "red": 9, + "violet": 2, + "yellow": 7, + "white": 10 + } + + let intColor = dictColor[color]; + ujsonLib.centerButtonLightUp(intColor, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Turns off the light. + * @example + * var hub = new Primehub() + * hub.status_light.off() + */ + status_light.off = function () { + ujsonLib.centerButtonLightUp(0, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Hub's light matrix + * @namespace + * @memberof! PrimeHub + * @returns {functions} - functions from PrimeHub.light_matrix + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var light_matrix = hub.light_matrix; + * // do something with light_matrix + */ + var light_matrix = {}; + + /** + * @todo Implement this function + * @ignore + * @param {string} + */ + light_matrix.show_image = function (image) { + + } + /** Sets the brightness of one pixel (one of the 25 LED) on the Light Matrix. + * + * @param {integer} x [0 to 4] + * @param {integer} y [0 to 4] + * @param {integer} brightness [0 to 100] + */ + light_matrix.set_pixel = function (x, y, brightness = 100) { + ujsonLib.displaySetPixel(x, y, brightness, (c, rid) => virtualSpike.sendDATA(c)); + + } + /** Writes text on the Light Matrix, one letter at a time, scrolling from right to left. + * + * @param {string} message + */ + light_matrix.write = function (message) { + ujsonLib.displayText(message, (c, rid) => virtualSpike.sendDATA(c)); + } + /** Turns off all the pixels on the Light Matrix. + * + */ + light_matrix.off = function () { + ujsonLib.displayClear((c, rid) => virtualSpike.sendDATA(c)); + } + + /** Hub's speaker + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from Primehub.speaker + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var speaker = hub.speaker; + * // do something with speaker + */ + var speaker = {}; + + speaker.volume = 100; + + /** Plays a beep on the Hub. + * + * @param {integer} note The MIDI note number [44 to 123 (60 is middle C note)] + * @param {number} seconds The duration of the beep in seconds + */ + speaker.beep = function (note, seconds) { + ujsonLib.soundBeep(speaker.volume, note, (c, rid) => virtualSpike.sendDATA(c)); + setTimeout(function () { ujsonLib.soundStop((c, rid) => virtualSpike.sendDATA(c)) }, seconds * 1000); + } + + /** Starts playing a beep. + * + * @param {integer} note The MIDI note number [44 to 123 (60 is middle C note)] + */ + speaker.start_beep = function (note) { + ujsonLib.soundBeep(speaker.volume, note, (c, rid) => virtualSpike.sendDATA(c)) + } + + /** Stops any sound that is playing. + * + */ + speaker.stop = function () { + ujsonLib.soundStop((c, rid) => virtualSpike.sendDATA(c)); + } + + /** Retrieves the value of the speaker volume. + * @returns {number} The current volume [0 to 100] + */ + speaker.get_volume = function () { + return speaker.volume; + } + + /** Sets the speaker volume. + * + * @param {integer} newVolume + */ + speaker.set_volume = function (newVolume) { + speaker.volume = newVolume + } + + /** Hub's motion sensor + * @namespace + * @memberof! PrimeHub + * @returns {functions} functions from PrimeHub.motion_sensor + * @example + * var hub = serviceSPIKE.PrimeHub(); + * var motion_sensor = hub.motion_sensor; + * // do something with motion_sensor + */ + var motion_sensor = {}; + + /** Sees whether a gesture has occurred since the last time was_gesture() + * was used or since the beginning of the program (for the first use). + * + * @param {string} gesture + * @returns {boolean} true if the gesture was made, false otherwise + */ + motion_sensor.was_gesture = function (gesture) { + + var gestureWasMade = false; + + // iterate over the hubGestures array + for (let index in virtualSpike.spikeMemory.hubGestures) { + + // pick a gesture from the array + var oneGesture = virtualSpike.spikeMemory.hubGestures[index]; + + // switch the flag that gesture existed + if (oneGesture == gesture) { + gestureWasMade = true; + break; + } + } + // reinitialize hubGestures so it only holds gestures that occurred after this was_gesture() execution + virtualSpike.spikeMemory.hubGestures = []; + + return gestureWasMade; + + } + + /** Executes callback when a new gesture happens + * + * @param {function(string)} callback - A callback of which argument is name of the gesture + * @example + * motion_sensor.wait_for_new_gesture( function ( newGesture ) { + * if ( newGesture == 'tapped') { + * console.log("SPIKE was tapped") + * } + * else if ( newGesture == 'doubletapped') { + * console.log("SPIKE was doubletapped") + * } + * else if ( newGesture == 'shaken') { + * console.log("SPIKE was shaken") + * } + * else if ( newGesture == 'freefall') { + * console.log("SPIKE was freefall") + * } + * }) + */ + motion_sensor.wait_for_new_gesture = function (callback) { + + virtualSpike.spikeMemory.funcAfterNewGesture = callback; + + } + + /** Executes callback when the orientation of the Hub changes or when function was first called + * + * @param {function(string)} callback - A callback whose signature is name of the orientation + * @example + * motion_sensor.wait_for_new_orientation( function ( newOrientation ) { + * if (newOrientation == "up") { + * console.log("orientation is up"); + * } + * else if (newOrientation == "down") { + * console.log("orientation is down"); + * } + * else if (newOrientation == "front") { + * console.log("orientation is front"); + * } + * else if (newOrientation == "back") { + * console.log("orientation is back"); + * } + * else if (newOrientation == "leftSide") { + * console.log("orientation is leftSide"); + * } + * else if (newOrientation == "rightSide") { + * console.log("orientation is rightSide"); + * } + * }) + */ + motion_sensor.wait_for_new_orientation = function (callback) { + // immediately return current orientation if the method was called for the first time + if (virtualSpike.spikeMemory.waitForNewOriFirst) { + virtualSpike.spikeMemory.waitForNewOriFirst = false; + callback(virtualSpike.spikeMemory.lastHubOrientation); + } + // for future executions, wait until new orientation + else { + virtualSpike.spikeMemory.funcAfterNewOrientation = callback; + } + + } + + /** “Yaw” is the rotation around the front-back (vertical) axis. + * + * @returns {integer} yaw angle + */ + motion_sensor.get_yaw_angle = function get_yaw_angle() { + var currPos = virtualSpike.hub.pos[0]; + + return currPos; + } + + /** “Pitch” the is rotation around the left-right (transverse) axis. + * + * @returns {integer} pitch angle + */ + motion_sensor.get_pitch_angle = function get_pitch_angle() { + return virtualSpike.hub.pos[1]; + } + + /** “Roll” the is rotation around the front-back (longitudinal) axis. + * + * @returns {integer} roll angle + */ + motion_sensor.get_roll_angle = function get_roll_angle() { + return virtualSpike.hub.pos[2]; + } + + /** Gets the acceleration of the SPIKE's yaw axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_yaw_acceleration = function get_yaw_acceleration() { + return virtualSpike.hub.pos[2]; + } + + /** Gets the acceleration of the SPIKE's pitch axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_pitch_acceleration = function get_pitch_acceleration() { + return virtualSpike.hub.pos[1]; + } + + /** Gets the acceleration of the SPIKE's roll axis + * + * @returns {integer} acceleration + */ + motion_sensor.get_roll_acceleration = function get_roll_acceleration() { + return virtualSpike.hub.pos[0]; + } + + /** Retrieves the most recently detected gesture. + * + * @returns {string} the name of gesture + */ + motion_sensor.get_gesture = function get_gesture() { + devConsoleLog("hubGesture in Service: " + virtualSpike.hub.gesture); + return virtualSpike.hub.gesture; + } + + /** Retrieves the most recently detected orientation + * Note: Hub does not detect orientation of when it was connected + * + * @returns {string} the name of orientation + */ + motion_sensor.get_orientation = function get_orientation() { + return virtualSpike.spikeMemory.lastHubOrientation; + } + + return { + motion_sensor: motion_sensor, + light_matrix: light_matrix, + left_button: left_button, + right_button: right_button, + speaker: speaker + } + } + + /** Motor + * @namespace + * @memberof! Service_SPIKE + * @param {string} Port + * @returns {functions} + * @example + * // Initialize the Motor + * var motor = new serviceSPIKE.Motor("A") + */ + const Motor = function (port) { + + var motor = virtualSpike.ports[port]; // get the motor info by port + + // default settings + var defaultSpeed = 100; + var stopMethod = 1; // stop method doesnt seem to work in this current ujsonrpc config + var stallSetting = true; + + var direction = { + COUNTERCLOCKWISE: 'counterClockwise', + CLOCKWISE: 'clockwise' + } + + // check if device is a motor + if (motor.device != "smallMotor" && motor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + + /** Get current speed of the motor + * + * @returns {number} speed of motor [-100 to 100] + */ + function get_speed() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.speed; + + } + + /** Get current position of the motor. The position may differ by a little margin from + * the position to which a motor ran with run_to_position() + * @returns {number} position of motor [0 to 359] + */ + function get_position() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + let position = motorInfo.uAngle; + if (position < 0) + position = 360 + position; + return position; + } + + /** Get current degrees counted of the motor + * + * @returns {number} counted degrees of the motor [any number] + */ + function get_degrees_counted() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.angle; + } + + /** Get the power of the motor + * + * @returns {number} motor power + */ + function get_power() { + var motor = virtualSpike.ports[port]; // get the motor info by port + var motorInfo = motor.data; + return motorInfo.power; + } + + /** Get the default speed of this motor + * + * @returns {number} motor default speed [-100 to 100] + */ + function get_default_speed() { + return defaultSpeed; + } + + /** Set the default speed for this motor + * + * @param {number} speed [-100 to 100] + */ + function set_default_speed(speed) { + if (typeof speed == "number") { + defaultSpeed = speed; + } + } + + /** Turns stall detection on or off. + * Stall detection senses when a motor has been blocked and can’t move. + * If stall detection has been enabled and a motor is blocked, the motor will be powered off + * after two seconds and the current motor command will be interrupted. If stall detection has been + * disabled, the motor will keep trying to run and programs will “get stuck” until the motor is no + * longer blocked. + * @param {boolean} boolean - true if to detect stall, false otherwise + */ + function set_stall_detection(boolean) { + if (boolean === true) + stallSetting = 1; + else if (boolean === false) + stallSetting = 0; + else + throw new Error("argument of set_stall_detection must be a boolean type") + } + + + /** Runs the motor to an absolute position. + * The sign of the speed will be ignored (i.e., absolute value), and the motor will always travel in the direction that’s been specified by the "direction" parameter. + * If the speed is greater than "100," it will be limited to "100." + + * @param {integer} degrees [0 to 359] + * @param {string} direction "Clockwise" or "Counterclockwise" + * @param {integer} speed [-100 to 100] + * @param {function} callback Params: "stalled" or "done" + * @ignore + * @example + * motor.run_to_position(180, 100, function() { + * console.log("motor finished moving"); + * }) + */ + function run_to_position(degrees, direction, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Runs the motor until the number of degrees counted is equal to the value that has been specified by the "degrees" parameter. + * + * @param {integer} degrees any number + * @param {integer} speed [0 to 100] + * @param {any} [callback] (optional callback) callback param: "stalled" or "done" + */ + function run_to_degrees_counted(degrees, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorGoRelPos(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Start the motor at some power + * + * @param {integer} power [-100 to 100] + */ + function start_at_power(power) { + ujsonLib.motorPwm(port, power, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + + /** Start the motor at some speed + * + * @param {integer} speed [-100 to 100] + */ + function start(speed = defaultSpeed) { + // if (speed !== undefined && typeof speed == "number") { + // ujsonLib.motorStart (port, speed, stallSetting); + // } + // else { + // ujsonLib.motorStart(port, defaultSpeed, stallSetting); + // } + + ujsonLib.motorStart(port, speed, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Run the motor for some seconds + * + * @param {integer} seconds + * @param {integer} speed [-100 to 100] + * @param {function} [callback==undefined] Parameters:"stalled" or "done" + * @example + * motor.run_for_seconds(10, 100, function() { + * console.log("motor just ran for 10 seconds"); + * }) + */ + function run_for_seconds(seconds, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorRunTimed(port, seconds, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }); + } + + /** Run the motor for some degrees + * + * @param {integer} degrees + * @param {integer} speed [-100 to 100] + * @param {function} [callback==undefined] Parameters:"stalled" or "done" + * motor.run_for_degrees(720, 100, function () { + * console.log("motor just ran for 720 degrees"); + * }) + */ + function run_for_degrees(degrees, speed = defaultSpeed, callback = undefined) { + ujsonLib.motorRunDegrees(port, degrees, speed, stallSetting, stopMethod, callback, + (c, rid) => { + virtualSpike.sendDATA(c); + if (callback != undefined) + virtualSpike.pushResponseCallback(rid, callback); + }) + } + + /** Stop the motor + * + */ + function stop() { + ujsonLib.motorPwm(port, 0, stallSetting, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + run_to_position: run_to_position, + run_to_degrees_counted: run_to_degrees_counted, + start_at_power: start_at_power, + start: start, + stop: stop, + run_for_degrees: run_for_degrees, + run_for_seconds: run_for_seconds, + set_default_speed: set_default_speed, + set_stall_detection: set_stall_detection, + get_power: get_power, + get_degrees_counted: get_degrees_counted, + get_position: get_position, + get_speed: get_speed, + get_default_speed: get_default_speed + } + } + + + /** ColorSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the Color Sensor + * var color = new serviceSPIKE.ColorSensor("E") + */ + const ColorSensor = function (port) { + var waitForNewColorFirst = false; + + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + // check if device is a color sensor + if (colorsensor.device != "color") { + throw new Error("No Color Sensor detected at port " + port); + } + + /** Get the name of the detected color + * @returns {string} 'black','violet','blue','cyan','green','yellow','red','white' + */ + function get_color() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + var color = colorsensorData.color; + + return color; + } + + /** Retrieves the intensity of the ambient light. + * @ignore + * @returns {number} The ambient light intensity. [0 to 100] + */ + function get_ambient_light() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.Cambient; + } + + /** Retrieves the intensity of the reflected light. + * + * @returns {number} The reflected light intensity. [0 to 100] + */ + function get_reflected_light() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.Creflected; + } + + /** Retrieves the red, green, blue, and overall color intensity. + * @todo Implement overall intensity + * @ignore + * @returns {(number|Array)} Red, green, blue, and overall intensity (0-1024) + */ + function get_rgb_intensity() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + var toReturn = []; + toReturn.push(colorsensorData.Cr); + toReturn.push(colorsensorData.Cg); + toReturn.push(colorsensorData.Cb) + toReturn.push("TODO: unimplemented");; + } + + /** Retrieves the red color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_red() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[0]; + } + + /** Retrieves the green color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_green() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[1]; + } + + /** Retrieves the blue color intensity. + * + * @returns {number} [0 to 1024] + */ + function get_blue() { + var colorsensor = virtualSpike.ports[port]; // get the color sensor info by port + var colorsensorData = colorsensor.data; + + return colorsensorData.RGB[2]; + } + + /** Waits until the Color Sensor detects the specified color. + * + * @param {string} colorInput 'black','violet','blue','cyan','green','yellow','red','white' + * @param {function} callback callback function + */ + function wait_until_color(colorInput, callback) { + virtualSpike.spikeMemory.waitUntilColorCallback = [colorInput, callback]; + } + + + /** Execute callback when Color Sensor detects a new color. + * The first time this method is called, it returns immediately the detected color. + * After that, it waits until the Color Sensor detects a color that is different from the color that + * was detected the last time this method was used. + * @param {function(string)} callback params: detected new color + */ + function wait_for_new_color(callback) { + + // check if this method has been executed after start of program + if (virtualSpike.spikeMemory.waitForNewColorFirst) { + virtualSpike.spikeMemory.waitForNewColorFirst = false; + + var currentColor = get_color(); + callback(currentColor) + } + virtualSpike.spikeMemory.funcAfterNewColor = callback; + } + + return { + get_color: get_color, + wait_until_color: wait_until_color, + wait_for_new_color: wait_for_new_color, + get_ambient_light: get_ambient_light, + get_reflected_light: get_reflected_light, + get_rgb_intensity: get_rgb_intensity, + get_red: get_red, + get_green: get_green, + get_blue: get_blue + } + + } + + /** DistanceSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the DistanceSensor + * var distance_sensor = new serviceSPIKE.DistanceSensor("A"); + */ + const DistanceSensor = function (port) { + var distanceSensor = virtualSpike.ports[port]; // get the distance sensor info by port + + // check if device is a distance sensor + if (distanceSensor.device != "ultrasonic") { + console.error("Ports Info: ", ports); + throw new Error("No DistanceSensor detected at port " + port); + } + + /** Retrieves the measured distance in centimeters. + * @returns {number} [0 to 200] + * @todo find the short_range handling ujsonrpc script + * @example + * var distance_cm = distance_sensor.get_distance_cm(); + */ + function get_distance_cm() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + return distanceSensorData.distance; + } + + /** Retrieves the measured distance in inches. + * + * @returns {number} [0 to 79] + * @todo find the short_range handling ujsonrpc script + * @example + * var distance_inches = distance_sensor.get_distance_inches(); + */ + function get_distance_inches() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + var inches = distanceSensorData.distance * 0.393701; // convert to inches + + if (inches % 1 < 0.5) + inches = Math.floor(inches); + else + inches = Math.ceil(inches); + + return inches; + } + + /** Retrieves the measured distance in percent. + * + * @returns {number/string} [0 to 100] or 'none' if no distance is read + * var distance_percentage = distance_sensor.get_distance_percentage(); + */ + function get_distance_percentage() { + var distanceSensor = virtualSpike.ports[port] // get the distance sensor info by port + var distanceSensorData = distanceSensor.data; + + if (distanceSensorData.distance == null) { + return "none" + } + var percentage = distanceSensorData.distance / 200; + return percentage; + } + + /** Waits until the measured distance is greater than distance. + * @param {integer} threshold + * @param {string} unit 'cm','in','%' + * @param {function} callback function to execute when distance is farther than threshold + * @example + * distance_sensor.wait_for_distance_farther_than(10, 'cm', function () { + * console.log("distance is farther than 10 CM"); + * }) + */ + function wait_for_distance_farther_than(threshold, unit, callback) { + + // set callbacks to be executed in updateHubPortsInfo() + if (unit == 'cm') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [threshold, callback]; + } + else if (unit == 'in') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [threshold / 0.393701, callback]; + } + else if (unit == '%') { + virtualSpike.spikeMemory.waitForDistanceFartherThanCallback = [(threshold * 0.01) * 200, callback]; + } + else { + throw new Error("The 'unit' argument in wait_for_distance_farther_than(threshold, unit, callback) must be either 'cm', 'in', or '%'.") + } + } + + /** Waits until the measured distance is less than distance. + * @param {integer} threshold + * @param {string} unit 'cm','in','%' + * @param {function} callback function to execute when distance is closer than threshold + * @example + * distance_sensor.wait_for_distance_closer_than(10, 'cm', function () { + * console.log("distance is closer than 10 CM"); + * }) + */ + function wait_for_distance_closer_than(threshold, unit, callback) { + // set callbacks to be executed in updateHubPortsInfo() + if (unit == 'cm') { + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [threshold, callback]; + } + else if (unit == 'in') { + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [threshold / 0.393701, callback]; + } + else if (unit == '%') { + + /* floor or ceil thresholds larger or smaller than what's possible */ + if (threshold > 100) { + threshold = 100; + } + else if (threshold < 0) { + threshold = 0; + } + + virtualSpike.spikeMemory.waitForDistanceCloserThanCallback = [(threshold * 0.01) * 200, callback]; + } + else { + throw new Error("The 'unit' argument in wait_for_distance_closer_than(threshold, unit, callback) must be either 'cm', 'in', or '%'.") + } + } + + /** Sets the brightness of the individual lights on the Distance Sensor. + * + * @param {integer} right_top Brightness [1-100] + * @param {integer} left_top Brightness [1-100] + * @param {integer} right_bottom Brightness [1-100] + * @param {integer} left_bottom Brightness [1-100] + * @example + * distance_sensor.light_up(100,100,100,100); + */ + function light_up(right_top, left_top, right_bottom, left_bottom) { + let lightArray = [0, 0, 0, 0]; + lightArray[0] = right_top; + lightArray[1] = left_top; + lightArray[2] = right_bottom; + lightArray[3] = left_bottom; + + ujsonLib.ultrasonicLightUp(port, lightArray, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Lights up all of the lights on the Distance Sensor at the specified brightness. + * + * @param {number} [brightness=100] The specified brightness of all of the lights + * @example + * distance_sensor.light_up_all(50) + */ + function light_up_all(brightness = 100) { + + let lightArray = [brightness, brightness, brightness, brightness]; + + ujsonLib.ultrasonicLightUp(port, lightArray, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + get_distance_cm: get_distance_cm, + get_distance_inches: get_distance_inches, + get_distance_percentage: get_distance_percentage, + light_up: light_up, + light_up_all: light_up_all, + wait_for_distance_closer_than: wait_for_distance_closer_than, + wait_for_distance_farther_than: wait_for_distance_farther_than + } + + } + + /** ForceSensor + * @namespace + * @param {string} Port + * @memberof Service_SPIKE + * @example + * // Initialize the ForceSensor + * var force_sensor = new serviceSPIKE.ForceSensor("E") + */ + const ForceSensor = function (port) { + + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + + if (sensor.device != "force") { + throw new Error("No Force Sensor detected at port " + port); + } + + /** Tests whether the button on the sensor is pressed. + * + * @returns {boolean} true if force sensor is pressed, false otherwise + * @example + * if (force_sensor.is_pressed() === true) { + * console.log("force sensor is pressed"); + * } + */ + function is_pressed() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + return ForceSensorData.pressed; + } + + /** Retrieves the measured force, in newtons. + * + * @returns {number} Force in newtons [0 to 10] + * @example + * var newtons = force_sensor.get_force_newtons(); + */ + function get_force_newton() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + return ForceSensorData.force; + } + + /** Retrieves the measured force as a percentage of the maximum force. + * + * @returns {number} percentage [0 to 100] + * var percentage = force_sensor.get_force_percentage(); + */ + function get_force_percentage() { + var sensor = virtualSpike.ports[port]; // get the force sensor info by port + var ForceSensorData = sensor.data; + + var denominator = 704 - 384 // highest detected - lowest detected forceSensitive values + var numerator = ForceSensorData.forceSensitive - 384 // 384 is the forceSensitive value when not pressed + var percentage = Math.round((numerator / denominator) * 100); + return percentage; + } + + /** Executes callback when Force Sensor is pressed + * The function is executed in updateHubPortsInfo()'s Force Sensor part + * @param {function} callback + * @example + * force_sensor.wait_until_pressed( function () { + * console.log("force sensor is pressed!"); + * }) + */ + function wait_until_pressed(callback) { + virtualSpike.spikeMemory.funcAfterForceSensorPress = callback; + } + + /** Executes callback when Force Sensor is released + * The function is executed in updateHubPortsInfo()'s Force Sensor part + * @param {function} callback + * @example + * force_sensor.wait_until_released ( function () { + * console.log("force sensor is released!"); + * }) + */ + function wait_until_released(callback) { + virtualSpike.spikeMemory.funcAfterForceSensorRelease = callback; + } + + return { + is_pressed: is_pressed, + get_force_newton: get_force_newton, + get_force_percentage: get_force_percentage, + wait_until_pressed: wait_until_pressed, + wait_until_released: wait_until_released + } + + } + + /** MotorPair + * @namespace + * @param {string} leftPort + * @param {string} rightPort + * @memberof Service_SPIKE + * @example + * var pair = new serviceSPIKE.MotorPair("A", "B") + */ + const MotorPair = function (leftPort, rightPort) { + // settings + var defaultSpeed = 100; + var stopMethod = 1; // stop method doesnt seem to work in this current ujsonrpc config + + var leftMotor = virtualSpike.ports[leftPort]; + var rightMotor = virtualSpike.ports[rightPort]; + + var DistanceTravelToRevolutionRatio = 17.6; + + // check if device is a motor + if (leftMotor.device != "smallMotor" && leftMotor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + if (rightMotor.device != "smallMotor" && rightMotor.device != "bigMotor") { + throw new Error("No motor detected at port " + port); + } + + /** Sets the ratio of one motor rotation to the distance traveled. + * + * If there are no gears used between the motors and the wheels of the Driving Base, + * then amount is the circumference of one wheel. + * + * Calling this method does not affect the Driving Base if it is already currently running. + * It will only have an effect the next time one of the move or start methods is used. + * + * @param {number} amount + * @param {string} unit 'cm','in' + */ + function set_motor_rotation(amount, unit) { + + // assume unit is 'cm' when undefined + if (unit == "cm" || unit !== undefined) { + DistanceTravelToRevolutionRatio = amount; + } + else if (unit == "in") { + // convert to cm + DistanceTravelToRevolutionRatio = amount * 2.54; + } + } + + function set_stop_action (action) { + + } + + /** Moves the Driving Base using differential (tank) steering. + * + * @param {number} amount + * @param {string} unit 'rotations', 'degrees', 'seconds' + * @param {number} left_spped [-100,100] + * @param {number} right_speed [-100,100] + */ + function move_tank (amount, unit, left_spped, right_speed) { + /* this function is not implemented because "rotation" depends on a set rotatation measured by 'cm' + */ + if (unit === 'rotations') { + ujsonLib.moveTankDegrees(360*amount, left_speed, right_speed, leftPort, rightPort, ) + } + } + + /** Starts moving the Driving Base + * + * @param {integer} left_speed [-100 to 100] + * @param {integer} right_speed [-100 to 100] + * @example + * pair.start_tank(100,100); + */ + function start_tank(left_speed, right_speed) { + ujsonLib.moveTankSpeeds(left_speed, right_speed, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Starts moving the Driving Base + * + * @param {integer} leftPower [-100 to 100] + * @param {integer} rightPower [-100 to 100] + * @example + * pair.start_tank_at_power(10, 10); + */ + function start_tank_at_power(leftPower, rightPower) { + ujsonLib.moveTankPowers(leftPower, rightPower, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + /** Stops the 2 motors simultaneously, which will stop a Driving Base. + * @example + * pair.stop(); + */ + function stop() { + ujsonLib.moveTankPowers(0, 0, leftPort, rightPort, (c, rid) => virtualSpike.sendDATA(c)); + } + + return { + stop: stop, + set_motor_rotation: set_motor_rotation, + start_tank: start_tank, + start_tank_at_power: start_tank_at_power + } + + } + + const writeProgram = function (projectName, data, slotid, callback) { + virtualSpike.writeProgram(projectName, data, slotid, callback); + } + + const executeAfterInit = function (f) { + if (typeof f === "function") { + funcAtInit = f; + } + else { + throw new Error("Argument to executeAfterInit must be a function") + } + } + const executeAfterConnect = function (f) { + if (typeof f === "function") { + virtualSpike.passConnectCallback(f); + } + else { + throw new Error("Argument to executeAfterConnect must be a function") + } + } + const executeAfterDisconnect = function (f) { + if (typeof f === "function") { + virtualSpike.passDisconnectCallback(f); + } + else { + throw new Error("Argument to executeAfterDisconnect must be a function") + } + } + const executeAfterError = function (f) { + if (typeof f === "function") { + funcAfterError = f; + virtualSpike.passErrorCallback(f); + } + else { + throw new Error("Argument to executeAfterError must be a function") + } + } + const executeAfterPrint = function (f) { + if (typeof f === "function") { + virtualSpike.passPrintCallback(f); + } + else { + throw new Error("Argument to executeAfterPrint must be a function") + } + } + const executeWithStream = function (f) { + if (typeof f === "function") { + virtualSpike.passStreamCallback(f); + } + else { + throw new Error("Argument to executeWithStream must be a function") + } + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** Sleep function + * @private + * @param {number} ms Miliseconds to sleep + * @returns {Promise} + */ + function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); + } + + + return { + init: init, + isActive: isActive, + writeProgram: writeProgram, + // SPIKE devices + Motor: Motor, + PrimeHub: PrimeHub, + ForceSensor: ForceSensor, + DistanceSensor: DistanceSensor, + ColorSensor: ColorSensor, + MotorPair: MotorPair, + // key event callback setters + executeAfterConnect: executeAfterConnect, + executeAfterDisconnect: executeAfterDisconnect, + executeAfterError: executeAfterError, + executeAfterPrint: executeAfterPrint, + executeWithStream: executeWithStream, + executeAfterInit: executeAfterInit, + } +} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/HTML_SPIKE.js b/server/examples/modules/scaledSPIKE/Service_SPIKE_HTML.js similarity index 98% rename from server/examples/modules/SPIKE/HTML_SPIKE.js rename to server/examples/modules/scaledSPIKE/Service_SPIKE_HTML.js index 4c4ee4c..97ec1f3 100644 --- a/server/examples/modules/SPIKE/HTML_SPIKE.js +++ b/server/examples/modules/scaledSPIKE/Service_SPIKE_HTML.js @@ -1,14 +1,18 @@ /* Project Name: SPIKE Prime Web Interface -File name: ServiceDock_SPIKE.js +File name: ServiceDock_SPIKE_HTML.js Author: Jeremy Jung -Last update: 11/5/2020 +Last update: 3/14/2021 Description: HTML Element definition for to be used in ServiceDocks Credits/inspirations: History: Created by Jeremy on 7/16/20 + Fixed baudRate by Teddy on 10/11/20 (C) Tufts Center for Engineering Education and Outreach (CEEO) +TODO: +uncomment executeAfterDisconnect */ + class servicespike extends HTMLElement { constructor() { @@ -73,8 +77,16 @@ class servicespike extends HTMLElement { // check active flag so once activated, the service doesnt reinit if (!active) { if ('serial' in navigator) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "activating service"); - var initSuccessful = await this.service.init(); + console.log("%cTuftsCEEO ", "color: #3ba336;", "Activating SPIKE Service"); + + // Determine if Service is for testing + if (this.isDev == "true" || this.isDev == "t" + || this.isDev == "T" || this.isDev == "True") + this.isDev = true; + else + this.isDev = false; + + var initSuccessful = await this.service.init(this.isDev); if (initSuccessful) { active = true; status.style.backgroundColor = "green"; @@ -138,6 +150,29 @@ class servicespike extends HTMLElement { } + static get observedAttributes() { + return ["dev"]; + } + + get dev() { + return this.getAttribute("dev"); + } + + set dev(val) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", val); + if (val) { + this.setAttribute("dev", val); + } + else { + this.removeAttribute("dev"); + } + } + + attributeChangedCallback(name, oldValue, newValue) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "new value of dev: ", newValue); + this.isDev = newValue; + } + /* get the Service_SPIKE object */ getService() { return this.service; diff --git a/server/examples/modules/scaledSPIKE/spikeRPC/SpikeRPC.js b/server/examples/modules/scaledSPIKE/spikeRPC/SpikeRPC.js new file mode 100644 index 0000000..8245857 --- /dev/null +++ b/server/examples/modules/scaledSPIKE/spikeRPC/SpikeRPC.js @@ -0,0 +1,360 @@ +function _SpikeRPC(_virtualSpike) { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // flag for development + let dev = undefined; + // ServiceDock objects + let webSerial = new _WebSerial(); + + // flag for when RPC is pure micropython + let micropython_interpreter = false; + + //define for json concatenation + let jsonline = ""; + // contains latest full json object from SPIKE readings + let lastUJSONRPC = undefined; + + const VENDOR_ID = 0x0694; // LEGO SPIKE Prime Hub + // common characters to send (for REPL/uPython on the Hub) + const CONTROL_C = '\x03'; // CTRL-C character (ETX character) + const CONTROL_D = '\x04'; // CTRL-D character (EOT character) + const RETURN = '\x0D'; // RETURN key (enter, new line) + + // servicedock functions passed down from main Service + var funcAfterPrint = (m) => { }; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => { }; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => {}; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => {}; // function to call after SPIKE Prime is connected + var funcWithStream = () => {} // function to call during SPIKE Prime data stream + + + let updateHubPortsInfo = undefined; + let PrimeHubEventHandler = undefined; + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + const init = async function (isDev, portsUpdater, hubEventsUpdater) { + try { + dev = isDev; + updateHubPortsInfo = portsUpdater; + PrimeHubEventHandler = hubEventsUpdater; + + let connected = await webSerial.init(isDev); + if (connected === true) + webSerial.streamData(parsePacket); + + return connected + + } + catch (e) { + /* Catch and display errors */ + if (e.code == 10001) { + funcAfterError("Please reconnect your hub. If error persists, refresh this web environment."); + } + else if (e.code == 10002) { + funcAfterError("Please check if you have any other window or app currently connected to your hub."); + } + else if (e.code == 10003) { + if (isDev) + consoleError("Please try again. If error persists, refresh this environment." + e.message); + else + consoleError("Please try again. If error persists, refresh this environment."); + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else if (e.code == 10004) { + if (isDev) + consoleError("Please try again. If error persists, refresh this environment." + e.message); + else + consoleError("Please try again. If error persists, refresh this environment."); + consoleError(e.message); + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else if (e.code == 10005) { + funcAfterError("Please try again. If error persists, refresh this environment."); + } + else { + consoleError(e); + } + return false; + } + } + + const sendDATA = async function (command) { + // look up the command to send + var commands = command.split("\n"); // split on new line + + // ignore console logging trigger_current_state (to avoid it spamming) + if (command.indexOf("trigger_current_state") === -1) + devConsoleLog("sendDATA: " + commands); + + // send it in micropy if micropy reached + if (micropython_interpreter) { + + for (var i = 0; i < commands.length; i++) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) + + // trim trailing, leading whitespaces + var current = commands[i].trim(); + + webSerial.write(current); + webSerial.write(RETURN); // extra return at the end + } + } + // expect json scripts if micropy not reached + else { + // go through each line of the command + // trim it, send it, and send a return... + for (var i = 0; i < commands.length; i++) { + + //console.log("%cTuftsCEEO ", "color: #3ba336;", "commands.length", commands.length) + + current = commands[i].trim(); + //console.log("%cTuftsCEEO ", "color: #3ba336;", "current", current); + // turn string into JSON + + //string_current = (JSON.stringify(current)); + //myobj = JSON.parse(string_current); + var myobj = await JSON.parse(current); + + // turn JSON back into string and write it out + webSerial.write(JSON.stringify(myobj)); + webSerial.write(RETURN) // extra return at the end + } + } + } + + /** Process a raw packet from data stream + * @public + * @param {any} value + * @param {boolean} [testing=false] + * @param {any} callback + */ + const parsePacket = async function (value) { + + // console.log("%cTuftsCEEO ", "color: #3ba336;", value); + + // stringify the packet to look for carriage return + var json_string = await JSON.stringify(value); + + // remove quotation marks from json_string + var cleanedJsonString = cleanJsonString(json_string); + + jsonline = jsonline + cleanedJsonString; // concatenate packet to data + jsonline = jsonline.trim(); + + // regex search for carriage return + let pattern = /\\r/g; + var carriageReIndex = jsonline.search(pattern); + + // there is at least one carriage return in this packet + if (carriageReIndex > -1) { + //////////////////////////////// NEW parsePacket implementation ongoing since (29/12/20) + + let jsonlineSplitByCR = jsonline.split(/\\r/); // array of jsonline split by \r + + jsonline = ""; //reset jsonline + /* + each element in this array will be assessed for processing, + and the last element, if unable to be processed, will be concatenated to jsonline + */ + + for (let i = 0; i < jsonlineSplitByCR.length; i++) { + + // set lastUJSONRPC to an element in split array + lastUJSONRPC = jsonlineSplitByCR[i]; + // remove any newline character in the beginning of lastUJSONRPC + if (lastUJSONRPC.search(/\\n/g) == 0) + lastUJSONRPC = lastUJSONRPC.substring(2, lastUJSONRPC.length); + + /* Case 1: lastUJSONRPC is a valid, complete, and standard UJSONRPC packet */ + if (lastUJSONRPC[0] == "{" && lastUJSONRPC[lastUJSONRPC.length - 1] == "}") { + + let arrayLeftCurly = lastUJSONRPC.match(/{/g); + let arrayRightCurly = lastUJSONRPC.match(/}/g); + if (arrayLeftCurly.length === arrayRightCurly.length) { + /* Case 1A: complete packet*/ + + await processFullUJSONRPC(lastUJSONRPC, cleanedJsonString, json_string); + } + else { + /* Case 1B: {"i": 1234, "r": {} */ + jsonline = lastUJSONRPC; + } + } + /* Case 3: lastUJSONRPC is a micropy print result */ + else if (lastUJSONRPC != "" && lastUJSONRPC.indexOf('"p":') == -1 && lastUJSONRPC.indexOf('],') == -1 && lastUJSONRPC.indexOf('"m":') == -1 && + lastUJSONRPC.indexOf('}') == -1 && lastUJSONRPC.indexOf('{"i":') == -1 && lastUJSONRPC.indexOf('{') == -1) { + /* filter reboot message */ + var rebootMessage = + 'Traceback (most recent call last): File "main.py", line 8, in File "hub_runtime.py", line 1, in start File "event_loop/event_loop.py", line 1, in run_forever File "event_loop/event_loop.py", line 1, in step KeyboardInterrupt: MicroPython v1.12-1033-g97d7f7dd4 on 2020-09-18; LEGO Technic Large Hub with STM32F413xx Type "help()" for more in formation. >>> HUB: sync filesystems HUB: soft reboot' + let rebootMessageRemovedWS = rebootMessage.replace(/[' ']/g, ""); + let lastUJSONRPCRemovedWS = lastUJSONRPC.replace(/[' ']/g, ""); + if (rebootMessageRemovedWS.indexOf(lastUJSONRPCRemovedWS) == -1) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "micropy print: ", lastUJSONRPC); + if (funcAfterPrint != undefined) + funcAfterPrint(lastUJSONRPC); + } + } + /* Case 3: lastUJSONRPC is only a portion of a standard UJSONRPC packet + Then lastUJSONRPC must be EITHER THE FIRST OR THE LAST ELEMENT in jsonlineSplitByCR + because + an incomplete UJSONRPC can either be + Case 3A: the beginning portion of a UJSONRPC packet with no \r in the end (LAST) + Case 3B: the last portion of a UJSONRPC packet with \r in the end (FIRST) + */ + else { + /* Case 3A: */ + if (lastUJSONRPC[0] == "{") { + jsonline = lastUJSONRPC; + // console.log("TEST (last elemnt in split array): ", i == jsonlineSplitByCR.length-1); + // console.log("%cTuftsCEEO ", "color: #3ba336;", "jsonline was reset to:" + jsonline); + } + /* Case 3B: */ + else { + /* the last portion of UJSONRPC cannot be concatenated to form a full packet + -> purge lastUJSONRPC + */ + } + } + } + } + } + + /** Process a UJSONRPC packet stringified + * + * @private + * @param {any} lastUJSONRPC + * @param {string} [json_string="undefined"] + * @param {boolean} [testing=false] + * @param {any} callback + */ + const processFullUJSONRPC = async function (lastUJSONRPC, cleanedJsonString = undefined, json_string = undefined) { + try { + + // check that the data is JSON parsable + var parsedLastURPC = await JSON.parse(lastUJSONRPC); + + // devConsoleLog(lastUJSONRPC); + + // update hub information using lastUJSONRPC + if (parsedLastURPC["m"] == 0) { + await updateHubPortsInfo(parsedLastURPC.p); + } + + PrimeHubEventHandler(parsedLastURPC, lastUJSONRPC); + + if (funcWithStream !== undefined) { + await funcWithStream(); + } + + } + catch (e) { + // don't throw error when failure of processing UJSONRPC is due to micropython + if (lastUJSONRPC.indexOf("Traceback") == -1 && lastUJSONRPC.indexOf(">>>") == -1 && json_string.indexOf("Traceback") == -1 && json_string.indexOf(">>>") == -1) { + if (funcAfterError !== undefined) { + funcAfterError("Fatal Error: Please close any other window or program that is connected to your SPIKE Prime"); + } + } + consoleError(e); + consoleError("error parsing lastUJSONRPC: "); + consoleError(lastUJSONRPC); + consoleError("current jsonline: "); + consoleError(jsonline); + consoleError("current cleaned json_string: "); + consoleError(cleanedJsonString); + consoleError("current json_string: "); + consoleError(json_string); + consoleError("current value: "); + consoleError(value); + } + } + + /** Clean the json_string for concatenation into jsonline + * @private + * + * @param {any} json_string + * @returns {string} + */ + const cleanJsonString = function (json_string) { + var cleanedJsonString = ""; + json_string = json_string.trim(); + + let findEscapedQuotes = /\\"/g; + + cleanedJsonString = json_string.replace(findEscapedQuotes, '"'); + cleanedJsonString = cleanedJsonString.substring(1, cleanedJsonString.length - 1); + // cleanedJsonString = cleanedJsonString.replace(findNewLines,''); + + return cleanedJsonString; + } + + const executeWithStream = function (f) { + funcWithStream = f; + } + + /** assign event callback and pass callback down + * @param {function} f + */ + const passConnectCallback = function (f) { + funcAfterConnect = f; + webSerial.executeAfterConnect(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passDisconnectCallback = function (f) { + funcAfterDisconnect = f; + webSerial.executeAfterDisconnect(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passErrorCallback = function (f) { + funcAfterError = f; + webSerial.executeAfterError(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passPrintCallback = function (f) { + funcAfterPrint = f; + webSerial.executeAfterPrint(f); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + return { + init: init, + parsePacket: parsePacket, + executeWithStream: executeWithStream, + sendDATA: sendDATA, + // callback passing continuations + passConnectCallback: passConnectCallback, + passDisconnectCallback: passDisconnectCallback, + passErrorCallback: passErrorCallback, + passPrintCallback: passPrintCallback + } +} \ No newline at end of file diff --git a/server/examples/modules/SPIKE/spike/ujsonrpc.js b/server/examples/modules/scaledSPIKE/spikeRPC/SpikeUjsonLib.js similarity index 50% rename from server/examples/modules/SPIKE/spike/ujsonrpc.js rename to server/examples/modules/scaledSPIKE/spikeRPC/SpikeUjsonLib.js index 4b5dedb..9d04817 100644 --- a/server/examples/modules/SPIKE/spike/ujsonrpc.js +++ b/server/examples/modules/scaledSPIKE/spikeRPC/SpikeUjsonLib.js @@ -1,14 +1,16 @@ -Service_SPIKE.UJSONRPC = {}; - +_SpikeUjsonLib = {}; + /** - * - * @memberof! UJSONRPC - * @param {string} text - */ -Service_SPIKE.UJSONRPC.prototype.displayText = async function displayText(text) { - var randomId = this.generateId(); +* +* @memberof! UJSONRPC +* @param {string} text +* @param {function} immediateCB +*/ +_SpikeUjsonLib.displayText = async function displayText(text, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_text", "p": {"text":' + '"' + text + '"' + '} }' - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -16,35 +18,41 @@ Service_SPIKE.UJSONRPC.prototype.displayText = async function displayText(text) * @param {integer} x [0 to 4] * @param {integer} y [0 to 4] * @param {integer} brightness [1 to 100] + * @param {function} immediateCB */ -Service_SPIKE.UJSONRPC.prototype.displaySetPixel = async function displaySetPixel(x, y, brightness) { - var randomId = this.generateId(); +_SpikeUjsonLib.displaySetPixel = async function displaySetPixel(x, y, brightness, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_set_pixel", "p": {"x":' + x + ', "y":' + y + ', "brightness":' + brightness + '} }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC + * @param {function} immediateCB */ -Service_SPIKE.UJSONRPC.prototype.displayClear = async function displayClear() { - var randomId = this.generateId(); +_SpikeUjsonLib.displayClear = async function displayClear(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.display_clear" }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC * @param {string} port * @param {array} array [1-100,1-100,1-100,1-100] array of size 4 + * @param {function} immediateCB */ -Service_SPIKE.UJSONRPC.prototype.ultrasonicLightUp = async function ultrasonicLightUp(port, array) { - var randomId = this.generateId(); +_SpikeUjsonLib.ultrasonicLightUp = async function ultrasonicLightUp(port, array, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.ultrasonic_light_up", "p": {' + '"port": ' + '"' + port + '"' + ', "lights": ' + '[' + array + ']' + '} }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -52,15 +60,17 @@ Service_SPIKE.UJSONRPC.prototype.ultrasonicLightUp = async function ultrasonicLi * @param {string} port * @param {integer} speed * @param {integer} stall + * @param {function} immediateCB */ -Service_SPIKE.UJSONRPC.prototype.motorStart = async function motorStart(port, speed, stall) { - var randomId = this.generateId(); +_SpikeUjsonLib.motorStart = async function motorStart(port, speed, stall, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_start", "p": {"port":' + '"' + port + '"' + ', "speed":' + speed + ', "stall":' + stall + '} }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** moves motor to a position @@ -71,11 +81,11 @@ Service_SPIKE.UJSONRPC.prototype.motorStart = async function motorStart(port, sp * @param {integer} speed * @param {boolean} stall * @param {boolean} stop + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.motorGoRelPos = async function motorGoRelPos(port, position, speed, stall, stop, callback) { - console.log("this in motorGoRelPos: ", this); - var randomId = this.generateId(); +_SpikeUjsonLib.motorGoRelPos = async function motorGoRelPos(port, position, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_go_to_relative_position"' + ', "p": {' + @@ -86,14 +96,12 @@ Service_SPIKE.UJSONRPC.prototype.motorGoRelPos = async function motorGoRelPos(po ', "stop":' + stop + '} }'; - if (callback != undefined) { - this.pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } -Service_SPIKE.UJSONRPC.prototype.motorGoDirToPosition = async function motorGoDirToPosition(port, position, direction, speed, stall, stop, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.motorGoDirToPosition = async function motorGoDirToPosition(port, position, direction, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_go_direction_to_position"' + ', "p": {' + @@ -105,10 +113,8 @@ Service_SPIKE.UJSONRPC.prototype.motorGoDirToPosition = async function motorGoDi ', "stop":' + stop + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } @@ -120,10 +126,11 @@ Service_SPIKE.UJSONRPC.prototype.motorGoDirToPosition = async function motorGoDi * @param {integer} speed * @param {integer} stall * @param {boolean} stop + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.motorRunTimed = async function motorRunTimed(port, time, speed, stall, stop, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.motorRunTimed = async function motorRunTimed(port, time, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_run_timed"' + ', "p": {' + @@ -133,10 +140,9 @@ Service_SPIKE.UJSONRPC.prototype.motorRunTimed = async function motorRunTimed(po ', "stall":' + stall + ', "stop":' + stop + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -147,10 +153,11 @@ Service_SPIKE.UJSONRPC.prototype.motorRunTimed = async function motorRunTimed(po * @param {integer} speed * @param {integer} stall * @param {boolean} stop + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.motorRunDegrees = async function motorRunDegrees(port, degrees, speed, stall, stop, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.motorRunDegrees = async function motorRunDegrees(port, degrees, speed, stall, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_run_for_degrees"' + ', "p": {' + @@ -160,10 +167,9 @@ Service_SPIKE.UJSONRPC.prototype.motorRunDegrees = async function motorRunDegree ', "stall":' + stall + ', "stop":' + stop + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -174,10 +180,11 @@ Service_SPIKE.UJSONRPC.prototype.motorRunDegrees = async function motorRunDegree * @param {string} lmotor * @param {string} rmotor * @param {boolean} stop + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.moveTankTime = async function moveTankTime(time, lspeed, rspeed, lmotor, rmotor, stop, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.moveTankTime = async function moveTankTime(time, lspeed, rspeed, lmotor, rmotor, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.move_tank_time"' + ', "p": {' + @@ -188,10 +195,9 @@ Service_SPIKE.UJSONRPC.prototype.moveTankTime = async function moveTankTime(time ', "rmotor":' + '"' + rmotor + '"' + ', "stop":' + stop + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -203,10 +209,11 @@ Service_SPIKE.UJSONRPC.prototype.moveTankTime = async function moveTankTime(time * @param {string} lmotor * @param {string} rmotor * @param {boolean} stop + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.moveTankDegrees = async function moveTankDegrees(degrees, lspeed, rspeed, lmotor, rmotor, stop, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.moveTankDegrees = async function moveTankDegrees(degrees, lspeed, rspeed, lmotor, rmotor, stop, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.move_tank_degrees"' + ', "p": {' + @@ -217,10 +224,9 @@ Service_SPIKE.UJSONRPC.prototype.moveTankDegrees = async function moveTankDegree ', "rmotor":' + '"' + rmotor + '"' + ', "stop":' + stop + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -229,11 +235,12 @@ Service_SPIKE.UJSONRPC.prototype.moveTankDegrees = async function moveTankDegree * @param {integer} lspeed * @param {integer} rspeed * @param {string} lmotor - * @param {string} rmotor + * @param {string} rmotor + * @param {function} immediateCB * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.moveTankSpeeds = async function moveTankSpeeds(lspeed, rspeed, lmotor, rmotor, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.moveTankSpeeds = async function moveTankSpeeds(lspeed, rspeed, lmotor, rmotor, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.move_start_speeds"' + ', "p": {' + @@ -242,10 +249,9 @@ Service_SPIKE.UJSONRPC.prototype.moveTankSpeeds = async function moveTankSpeeds( ', "lmotor":' + '"' + lmotor + '"' + ', "rmotor":' + '"' + rmotor + '"' + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -257,8 +263,8 @@ Service_SPIKE.UJSONRPC.prototype.moveTankSpeeds = async function moveTankSpeeds( * @param {string} rmotor * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.moveTankPowers = async function moveTankPowers(lpower, rpower, lmotor, rmotor, callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.moveTankPowers = async function moveTankPowers(lpower, rpower, lmotor, rmotor, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.move_start_powers"' + ', "p": {' + @@ -267,10 +273,9 @@ Service_SPIKE.UJSONRPC.prototype.moveTankPowers = async function moveTankPowers( ', "lmotor":' + '"' + lmotor + '"' + ', "rmotor":' + '"' + rmotor + '"' + '} }'; - if (callback != undefined) { - pushResponseCallback(randomId, callback); - } - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -279,26 +284,30 @@ Service_SPIKE.UJSONRPC.prototype.moveTankPowers = async function moveTankPowers( * @param {integer} volume * @param {integer} note */ -Service_SPIKE.UJSONRPC.prototype.soundBeep = async function soundBeep(volume, note) { - var randomId = this.generateId(); +_SpikeUjsonLib.soundBeep = async function soundBeep(volume, note, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.sound_beep"' + ', "p": {' + '"volume":' + volume + ', "note":' + note + '} }'; - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC */ -Service_SPIKE.UJSONRPC.prototype.soundStop = async function soundStop() { - var randomId = this.generateId(); +_SpikeUjsonLib.soundStop = async function soundStop(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.sound_off"' + '}'; - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -308,11 +317,13 @@ Service_SPIKE.UJSONRPC.prototype.soundStop = async function soundStop() { * @param {integer} power * @param {integer} stall */ -Service_SPIKE.UJSONRPC.prototype.motorPwm = async function motorPwm(port, power, stall) { - var randomId = this.generateId(); +_SpikeUjsonLib.motorPwm = async function motorPwm(port, power, stall, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.motor_pwm", "p": {"port":' + '"' + port + '"' + ', "power":' + power + ', "stall":' + stall + '} }'; - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -320,28 +331,36 @@ Service_SPIKE.UJSONRPC.prototype.motorPwm = async function motorPwm(port, power, * @memberof! UJSONRPC * @param {function} callback */ -Service_SPIKE.UJSONRPC.prototype.getFirmwareInfo = async function getFirmwareInfo(callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.getFirmwareInfo = async function getFirmwareInfo(callback, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "get_hub_info" ' + '}'; - this.sendDATA(command); - if (callback != undefined) { - getFirmwareInfoCallback = [randomId, callback]; - } + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + + // sendDATA(command); + // if (callback != undefined) { + // getFirmwareInfoCallback = [randomId, callback]; + // } } /** * @memberof! UJSONRPC - * @param {function} callback + * @param {function} immediateCB */ -Service_SPIKE.UJSONRPC.prototype.triggerCurrentState = async function triggerCurrentState(callback) { - var randomId = this.generateId(); +_SpikeUjsonLib.triggerCurrentState = async function triggerCurrentState(immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "trigger_current_state" ' + '}'; - this.sendDATA(command); - if (callback != undefined) { - triggerCurrentStateCallback = callback; - } + + if (typeof immediateCB === "function") + immediateCB(command, randomId); + + // sendDATA(command); + // if (callback != undefined) { + // triggerCurrentStateCallback = callback; + // } } /** @@ -349,23 +368,26 @@ Service_SPIKE.UJSONRPC.prototype.triggerCurrentState = async function triggerCur * @memberof! UJSONRPC * @param {integer} slotid */ -Service_SPIKE.UJSONRPC.prototype.programExecute = async function programExecute(slotid) { - var randomId = this.generateId(); +_SpikeUjsonLib.programExecute = async function programExecute(slotid, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "program_execute", "p": {"slotid":' + slotid + '} }'; - this.sendDATA(command); + + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC */ -Service_SPIKE.UJSONRPC.prototype.programTerminate = function programTerminate() { +_SpikeUjsonLib.programTerminate = function programTerminate(immediateCB) { - var randomId = this.generateId(); + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "program_terminate"' + '}'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -375,8 +397,8 @@ Service_SPIKE.UJSONRPC.prototype.programTerminate = function programTerminate() * @param {string} data entire data to send in ASCII * @param {integer} slotid slot to which to assign the program */ -Service_SPIKE.UJSONRPC.prototype.startWriteProgram = async function startWriteProgram(projectName, type, data, slotid) { - +_SpikeUjsonLib.startWriteProgram = async function startWriteProgram(projectName, type, data, slotid, immediateCB) { + console.log("%cTuftsCEEO ", "color: #3ba336;", "in startWriteProgram..."); console.log("%cTuftsCEEO ", "color: #3ba336;", "constructing start_write_program script..."); @@ -388,7 +410,7 @@ Service_SPIKE.UJSONRPC.prototype.startWriteProgram = async function startWritePr var dataSize = (new TextEncoder().encode(data)).length; - var randomId = this.generateId(); + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "start_write_program", "p": {' + @@ -405,87 +427,10 @@ Service_SPIKE.UJSONRPC.prototype.startWriteProgram = async function startWritePr '} }'; console.log("%cTuftsCEEO ", "color: #3ba336;", "constructed start_write_program script..."); - - // assign function to start sending packets after confirming blocksize and transferid - startWriteProgramCallback = [randomId, writePackageFunc]; - - console.log("%cTuftsCEEO ", "color: #3ba336;", "sending start_write_program script"); - - this.sendDATA(command); - - // check if start_write_program received a response after 5 seconds - writeProgramSetTimeout = setTimeout(function () { - if (startWriteProgramCallback != undefined) { - if (funcAfterError != undefined) { - funcAfterError("5 seconds have passed without response... Please reboot the hub and try again.") - } - } - }, 5000) - - // function to write the first packet of data - function writePackageFunc(blocksize, transferid) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "in writePackageFunc..."); - - console.log("%cTuftsCEEO ", "color: #3ba336;", "stringified the entire data to send: ", data); - - // when data's length is less than the blocksize limit of sending data - if (data.length <= blocksize) { - console.log("%cTuftsCEEO ", "color: #3ba336;", "data's length is less than the blocksize of ", blocksize); - - // if the data's length is not zero (not empty) - if (data.length != 0) { - - var dataToSend = data.substring(0, data.length); // get the entirety of data - - console.log("%cTuftsCEEO ", "color: #3ba336;", "data's length is not zero, sending the entire data: ", dataToSend); - - var base64data = btoa(dataToSend); // encode the packet to base64 - - Service_SPIKE.UJSONRPC.prototype.writePackage(base64data, transferid); // send the packet - - // writeProgram's callback defined by the user - if (writeProgramCallback != undefined) { - writeProgramCallback(); - } - - } - // the package to send is empty, so throw error - else { - throw new Error("package to send is initially empty"); - } - - } - // if the length of data to send is larger than the blocksize, send only a blocksize amount - // and save the remaining data to send packet by packet - else if (data.length > blocksize) { - - console.log("%cTuftsCEEO ", "color: #3ba336;", "data's length is more than the blocksize of ", blocksize); - - var dataToSend = data.substring(0, blocksize); // get the first block of packet - - console.log("%cTuftsCEEO ", "color: #3ba336;", "sending the blocksize amount of data: ", dataToSend); - - var base64data = btoa(dataToSend); // encode the packet to base64 - - var msgID = Service_SPIKE.UJSONRPC.prototype.writePackage(base64data, transferid); // send the packet - - var remainingData = data.substring(blocksize, data.length); // remove the portion just sent from data - - console.log("%cTuftsCEEO ", "color: #3ba336;", "reassigning writePackageInformation with message ID: ", msgID); - console.log("%cTuftsCEEO ", "color: #3ba336;", "reassigning writePackageInformation with remainingData: ", remainingData); - - // update package information to be used for sending remaining packets - writePackageInformation = [msgID, remainingData, transferid, blocksize]; - - } - - } - + if (typeof immediateCB === "function") + immediateCB(command, randomId); } - - /** * * @memberof! UJSONRPC @@ -493,48 +438,48 @@ Service_SPIKE.UJSONRPC.prototype.startWriteProgram = async function startWritePr * @param {string} transferid transferid of this program write process * @returns {string} the randomly generated message id used to send this UJSONRPC script */ -Service_SPIKE.UJSONRPC.prototype.writePackage = function writePackage(base64data, transferid) { +_SpikeUjsonLib.writePackage = function writePackage(base64data, transferid, immediateCB) { - var randomId = this.generateId(); - var writePackageCommand = '{"i":' + '"' + randomId + '"' + + var randomId = _SpikeUjsonLib.generateId(); + var command = '{"i":' + '"' + randomId + '"' + ', "m": "write_package", "p": {' + '"data": ' + '"' + base64data + '"' + ', "transferid": ' + '"' + transferid + '"' + '} }'; - sendDATA(writePackageCommand); - - return randomId; + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC */ -Service_SPIKE.UJSONRPC.prototype.getStorageStatus = function getStorageStatus() { +_SpikeUjsonLib.getStorageStatus = function getStorageStatus(immediateCB) { - var randomId = this.generateId(); + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "get_storage_status"' + '}'; - this.sendDATA(command); - + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** * @memberof! UJSONRPC * @param {string} slotid */ -Service_SPIKE.UJSONRPC.prototype.removeProject = function removeProject(slotid) { +_SpikeUjsonLib.removeProject = function removeProject(slotid, immediateCB) { - var randomId = this.generateId(); + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "remove_project", "p": {' + '"slotid": ' + slotid + '} }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** @@ -543,34 +488,35 @@ Service_SPIKE.UJSONRPC.prototype.removeProject = function removeProject(slotid) * @param {string} oldslotid * @param {string} newslotid */ -Service_SPIKE.UJSONRPC.prototype.moveProject = function moveProject(oldslotid, newslotid) { +_SpikeUjsonLib.moveProject = function moveProject(oldslotid, newslotid, immediateCB) { - var randomId = this.generateId(); + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "move_project", "p": {' + '"old_slotid": ' + oldslotid + ', "new_slotid: ' + newslotid + '} }'; - this.sendDATA(command); - + if (typeof immediateCB === "function") + immediateCB(command, randomId); } -Service_SPIKE.UJSONRPC.prototype.centerButtonLightUp = function centerButtonLightUp(color) { - var randomId = this.generateId(); +_SpikeUjsonLib.centerButtonLightUp = function centerButtonLightUp(color, immediateCB) { + var randomId = _SpikeUjsonLib.generateId(); var command = '{"i":' + '"' + randomId + '"' + ', "m": "scratch.center_button_lights", "p": {' + '"color": ' + color + '} }'; - this.sendDATA(command); + if (typeof immediateCB === "function") + immediateCB(command, randomId); } /** generate random id for UJSONRPC messages - * @private - * @returns {string} - */ -Service_SPIKE.prototype.generateId = function () { +* @private +* @returns {string} +*/ +_SpikeUjsonLib.generateId = function () { var generatedID = "" var characters = "ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789"; diff --git a/server/examples/modules/scaledSPIKE/virtualSpike.js b/server/examples/modules/scaledSPIKE/virtualSpike.js new file mode 100644 index 0000000..9db8ce7 --- /dev/null +++ b/server/examples/modules/scaledSPIKE/virtualSpike.js @@ -0,0 +1,1057 @@ +function _virtualSpike () { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + // Service Dock variables + let spikeRPC = new _SpikeRPC(); // Spike communication interface + let ujsonLib = _SpikeUjsonLib; + + // flag for development + let dev = false; + + var colorDictionary = { + 0: "BLACK", + 1: "VIOLET", + 3: "BLUE", + 4: "AZURE", + 5: "GREEN", + 7: "YELLOW", + 9: "RED", + 1: "WHITE", + }; + + // object containing real-time info on devices connected to each port of SPIKE Prime + let ports = + { + "A": { "device": "none", "data": {}}, + "B": { "device": "none", "data": {}}, + "C": { "device": "none", "data": {}}, + "D": { "device": "none", "data": {}}, + "E": { "device": "none", "data": {}}, + "F": { "device": "none", "data": {}} + }; + + // object containing real-time info on hub sensor values + /* + !say the usb wire is the nose of the spike prime + + ( looks at which side of the hub is facing up) + gyro[0] - up/down detector ( down: 1000, up: -1000, neutral: 0) + gyro[1] - rightside/leftside detector ( leftside : 1000 , rightside: -1000, neutal: 0 ) + gyro[2] - front/back detector ( front: 1000, back: -1000, neutral: 0 ) + + ( assume the usb wire port is the nose of the spike prime ) + accel[0] - roll acceleration (roll to right: -, roll to left: +) + accel[1] - pitch acceleration (up: +, down: -) + accel[2] - yaw acceleration (counterclockwise: +. clockwise: -) + + () + pos[0] - yaw angle + pos[1] - pitch angle + pos[2] - roll angle + + */ + let hub = + { + "gyro" : [0, 0, 0], + "accel" : [0, 0, 0], + "pos" : [0, 0, 0], + "gesture" : undefined, // shake, freefall, tapped, doubletapped + "name" : undefined, + "frontEvent" : undefined, // string of real-time info on hub events + "batteryAmount" : 0, // battery [0-100] + "mainButton" : { "pressed": false, "duration": 0 }, + "bluetoothButton" : { "pressed": false, "duration": 0 }, + "leftButton" : { "pressed": false, "duration": 0 }, + "rightButton" : { "pressed": false, "duration": 0 } + } + + // Button states + let hubMainButton = { "pressed": false, "duration": 0 }; + let hubBluetoothButton = { "pressed": false, "duration": 0 }; + let hubLeftButton = { "pressed": false, "duration": 0 }; + let hubRightButton = { "pressed": false, "duration": 0 }; + + // Hub states + let hubProjects = { + "0": "None", + "1": "None", + "2": "None", + "3": "None", + "4": "None", + "5": "None", + "6": "None", + "7": "None", + "8": "None", + "9": "None", + "10": "None", + "11": "None", + "12": "None", + "13": "None", + "14": "None", + "15": "None", + "16": "None", + "17": "None", + "18": "None", + "19": "None" + }; + + let spikeMemory = { + /* States memory */ + ForceSensorWasPressed: false, + waitForNewOriFirst: true, + hubGestures: [], // hubGestures detected since program started or since was_gesture() + hubButtonPresses: [], + lastDetectedColor: undefined, + /* + up: hub is upright/standing, with the display looking horizontally + down: hub is upsidedown with the display, with the display looking horizontally + front: hub's display facing towards the sky + back: hub's display facing towards the earth + leftside: hub rotated so that the side to the left of the display is facing the earth + rightside: hub rotated so that the side to the right of the display is facing the earth + */ + lastHubOrientation: undefined, //PrimeHub orientation read from caught UJSONRPC + /* Spike callbacks */ + funcAfterNewGesture: undefined, + funcAfterNewOrientation: undefined, + funcAfterLeftButtonPress: undefined, + funcAfterLeftButtonRelease: undefined, + funcAfterRightButtonPress: undefined, + funcAfterRightButtonRelease: undefined, + funcAfterNewColor: undefined, + waitUntilColorCallback: undefined, // [colorToDetect, function to execute] + waitForDistanceFartherThanCallback: undefined, // [distance, function to execute] + waitForDistanceCloserThanCallback: undefined, // [distance, function to execute] + funcAfterForceSensorPress: undefined, + funcAfterForceSensorRelease: undefined, + /* array that holds the pointers to callback functions to be executed after a UJSONRPC response */ + responseCallbacks: [], + // Spike write program memory + startWriteProgramCallback: undefined, // [message_id, function to execute ] + writePackageInformation: undefined, // [ message_id, remaining_data, transfer_id, blocksize] + writeProgramCallback: undefined, // callback function to run after a program was successfully written + writeProgramSetTimeout: undefined, // setTimeout object for looking for response to start_write_program + /* callback functions added for Coding Rooms */ + getFirmwareInfoCallback: undefined, + triggerCurrentStateCallback: undefined + } + + var funcAfterPrint = (m) => { }; // function to call for SPIKE python program print statements or errors + var funcAfterError = (er) => { }; // function to call for errors in ServiceDock + var funcAfterDisconnect = () => { }; // function to call after SPIKE Prime is disconnected + var funcAfterConnect = () => { }; // function to call after SPIKE Prime is connected + var funcWithStream = () => { } // function to call during SPIKE Prime data stream + + ////////////////////////////////////////// + // // + // Public Functions // + // // + ////////////////////////////////////////// + /** Connect to a webserial port and begin data stream with hub + * @public + */ + const init = async function (isDev) { + try { + dev = isDev; + let connected = await spikeRPC.init(isDev, updateHubPortsInfo, PrimeHubEventHandler); + + devConsoleLog("connected: " + connected); + + await sleep(1000); // wait for at least one UJSONRPC to be parsed + + ujsonLib.triggerCurrentState((c, rid) => sendDATA(c)); + ujsonLib.getFirmwareInfo( (c, rid) => { + sendDATA(c); + spikeMemory.getFirmwareInfoCallback = + [rid, (version) => devConsoleLog("This SPIKE Prime is using Hub OS " + version)]; + }); + + await sleep(2000); // wait for service to init + + return connected; + } + catch (e) { + consoleError(e); + } + // reinit variables in the case of hardware disconnection and Service reactivation + // reader = undefined; + // writer = undefined; + + // initialize web serial connection + // var webSerialConnected = await initWebSerial(); + + // if (webSerialConnected) { + + // start streaming UJSONRPC + // streamUJSONRPC(); + + // await sleep(1000); + + // triggerCurrentState(); + // getFirmwareInfo(function (version) { + // console.log("%cTuftsCEEO ", "color: #3ba336;", "This SPIKE Prime is using Hub OS ", version); + // }); + // serviceActive = true; + + // await sleep(2000); // wait for service to init + + // // call funcAtInit if defined + // if (funcAtInit !== undefined) { + // funcAtInit(); + // } + // return true; + // } + // else { + // return false; + // } + } + + /** Write a micropy program into a slot of the SPIKE Prime + * + * @param {string} projectName name of the program + * @param {string} data the micropython source code (expecting an input tag's value). All characters must be ASCII + * @param {integer} slotid slot number to assign the program + * @param {function} callback function to run after program is written + */ + const writeProgram = async function (projectName, data, slotid, callback) { + // check for non-ascii characters + let ascii = /[^\x00-\x7F]/; + if (ascii.test(data)) { + funcAfterError("non-ASCII characters detected in micropy program. Only ASCII characters are supported. Please check your micropy input.") + throw new Error("non-ASCII characters detected in micropy program. Only ASCII characters are supported. Please check your micropy input.") + } + else { + // reinit witeProgramTimeout + if (spikeMemory.writeProgramSetTimeout != undefined) { + clearTimeout(spikeMemory.writeProgramSetTimeout); + spikeMemory.writeProgramSetTimeout = undefined; + } + + // template of python file that needs to be concatenated + var firstPart = "from runtime import VirtualMachine\n\n# Stack for execution:\nasync def stack_1(vm, stack):\n" + var secondPart = "# Setup for execution:\ndef setup(rpc, system, stop):\n\n # Initialize VM:\n vm = VirtualMachine(rpc, system, stop, \"Target__1\")\n\n # Register stack on VM:\n vm.register_on_start(\"stack_1\", stack_1)\n\n return vm" + + // stringify data and strip trailing and leading quotation marks + var stringifiedData = JSON.stringify(data); + stringifiedData = stringifiedData.substring(1, stringifiedData.length - 1); + + var result = ""; // string to which the final code will be appended + + var splitData = stringifiedData.split(/\\n/); // split the code by every newline + + // add a tab before every newline (this is syntactically needed for concatenating with the template) + for (var index in splitData) { + + var addedTab = " " + splitData[index] + "\n"; + + result = result + addedTab; + } + + // replace tab characters + result = result.replace(/\\t/g, " "); + + stringifiedData = firstPart + result + secondPart; + + spikeMemory.writeProgramCallback = callback; + + // begin the write program process + ujsonLib.startWriteProgram(projectName, "python", stringifiedData, slotid, (command, randomId) => { + + spikeMemory.startWriteProgramCallback = [randomId, (blocksize, transferid) => { + + devConsoleLog("in writePackageFunc..."); + + devConsoleLog("stringified the entire data to send: " + stringifiedData); + + // when data's length is less than the blocksize limit of sending data + if (stringifiedData.length <= blocksize) { + devConsoleLog("data's length is less than the blocksize of " + blocksize); + + // if the data's length is not zero (not empty) + if (stringifiedData.length != 0) { + + var dataToSend = stringifiedData.substring(0, stringifiedData.length); // get the entirety of data + devConsoleLog("data's length is not zero, sending the entire data: " + dataToSend); + + var base64data = btoa(dataToSend); // encode the packet to base64 + + ujsonLib.writePackage(base64data, transferid, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); // send the packet + + // writeProgram's callback defined by the user + if (spikeMemory.writeProgramCallback != undefined) { + spikeMemory.writeProgramCallback(); + } + }); + + } + // the package to send is empty, so throw error + else { + throw new Error("package to send is initially empty"); + } + + } + // if the length of data to send is larger than the blocksize, send only a blocksize amount + // and save the remaining data to send packet by packet + else if (stringifiedData.length > blocksize) { + devConsoleLog("data's length is more than the blocksize of " + blocksize); + + var dataToSend = stringifiedData.substring(0, blocksize); // get the first block of packet + devConsoleLog("sending the blocksize amount of data: " + dataToSend) + + var base64data = btoa(dataToSend); // encode the packet to base64 + + ujsonLib.writePackage(base64data, transferid, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); // send the packet + + var remainingData = stringifiedData.substring(blocksize, stringifiedData.length); // remove the portion just sent from data + devConsoleLog("reassigning writePackageInformation with message ID: " + wpRandomId); + devConsoleLog("reassigning writePackageInformation with remainingData: " + remainingData); + + // update package information to be used for sending remaining packets + spikeMemory.writePackageInformation = [wpRandomId, remainingData, transferid, blocksize]; + }); + } + }]; + + sendDATA(command); + + // check if start_write_program received a response after 5 seconds + spikeMemory.writeProgramSetTimeout = setTimeout(function () { + if (spikeMemory.startWriteProgramCallback != undefined) { + funcAfterError("5 seconds have passed without response... Please reboot the hub and try again."); + consoleError("5 seconds have passed without response... Please reboot the hub and try again."); + } + }, 5000) + + }); + } + } + + /** Parse information on devices connected to SPIKE Prime ports + * Effect: Modifies {ports}, {hub} + * @param {object} data_stream portion of prased lastUJSONRPC containing port devices info + * @private + */ + const updateHubPortsInfo = async function (data_stream) { + + var index_to_port = ["A", "B", "C", "D", "E", "F"]; + + // iterate through each port and assign a device_type to {ports} + for (var key = 0; key < 6; key++) { + + let device_value = { "device": "none", "data": {} }; // value to go in ports associated with the port letter keys + + try { + var letter = index_to_port[key]; + + // get SMALL MOTOR information + if (data_stream[key][0] == 48) { + + // parse motor information + var Mspeed = await data_stream[key][1][0]; + var Mangle = await data_stream[key][1][1]; + var Muangle = await data_stream[key][1][2]; + var Mpower = await data_stream[key][1][3]; + + // populate value object + device_value.device = "smallMotor"; + device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; + ports[letter] = device_value; + + } + // get BIG MOTOR information + else if (data_stream[key][0] == 49) { + + // parse motor information + var Mspeed = await data_stream[key][1][0]; + var Mangle = await data_stream[key][1][1]; + var Muangle = await data_stream[key][1][2]; + var Mpower = await data_stream[key][1][3]; + + // populate value object + device_value.device = "bigMotor"; + device_value.data = { "speed": Mspeed, "angle": Mangle, "uAngle": Muangle, "power": Mpower }; + ports[letter] = device_value; + } + // get ULTRASONIC sensor information + else if (data_stream[key][0] == 62) { + + // parse ultrasonic sensor information + var Udist = await data_stream[key][1][0]; + + // populate value object + device_value.device = "ultrasonic"; + device_value.data = { "distance": Udist }; + ports[letter] = device_value; + + /* check if callback from wait_for_distance_farther_than() can be executed */ + if (spikeMemory.waitForDistanceFartherThanCallback != undefined) { + let thresholdDistance = spikeMemory.waitForDistanceFartherThanCallback[0]; + + if (Udist > thresholdDistance) { + // current distance is farther than threshold, so execute callback + spikeMemory.waitForDistanceFartherThanCallback[1](); + spikeMemory.waitForDistanceFartherThanCallback = undefined; // reset callback + } + } + + /* check if callback from wait_for_distance_closer_than() can be executed */ + if (spikeMemory.waitForDistanceCloserThanCallback != undefined) { + let thresholdDistance = spikeMemory.waitForDistanceCloserThanCallback[0]; + + if (Udist < thresholdDistance) { + + // current distance is closer than threshold, so execute callback + spikeMemory.waitForDistanceCloserThanCallback[1](); + spikeMemory.waitForDistanceCloserThanCallback = undefined; // reset callback + } + } + } + // get FORCE sensor information + else if (data_stream[key][0] == 63) { + + // parse force sensor information + var Famount = await data_stream[key][1][0]; + var Fbinary = await data_stream[key][1][1]; + var Fbigamount = await data_stream[key][1][2]; + + // convert the binary output to boolean for "pressed" key + if (Fbinary == 1) { + var Fboolean = true; + } else { + var Fboolean = false; + } + // execute callback from ForceSensor.wait_until_pressed() + if (Fboolean) { + // execute call back from wait_until_pressed() if it is defined + if (spikeMemory.funcAfterForceSensorPress !== undefined) + spikeMemory.funcAfterForceSensorPress(); + + // destruct callback function + spikeMemory.funcAfterForceSensorPress = undefined; + + // indicate that the ForceSensor was pressed + spikeMemory.ForceSensorWasPressed = true; + } + // execute callback from ForceSensor.wait_until_released() + else { + // check if the Force Sensor was just released + if (spikeMemory.ForceSensorWasPressed) { + spikeMemory.ForceSensorWasPressed = false; + if (spikeMemory.funcAfterForceSensorRelease !== undefined) + spikeMemory.funcAfterForceSensorRelease(); + spikeMemory.funcAfterForceSensorRelease = undefined; + } + } + + // populate value object + device_value.device = "force"; + device_value.data = { "force": Famount, "pressed": Fboolean, "forceSensitive": Fbigamount } + ports[letter] = device_value; + } + // get COLOR sensor information + else if (data_stream[key][0] == 61) { + + // parse color sensor information + var Creflected = await data_stream[key][1][0]; + var CcolorID = await data_stream[key][1][1]; + var Ccolor = colorDictionary[CcolorID]; + var Cr = await data_stream[key][1][2]; + var Cg = await data_stream[key][1][3]; + var Cb = await data_stream[key][1][4]; + var rgb_array = [Cr, Cg, Cb]; + + // populate value object + device_value.device = "color"; + + // convert Ccolor to lower case because in the SPIKE APP the color is lower case + if (Ccolor !== undefined) + Ccolor = Ccolor.toLowerCase(); + else + Ccolor = "null"; + device_value.data = { "reflected": Creflected, "color": Ccolor, "RGB": rgb_array }; + + // execute wait_until_color callback when color matches its argument + if (spikeMemory.waitUntilColorCallback != undefined) + if (Ccolor == spikeMemory.waitUntilColorCallback[0]) { + spikeMemory.waitUntilColorCallback[1](); + + spikeMemory.waitUntilColorCallback = undefined; + } + + if (spikeMemory.lastDetectedColor != Ccolor) { + + if (spikeMemory.funcAfterNewColor != undefined) { + spikeMemory.funcAfterNewColor(Ccolor); + spikeMemory.funcAfterNewColor = undefined; + } + + spikeMemory.lastDetectedColor = Ccolor; + } + ports[letter] = device_value; + } + /// NOTHING is connected + else if (data_stream[key][0] == 0) { + // populate value object + device_value.device = "none"; + device_value.data = {}; + ports[letter] = device_value; + } + + ports.time = Date.now(); + + //parse hub information + var gyro_x = data_stream[6][0]; + var gyro_y = data_stream[6][1]; + var gyro_z = data_stream[6][2]; + var gyro = [gyro_x, gyro_y, gyro_z]; + hub["gyro"] = gyro; + + var newOri = setHubOrientation(gyro); + // see if currently detected orientation is different from the last detected orientation + if (newOri !== spikeMemory.lastHubOrientation) { + spikeMemory.lastHubOrientation = newOri; + + if (typeof spikeMemory.funcAfterNewOrientation == "function") + spikeMemory.funcAfterNewOrientation(newOri); + spikeMemory.funcAfterNewOrientation = undefined; + } + + var accel_x = data_stream[7][0]; + var accel_y = data_stream[7][1]; + var accel_z = data_stream[7][2]; + var accel = [accel_x, accel_y, accel_z]; + hub["accel"] = accel; + + var posi_x = data_stream[8][0]; + var posi_y = data_stream[8][1]; + var posi_z = data_stream[8][2]; + var pos = [posi_x, posi_y, posi_z]; + hub["pos"] = pos; + + } catch (e) { + console.log(e); + } //ignore errors + } + } + + /** Catch hub events in UJSONRPC + *

Effect:

+ *

Logs in the console when some particular messages are caught

+ *

Assigns the hub events global variables

+ * @private + */ + const PrimeHubEventHandler = async function (parsedUJSON, lastUJSONRPC) { + var messageType = parsedUJSON["m"]; + + //catch runtime_error made at ujsonrpc level + if (messageType == "runtime_error") { + var decodedResponse = atob(parsedUJSON["p"][3]); + + decodedResponse = JSON.stringify(decodedResponse); + consoleError("spike runtime error: " + decodedResponse); + + var splitData = decodedResponse.split(/\\n/); // split the code by every newline + + // execute function after print if defined (only print the last line of error message) + var errorType = splitData[splitData.length - 2]; + + // error is a syntax error + if (errorType.indexOf("SyntaxError") > -1) { + /* get the error line number*/ + var lineNumberLine = splitData[splitData.length - 3]; + devConsoleLog("lineNumberLine: " + lineNumberLine); + var indexLine = lineNumberLine.indexOf("line"); + var lineNumberSubstring = lineNumberLine.substring(indexLine, lineNumberLine.length); + var numberPattern = /\d+/g; + var lineNumber = lineNumberSubstring.match(numberPattern)[0]; + devConsoleLog(lineNumberSubstring.match(numberPattern)); + devConsoleLog("lineNumber: " + lineNumber); + devConsoleLog("typeof lineNumber: " + typeof lineNumber); + var lineNumberInNumber = parseInt(lineNumber) - 5; + devConsoleLog("typeof lineNumberInNumber: " + typeof lineNumberInNumber); + + funcAfterError("line " + lineNumberInNumber + ": " + errorType); + } + else { + funcAfterError(errorType); + } + } + else if (messageType == 0) { + /* + DEV NOTE (26/12/2020): + messageType = 0 is regular UJSONRPC stream. + Pixel matrix SOMETIMES shows in this message, but exactly when is not clear. + */ + // console.log("%cTuftsCEEO ", "color: #3ba336;", lastUJSONRPC); + } + // storage information + else if (messageType == 1) { + + var storageInfo = parsedUJSON["p"]["slots"]; // get info of all the slots + + for (var slotid in storageInfo) { + hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable + } + + } + // battery status + else if (messageType == 2) { + hub.batteryAmount = parsedUJSON["p"][1]; + } + // give center button click, left, right (?) + else if (messageType == 3) { + devConsoleLog(lastUJSONRPC); + if (parsedUJSON.p[0] == "center") { + hub.mainButton.pressed = true; + + if (parsedUJSON.p[1] > 0) { + hub.mainButton.pressed = false; + hub.mainButton.duration = parsedUJSON.p[1]; + } + } + else if (parsedUJSON.p[0] == "connect") { + hub.bluetoothButton.pressed = true; + + if (parsedUJSON.p[1] > 0) { + hub.bluetoothButton.pressed = false; + hub.bluetoothButton.duration = parsedUJSON.p[1]; + } + } + else if (parsedUJSON.p[0] == "left") { + hub.leftButton.pressed = true; + + // execute callback for wait_until_pressed() if defined + if (spikeMemory.funcAfterLeftButtonPress != undefined) { + spikeMemory.funcAfterLeftButtonPress(); + } + spikeMemory.funcAfterLeftButtonPress = undefined; + + if (parsedUJSON.p[1] > 0) { + hub.leftButton.pressed = false; + hub.leftButton.duration = parsedUJSON.p[1]; + + // execute callback for wait_until_released() if defined + if (spikeMemory.funcAfterLeftButtonRelease != undefined) { + spikeMemory.funcAfterLeftButtonRelease(); + } + + spikeMemory.funcAfterLeftButtonRelease = undefined; + } + + } + else if (parsedUJSON.p[0] == "right") { + hub.rightButton.pressed = true; + + // execute callback for wait_until_pressed() if defined + if (spikeMemory.funcAfterRightButtonPress != undefined) { + spikeMemory.funcAfterRightButtonPress(); + } + + spikeMemory.funcAfterRightButtonPress = undefined; + + if (parsedUJSON.p[1] > 0) { + hub.rightButton.pressed = false; + hub.rightButton.duration = parsedUJSON.p[1]; + + // execute callback for wait_until_released() if defined + if (spikeMemory.funcAfterRightButtonRelease != undefined) { + spikeMemory.funcAfterRightButtonRelease(); + } + + spikeMemory.funcAfterRightButtonRelease = undefined; + } + } + + } + else if (messageType == 4) { + var newGesture = parsedUJSON.p; + + if (newGesture == "3") { + hub.gesture = "freefall"; + spikeMemory.hubGestures.push(hub.gesture); + } + else if (newGesture == "2") { + hub.gesture = "shaken"; + spikeMemory.hubGestures.push(hub.gesture); // the string is different at higher level + } + else if (newGesture == "1") { + hub.frontEvent = "doubletapped"; + hub.gesture = "doubletapped"; + spikeMemory.hubGestures.push(hub.gesture); + } + else if (newGesture == "0") { + hub.frontEvent = "tapped"; + hub.gesture = "tapped"; + spikeMemory.hubGestures.push(hub.gesture); + } + devConsoleLog("hubGesture in virtualSpike: " + hub.gesture); + // execute funcAfterNewGesture callback that was taken at wait_for_new_gesture() + if (typeof spikeMemory.funcAfterNewGesture === "function") { + spikeMemory.funcAfterNewGesture(hub.gesture); + spikeMemory.funcAfterNewGesture = undefined; + } + + devConsoleLog(lastUJSONRPC); + + } + else if (messageType == 7) { + funcAfterPrint(">>> Program started!"); + } + else if (messageType == 8) { + funcAfterPrint(">>> Program finished!"); + } + else if (messageType == 9) { + var encodedName = parsedUJSON["p"]; + var decodedName = atob(encodedName); + hub.name = decodedName; + + if (spikeMemory.triggerCurrentStateCallback != undefined) { + spikeMemory.triggerCurrentStateCallback(); + } + } + else if (messageType == 11) { + devConsoleLog(lastUJSONRPC); + } + else if (messageType == 12) { + // this is usually the response from trigger_current_state, don't console log to avoid spam + } + // gives orientation of the hub (leftside, up,..) + else if (messageType == 14) { + /* this data stream is about hub orientation */ + + var newOrientation = parsedUJSON.p; + // console.log(newOrientation); + if (newOrientation == "1") { + spikeMemory.lastHubOrientation = "up"; + } + else if (newOrientation == "4") { + spikeMemory.lastHubOrientation = "down"; + } + else if (newOrientation == "0") { + spikeMemory.lastHubOrientation = "front"; + } + else if (newOrientation == "3") { + spikeMemory.lastHubOrientation = "back"; + } + else if (newOrientation == "2") { + spikeMemory.lastHubOrientation = "rightside"; + } + else if (newOrientation == "5") { + spikeMemory.lastHubOrientation = "leftside"; + } + + devConsoleLog(lastUJSONRPC); + } + else { + devConsoleLog("received response: " + lastUJSONRPC); + + // general parameters check + if (parsedUJSON["r"]) { + if (parsedUJSON["r"]["slots"]) { + + var storageInfo = parsedUJSON["r"]["slots"]; // get info of all the slots + + for (var slotid in storageInfo) { + hubProjects[slotid] = storageInfo[slotid]; // reassign hubProjects global variable + } + + } + } + + // getFirmwareInfo callback check + if (spikeMemory.getFirmwareInfoCallback != undefined) { + if (spikeMemory.getFirmwareInfoCallback[0] == parsedUJSON["i"]) { + var version = parsedUJSON["r"]["runtime"]["version"]; + var stringVersion = "" + for (var index in version) { + if (index < version.length - 1) { + stringVersion = stringVersion + version[index] + "."; + } + else { + stringVersion = stringVersion + version[index]; + } + } + // console.log("%cTuftsCEEO ", "color: #3ba336;", "firmware version: ", stringVersion); + spikeMemory.getFirmwareInfoCallback[1](stringVersion); + } + } + + /* See if any of the stored responseCallbacks need to be executed due to this UJSONRPC response */ + for (var index = 0; index < spikeMemory.responseCallbacks.length; index++) { + + var currCallbackInfo = spikeMemory.responseCallbacks[index]; + + if (currCallbackInfo != undefined) { + + if (currCallbackInfo[0] == parsedUJSON["i"]) { + /* the message id of UJSONRPC corresponds to that of a response callback */ + + var response = "null"; + + // parse motor stoppage reason responses + if (parsedUJSON["r"] == 0) { + response = "done"; + } + else if (parsedUJSON["r"] == 2) { + response = "stalled"; + } + + // execute callback with the response + currCallbackInfo[1](response); + + // empty the index of which callback that was just executed + spikeMemory.responseCallbacks[index] = undefined; + } + } + } + + // execute the callback function after sending start_write_program UJSONRPC + if (spikeMemory.startWriteProgramCallback != undefined) { + + devConsoleLog("startWriteProgramCallback is defined. Looking for matching mesasage id: " + spikeMemory.startWriteProgramCallback[0]); + // check if the message id of UJSONRPC corresponds to that of a response callback + if (spikeMemory.startWriteProgramCallback[0] == parsedUJSON["i"]) { + + devConsoleLog("matching message id detected with startWriteProgramCallback[0]: " + spikeMemory.startWriteProgramCallback[0]); + + // get the information for the packet sending + var blocksize = parsedUJSON["r"]["blocksize"]; // maximum size of each packet to be sent in bytes + var transferid = parsedUJSON["r"]["transferid"]; // id to use for transferring this program + + devConsoleLog("executing writePackageFunc expecting transferID of " + transferid); + + // execute callback + await spikeMemory.startWriteProgramCallback[1](blocksize, transferid); + + devConsoleLog("deallocating startWriteProgramCallback"); + + // deallocate callback + spikeMemory.startWriteProgramCallback = undefined; + } + + } + + // check if the program should write packages for a program + if (spikeMemory.writePackageInformation != undefined) { + + devConsoleLog("writePackageInformation is defined. Looking for matching mesasage id: " + spikeMemory.writePackageInformation[0]); + + // check if the message id of UJSONRPC corresponds to that of the first write_package script that was sent + if (spikeMemory.writePackageInformation[0] == parsedUJSON["i"]) { + + devConsoleLog("matching message id detected with writePackageInformation[0]: " + spikeMemory.writePackageInformation[0]); + + // get the information for the package sending process + var remainingData = spikeMemory.writePackageInformation[1]; + var transferID = spikeMemory.writePackageInformation[2]; + var blocksize = spikeMemory.writePackageInformation[3]; + + // the size of the remaining data to send is less than or equal to blocksize + if (remainingData.length <= blocksize) { + devConsoleLog("remaining data's length is less than or equal to blocksize"); + + // the size of remaining data is not zero + if (remainingData.length != 0) { + + var dataToSend = remainingData.substring(0, remainingData.length); + + devConsoleLog("remaining data's length is not zero, sending entire remaining data: " + dataToSend); + + var base64data = btoa(dataToSend); + + ujsonLib.writePackage(base64data, transferID, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); + + devConsoleLog("deallocating writePackageInforamtion"); + + if (spikeMemory.writeProgramCallback != undefined) { + spikeMemory.writeProgramCallback(); + } + + spikeMemory.writePackageInformation = undefined; + }); + } + } + // the size of remaining data is more than the blocksize + else if (remainingData.length > blocksize) { + devConsoleLog("remaining data's length is more than blocksize"); + + var dataToSend = remainingData.substring(0, blocksize); + + devConsoleLog("sending blocksize amount of data: " + dataToSend); + + var base64data = btoa(dataToSend); + + ujsonLib.writePackage(base64data, transferID, (wpCommand, wpRandomId) => { + sendDATA(wpCommand); + + devConsoleLog("expected response with message id of " + wpRandomId) + + var remainingData = remainingData.substring(blocksize, remainingData.length); + + spikeMemory.writePackageInformation = [wpRandomId, remainingData, transferID, blocksize]; + }); + } + } + } + } + } + + /** Get the orientation of the hub based on gyroscope values + * + * @private + * @param {(number|Array)} gyro + */ + const setHubOrientation = function (gyro) { + var newOrientation; + if (gyro[0] < 500 && gyro[0] > -500) { + if (gyro[1] < 500 && gyro[1] > -500) { + + if (gyro[2] > 500) { + newOrientation = "front"; + } + else if (gyro[2] < -500) { + newOrientation = "back"; + } + } + else if (gyro[1] > 500) { + newOrientation = "up"; + } + else if (gyro[1] < -500) { + newOrientation = "down"; + } + } else if (gyro[0] > 500) { + newOrientation = "rightside"; + } + else if (gyro[0] < -500) { + newOrientation = "leftside"; + } + + return newOrientation; + } + + /** + * + * @private + * @param {string} id + * @param {function} cb + */ + const pushResponseCallback = function (id, cb) { + var toPush = []; // [ ujson string id, function pointer ] + + toPush.push(id); + toPush.push(cb); + + // responseCallbacks has elements in it + if (spikeMemory.responseCallbacks.length > 0) { + + var emptyFound = false; // empty index was found flag + + // insert the pointer to the function where index is empty + for (var index in spikeMemory.responseCallbacks) { + if (spikeMemory.responseCallbacks[index] == undefined) { + spikeMemory.responseCallbacks[index] = toPush; + emptyFound = true; + } + } + + // if all indices were full, push to the back + if (!emptyFound) { + spikeMemory.responseCallbacks.push(toPush); + } + + } + // responseCallbacks current has no elements in it + else { + spikeMemory.responseCallbacks.push(toPush); + } + } + + const sendDATA = function (command) { + spikeRPC.sendDATA(command); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passConnectCallback = function (f) { + funcAfterConnect = f; + spikeRPC.passConnectCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passDisconnectCallback = function (f) { + funcAfterDisconnect = f; + spikeRPC.passDisconnectCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passErrorCallback = function (f) { + funcAfterError = f; + spikeRPC.passErrorCallback(f); + } + /** assign event callback and pass callback down + * @param {function} f + */ + const passPrintCallback = function (f) { + funcAfterPrint = f; + spikeRPC.passPrintCallback(f); + } + + const passStreamCallback = function (f) { + spikeRPC.executeWithStream(f); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** Sleep function + * @private + * @param {number} ms Miliseconds to sleep + * @returns {Promise} + */ + function sleep(ms) { + return new Promise(resolve => setTimeout(resolve, ms)); + } + + + + return { + init: init, + spikeMemory: spikeMemory, + ports, + hub: hub, + writeProgram: writeProgram, + sendDATA: sendDATA, + pushResponseCallback: pushResponseCallback, + // key event callback setters + passConnectCallback: passConnectCallback, + passDisconnectCallback: passDisconnectCallback, + passErrorCallback: passErrorCallback, + passPrintCallback: passPrintCallback, + passStreamCallback: passStreamCallback + } + +} \ No newline at end of file diff --git a/server/examples/modules/scaledSPIKE/webserial/WebSerial.js b/server/examples/modules/scaledSPIKE/webserial/WebSerial.js new file mode 100644 index 0000000..e84c8a4 --- /dev/null +++ b/server/examples/modules/scaledSPIKE/webserial/WebSerial.js @@ -0,0 +1,259 @@ +function _WebSerial() { + + ////////////////////////////////////////// + // // + // Global Variables // + // // + ////////////////////////////////////////// + + let wsPort; + let reader; + let writer; + let writableStreamClosed; + let value; + let done; + + // development flag + let dev; + + // callback functions after key events + let funcAfterError = (er) => {/* placeholder*/ } + let funcAfterDisconnect = () => {} + let funcAfterConnect = () => {} + + /** Initialize the WebSerial object + * (Prompt user to connect to the wsPort) + * @param {boolean} isDev true if running for SD development/testing, false otherwise + * @public + */ + const init = async function (isDev) { + try { + dev = isDev; + let connected = await connect(isDev); + + if (connected === true) + funcAfterConnect(); + + return connected + } + catch (e) { + throw e; + } + } + + /** Prompt user to connect to the wsPort + * Error Code: 1000X + * @returns {boolean} success(true)/failure(false) + * @private + */ + const connect = async function (isDev) { + try { + let success = false; + + wsPort = await navigator.serial.getPorts(); + + console.log("%cTuftsCEEO ", "color: #3ba336;", "wsPorts:", wsPort); + + // select device + wsPort = await navigator.serial.requestPort({ + // filters:[filter] + }); + + // wait for the wsPort to open. + try { + await wsPort.open({ baudRate: 115200 }); + } + catch (er) { + + if (er.message.indexOf("baudrate") > -1) { + // requires different baudRate syntax + //console.log("%cTuftsCEEO ", "color: #3ba336;", "baudRate needs to be baudrate"); + + await wsPort.open({ baudrate: 115200 }); + } + else if (er.message.indexOf("close") > -1) { + // error is due to unsuccessful closing of previous wsPort + await wsPort.close(); + + consoleError("Unsuccessful closing of previous wsPort"); + + throw {code: 10001, message: er.message}; + } + else if (er.message.indexOf("open") > -1) { + // error in wsPort.open was because it was already open + /* "failed to open serial wsPort" */ + try { + await wsPort.close(); + } + catch (err) { + consoleError("wsPort could not be opened was because it was already open"); + throw { code: 10002, message: err.message }; + } + } + else { + throw { code: 10003, message: er.message }; + } + + await wsPort.close(); + } + + if (wsPort.readable) { + success = true; + } + else { + success = false; + } + + return success; + + } catch (e) { + if (e.message.indexOf("close") > -1) { + await wsPort.close(); + throw { code: 10004, message: e.message } + } + else { + consoleError("Cannot read wsPort: ", e); + throw { code: 10005, message: e.message } + } + } + } + + /** Stream incoming data from hardware through web serial + * Error Code: 101XX + * @public + */ + /** Stream incoming data from hardware through web serial + * and take parser interface and continuously feed it raw data + * @param {function} parser parser function + */ + const streamData = async function (parser) { + try { + + var firstReading = true; + // read when port is set up + while (wsPort.readable) { + + // initialize readers + const decoder = new TextDecoderStream(); + const readableStreamClosed = wsPort.readable.pipeTo(decoder.writable); + reader = decoder.readable.getReader(); + + // continuously get + while (true) { + try { + // read UJSON RPC stream ( actual data in {value} ) + ({ value, done } = await reader.read()); + + // console.log("%cTuftsCEEO ", "color: #3ba336;", value); + + //concatenate UJSONRPC packets into complete JSON objects + if (value) { + await parser(value); + } + if (done) { + serviceActive = false; + // reader has been canceled. + console.log("%cTuftsCEEO ", "color: #3ba336;", "[readLoop] DONE", done); + } + } + // error handler + catch (error) { + console.log("%cTuftsCEEO ", "color: #3ba336;", '[readLoop] ERROR', error); + + serviceActive = false; + + funcAfterDisconnect(); + + funcAfterError("SPIKE Prime hub has been disconnected"); + + writer.close(); + //await writer.releaseLock(); + await writableStreamClosed; + + reader.cancel(); + //await reader.releaseLock(); + await readableStreamClosed.catch(reason => { }); + + await wsPort.close(); + + writer = undefined; + reader = undefined; + streamParser = undefined; + + break; // stop trying to read + } + } // end of: while (true) [reader loop] + + // release the lock + reader.releaseLock(); + + } // end of: while (wsPort.readable) [checking if readable loop] + console.log("%cTuftsCEEO ", "color: #3ba336;", "- wsPort.readable is FALSE") + } // end of: trying to open wsPort + catch (e) { + serviceActive = false; + // Permission to access a device was denied implicitly or explicitly by the user. + console.log("%cTuftsCEEO ", "color: #3ba336;", 'ERROR trying to open:', e); + } + } + /** + * + * @param {any} command + */ + const write = function (command) { + setupWriter(); + writer.write(command); + } + + const executeAfterConnect = (f) => { (typeof f === "function") ? funcAfterConnect = f : {}}; + const executeAfterDisconnect = (f) => { (typeof f === "function") ? funcAfterDisconnect = f : {}}; + const executeAfterError = (f) => { (typeof f === "function") ? funcAfterError = f : {}}; + + /** Set up writer object for sending data + * @private + */ + const setupWriter = function () { + // if writer not yet defined: + if (typeof writer === 'undefined') { + // set up writer for the first time + const encoder = new TextEncoderStream(); + writableStreamClosed = encoder.readable.pipeTo(wsPort.writable); + writer = encoder.writable.getWriter(); + } + } + + /** console log + * @private + * @param {string} m + */ + const CONSOLELOG = function (m) { + console.log("%cTuftsCEEO ", "color: #3ba336;", m); + } + + /** console log only in development + * @private + * @param {string} m + */ + const devConsoleLog = function (m) { + if (dev === true) + console.log("%cTuftsCEEO ", "color: #3ba336;", m); } + + /** console.error a message + * @param {string} m + * @private + */ + const consoleError = function (m) { + console.error("%cTuftsCEEO ", "color: #3ba336;", m); + } + + + return { + init: init, + streamData: streamData, + write: write, + // key event callback receivers + executeAfterDisconnect: executeAfterDisconnect, + executeAfterConnect: executeAfterConnect, + executeAfterError: executeAfterError + } +} \ No newline at end of file diff --git a/server/examples/servicedock_unitTesting.html b/server/examples/servicedock_unitTesting.html index 1f836e3..90d9cd1 100644 --- a/server/examples/servicedock_unitTesting.html +++ b/server/examples/servicedock_unitTesting.html @@ -6,22 +6,12 @@ --> - - - - - + @@ -30,7 +20,7 @@
- + @@ -80,9 +70,10 @@ value="motor.run_to_degrees_counted() with CALLBACK ( NO stall detection )"> - - + + + @@ -93,6 +84,7 @@ + @@ -298,12 +290,11 @@ }) }) }) - - // var hub = new mySPIKE.PrimeHub(); (commented by jeremy 1/19/21) + @@ -331,10 +322,9 @@ displayTests(); // display the tests of Service picked during window load selectService.addEventListener("change", () => { displayTests(); - }) + }); function displayTests () { - let testsSPIKE = document.getElementById("SPIKEbox"); let testsSL = document.getElementById("SLbox"); let testsAT = document.getElementById("ATbox"); @@ -399,13 +389,23 @@ testDegreesCounted.style.backgroundColor = "lightgreen"; testMotorStartAtPower.style.backgroundColor = "lightgreen"; testMotorPosition.style.backgroundColor = "lightgreen"; + testMotorStop.style.backgroundColor = "lightgreen"; + testMotorGetSpeed.style.backgroundColor = "lightgreen"; + testMotorGetPower.style.backgroundColor = "lightgreen"; + //testMotorPairStart + testMotorPairMove.style.backgroundColor = "red"; + testMotorPairMoveLeft.style.backgroundColor = "red"; + testMotorPairMoveRight.style.backgroundColor = "red"; + testMotorPairMoveLeftSlightly.style.backgroundColor = "red"; + testMotorPairMoveRightSlightly.style.backgroundColor = "red"; + testMotorPairStartTank.style.backgroundColor = "lightgreen" + testMotorPairStop.style.backgroundColor = "lightgreen"; // TEST motion sensor functions testGetAngles.style.backgroundColor = "lightgreen"; testWasGesture.style.backgroundColor = "lightgreen"; testWaitForNewGesture.style.backgroundColor = "lightgreen"; testWaitForNewOri.style.backgroundColor = "lightgreen"; - testSetHubOrientation.style.backgroundColor = "lightgreen"; testResetYaw.style.backgroundColor = "red"; testResetYawSource.style.backgroundColor = "red"; testGetGesture.style.backgroundColor = "lightgreen"; @@ -419,56 +419,60 @@ testGetForcePercentage.style.backgroundColor = "lightgreen"; // TEST Primehub.speaker functions - testBeep.style.backgroundColor = "lightgreen"; - testStartBeep.style.backgroundColor = "lightgreen"; - testStopBeep.style.backgroundColor = "lightgreen"; + testBeep.style.backgroundColor = "orange"; + testStartBeep.style.backgroundColor = "orange"; + testStopBeep.style.backgroundColor = "orange"; // TEST Primehub.button functions testButtonIsPressed.style.backgroundColor = "lightgreen"; testButtonWaitPressed.style.backgroundColor = "lightgreen"; testButtonWaitRelease.style.backgroundColor = "lightgreen"; testButtonWasPressed.style.backgroundColor = "lightgreen"; - - //testMotorPairStart - testMotorPairStop.style.backgroundColor = "lightgreen"; - testMotorPairMove.style.backgroundColor = "red"; - testMotorPairMoveLeft.style.backgroundColor = "red"; - testMotorPairMoveRight.style.backgroundColor = "red"; - testMotorPairMoveLeftSlightly.style.backgroundColor = "red"; - testMotorPairMoveRightSlightly.style.backgroundColor = "red"; + + // TEST ColorSensor + testGetColor.style.backgroundColor = "lightgreen"; + testWaitUntilColor.style.backgroundColor = "lightgreen"; + testWaitForNewColor.style.backgroundColor = "lightgreen"; + + // TEST Distance Sensor + testLightUp.style.backgroundColor = "lightgreen"; + testGetDistanceCM.style.backgroundColor = "lightgreen"; + testGetDistanceIN.style.backgroundColor = "lightgreen"; + testWaitForDistanceFartherThan.style.backgroundColor = "lightgreen"; + testWaitForDistanceCloserThan.style.backgroundColor = "lightgreen"; // test MISC buttons - test_getMotorPorts.style.backgroundColor = "lightgreen"; + test_getMotorPorts.style.backgroundColor = "red"; // test MISC buttons: UJSONRPC - testUJSONRPC.style.backgroundColor = "lightgreen"; - testUJSONRPCdisplayClear.style.backgroundColor = "lightgreen"; - testUJSONRPCdisplaySetPixel.style.backgroundColor = "lightgreen"; - testUJSONRPCdisplayText.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorGoRelPos.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorGoRelPos1.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorGoRelPos2.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorGoRelPos3.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorPwm.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorPwm1.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunDegrees.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunDegrees1.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunDegrees2.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunDegrees3.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunTimed.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunTimed1.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunTimed2.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorRunTimed3.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorStart.style.backgroundColor = "lightgreen"; - testUJSONRPCmotorStart1.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankDegrees.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankDegrees1.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankPowers.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankSpeeds.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankTime.style.backgroundColor = "lightgreen"; - testUJSONRPCmoveTankTime1.style.backgroundColor = "lightgreen"; - testUJSONRPCsoundBeep.style.backgroundColor = "lightgreen"; - testUJSONRPCsoundStop.style.backgroundColor = "lightgreen"; + testUJSONRPC.style.backgroundColor = "red"; + testUJSONRPCdisplayClear.style.backgroundColor = "red"; + testUJSONRPCdisplaySetPixel.style.backgroundColor = "red"; + testUJSONRPCdisplayText.style.backgroundColor = "red"; + testUJSONRPCmotorGoRelPos.style.backgroundColor = "red"; + testUJSONRPCmotorGoRelPos1.style.backgroundColor = "red"; + testUJSONRPCmotorGoRelPos2.style.backgroundColor = "red"; + testUJSONRPCmotorGoRelPos3.style.backgroundColor = "red"; + testUJSONRPCmotorPwm.style.backgroundColor = "red"; + testUJSONRPCmotorPwm1.style.backgroundColor = "red"; + testUJSONRPCmotorRunDegrees.style.backgroundColor = "red"; + testUJSONRPCmotorRunDegrees1.style.backgroundColor = "red"; + testUJSONRPCmotorRunDegrees2.style.backgroundColor = "red"; + testUJSONRPCmotorRunDegrees3.style.backgroundColor = "red"; + testUJSONRPCmotorRunTimed.style.backgroundColor = "red"; + testUJSONRPCmotorRunTimed1.style.backgroundColor = "red"; + testUJSONRPCmotorRunTimed2.style.backgroundColor = "red"; + testUJSONRPCmotorRunTimed3.style.backgroundColor = "red"; + testUJSONRPCmotorStart.style.backgroundColor = "red"; + testUJSONRPCmotorStart1.style.backgroundColor = "red"; + testUJSONRPCmoveTankDegrees.style.backgroundColor = "red"; + testUJSONRPCmoveTankDegrees1.style.backgroundColor = "red"; + testUJSONRPCmoveTankPowers.style.backgroundColor = "red"; + testUJSONRPCmoveTankSpeeds.style.backgroundColor = "red"; + testUJSONRPCmoveTankTime.style.backgroundColor = "red"; + testUJSONRPCmoveTankTime1.style.backgroundColor = "red"; + testUJSONRPCsoundBeep.style.backgroundColor = "red"; + testUJSONRPCsoundStop.style.backgroundColor = "red"; getTagsInfo.style.backgroundColor = "lightgreen"; createNewTag.style.backgroundColor = "lightgreen"; @@ -726,7 +730,7 @@ #SLbox, #SPIKEbox, #ATbox { position: absolute; top: 200px; - left: 500px; + left: 100px; height: 400px; width: 400px; background-color: #4CE0D2; diff --git a/server/examples/tests/SPIKE/buttons.js b/server/examples/tests/SPIKE/buttons.js index 9fbf598..d52e455 100644 --- a/server/examples/tests/SPIKE/buttons.js +++ b/server/examples/tests/SPIKE/buttons.js @@ -9,7 +9,7 @@ testButtonIsPressed.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON button.is_pressed() #######"); console.log("Test: start the test pressing either the left button or the right button"); - + var hub = new mySPIKE.PrimeHub(); var left_button = hub.left_button; var right_button = hub.right_button; @@ -29,7 +29,7 @@ testButtonWasPressed.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON button.was_pressed() #######"); console.log("Test: press either the left button or the right button. Then, after some time start the test."); - + var hub = new mySPIKE.PrimeHub(); var left_button = hub.left_button; var right_button = hub.right_button; @@ -49,7 +49,7 @@ testButtonWaitPressed.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON button.wait_until_pressed() #######"); console.log("Test: Start the test. Then, after some time press either left button or right button"); - + var hub = new mySPIKE.PrimeHub(); var left_button = hub.left_button; var right_button = hub.right_button; @@ -74,7 +74,7 @@ testButtonWaitRelease.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON button.wait_until_released() #######"); console.log("Test: Start the test. Then, after some time press either left button or right button and release them"); - + var hub = new mySPIKE.PrimeHub(); var left_button = hub.left_button; var right_button = hub.right_button; diff --git a/server/examples/tests/SPIKE/motionsensor.js b/server/examples/tests/SPIKE/motionsensor.js index 9c3c629..566ff41 100644 --- a/server/examples/tests/SPIKE/motionsensor.js +++ b/server/examples/tests/SPIKE/motionsensor.js @@ -14,10 +14,10 @@ var testResetYaw = document.getElementById("resetYaw"); /* wait for new gesture */ testWaitForNewGesture.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motionSensor.wait_for_new_gesture(callback) #######") - console.log("Test: Program will detect either 'tapped' or 'doubletapped' gestures. Tap the hub display"); + console.log("Test: Program will detect any gesture. "); - - hub.motion_sensor.wait_for_new_gesture(function (gesture) { + var hub = new mySPIKE.PrimeHub(); + hub.motion_sensor.wait_for_new_gesture( function (gesture) { console.log(">>> in callback") @@ -31,24 +31,32 @@ testWaitForNewGesture.addEventListener("click", async function () { console.log(">>> doubletapped event handler"); console.log("###### ENDING UNIT TEST ON motionSensor.wait_for_new_gesture(callback) #######") } + else if (gesture == "freefall") { + console.log(">>> freefall event handler"); + console.log("###### ENDING UNIT TEST ON motionSensor.wait_for_new_gesture(callback) #######") + } + else if (gesture == "shaken") { + console.log(">>> shaken event handler"); + console.log("###### ENDING UNIT TEST ON motionSensor.wait_for_new_gesture(callback) #######") + } else { + console.error("DID NOT PASS wait_for_new_gesture(callback) TEST") console.log("###### ENDING UNIT TEST ON motionSensor.wait_for_new_gesture(callback) #######") } }) - }) /* was gesture */ testWasGesture.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor.was_gesture('doubletapped') #######") - console.log("Test (First Time): Sees if 'doubletapped' gesture has occurred since the beginning of the program (for the first use)."); - console.log("Test (Second Time): Sees if 'doubletapped' gesture has occurred since the last execution of was_gesture()."); - - if (hub.motion_sensor.was_gesture("doubletapped")) { - console.log(">>> doubletapped did occur"); + console.log("Test (First Time): Sees if 'tapped' gesture has occurred since the beginning of the program (for the first use)."); + console.log("Test (Second Time): Sees if 'tapped' gesture has occurred since the last execution of was_gesture()."); + var hub = new mySPIKE.PrimeHub(); + if (hub.motion_sensor.was_gesture("tapped")) { + console.log(">>> tapped did occur"); } else { - console.log(">>> doubletapped did NOT occur "); + console.log(">>> tapped did NOT occur "); } console.log("###### ENDING UNIT TEST ON motion_sensor.was_gesture('doubletapped') #######") @@ -59,7 +67,7 @@ testWaitForNewOri.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor.wait_for_new_orientation(callback) #######") console.log("Test (First Time): the returned orientation will be the current orientation."); console.log("Test (Second Time): Sees if there's a new orientation different from the previously detected"); - + var hub = new mySPIKE.PrimeHub(); console.log(">>> change the orientation of the hub"); hub.motion_sensor.wait_for_new_orientation(function (orientation) { @@ -73,7 +81,7 @@ testWaitForNewOri.addEventListener("click", async function () { testGetAngles.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor get_***_angle() functions #######"); - + var hub = new mySPIKE.PrimeHub(); console.log("yaw angle: ", hub.motion_sensor.get_yaw_angle()); console.log("pitch angle: ", hub.motion_sensor.get_pitch_angle()); console.log("roll angle: ", hub.motion_sensor.get_roll_angle()); @@ -83,7 +91,7 @@ testGetAngles.addEventListener("click", async function () { testGetGesture.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor.get_gesture() #######"); - + var hub = new mySPIKE.PrimeHub(); var gesture = hub.motion_sensor.get_gesture(); console.log("gesture: ", gesture); @@ -94,7 +102,7 @@ testGetGesture.addEventListener("click", function () { testGetOrientation.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor.get_orientation() #######"); - + var hub = new mySPIKE.PrimeHub(); var orientation = hub.motion_sensor.get_orientation(); console.log("orientation: ", orientation); @@ -106,7 +114,7 @@ testResetYaw.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON motion_sensor.reset_yaw_angle() #######"); console.log("Test: reset yaw angle and get yaw angle after 3 seconds"); - + var hub = new mySPIKE.PrimeHub(); hub.motion_sensor.reset_yaw_angle(); setTimeout(function () { diff --git a/server/examples/tests/SPIKE/motor.js b/server/examples/tests/SPIKE/motor.js index ae1cfcd..50bd335 100644 --- a/server/examples/tests/SPIKE/motor.js +++ b/server/examples/tests/SPIKE/motor.js @@ -9,11 +9,13 @@ var testMotorDegreesCounted1CB = document.getElementById("motordeg1cb"); var testDegreesCounted = document.getElementById("degreesCounted"); var testMotorStartAtPower = document.getElementById("motorStartAtPower"); var testMotorPosition = document.getElementById("motorPosition"); +var testMotorStop = document.getElementById("motorStop"); +var testMotorGetSpeed = document.getElementById("motorGetSpeed"); +var testMotorGetPower = document.getElementById("motorGetPower"); testMotorDegreesCounted.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motor.run_to_degrees_counted(200, 50) WITH STALL DETECTION #######"); var motor = new mySPIKE.Motor("A"); - motor.set_stall_detection(true); motor.run_to_degrees_counted(200, 50); @@ -25,7 +27,6 @@ testMotorDegreesCounted1.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motor.run_to_degrees_counted(200, 50) NO STALL DETECTION #######"); var motor = new mySPIKE.Motor("A"); - motor.set_stall_detection(false); motor.run_to_degrees_counted(200, 50); @@ -36,7 +37,6 @@ testMotorDegreesCounted1.addEventListener("click", async function () { testMotorDegreesCountedCB.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motor.run_to_degrees_counted(200, 50, cb) WITH STALL DETECTION #######"); var motor = new mySPIKE.Motor("A"); - motor.set_stall_detection(true); motor.run_to_degrees_counted(200, 50, function (result) { @@ -49,7 +49,6 @@ testMotorDegreesCounted1CB.addEventListener("click", async function () { console.log("###### BEGINNING UNIT TEST ON motor.run_to_degrees_counted(200, 50, cb) NO STALL DETECTION #######"); var motor = new mySPIKE.Motor("A"); - motor.set_stall_detection(false); motor.run_to_degrees_counted(200, 50, function (result) { @@ -62,9 +61,8 @@ testMotorDegreesCounted1CB.addEventListener("click", async function () { /* go to rel pos without stall detection */ testMotorStartAtPower.addEventListener("click", async function () { - var motor = new mySPIKE.Motor("A"); - motor.run_for_degrees(30, 100); + motor.start_at_power(100); }) @@ -80,4 +78,25 @@ testMotorPosition.addEventListener("click", async function () { var motor = new mySPIKE.Motor("A"); console.log(motor.get_position()) console.log("###### ENDING UNIT TEST ON motor.get_position() #######"); +}) + +testMotorStop.addEventListener("click", async function () { + console.log("###### BEGINNING UNIT TEST ON motor.stop() #######"); + var motor = new mySPIKE.Motor("A"); + motor.stop(); + console.log("###### ENDING UNIT TEST ON motor.stop() #######"); +}) + +testMotorGetSpeed.addEventListener("click", async function () { + console.log("###### BEGINNING UNIT TEST ON motor.get_speed() #######"); + var motor = new mySPIKE.Motor("A"); + console.log("motor speed: ", motor.get_speed()); + console.log("###### ENDING UNIT TEST ON motor.get_speed() #######"); +}) + +testMotorGetPower.addEventListener("click", async function () { + console.log("###### BEGINNING UNIT TEST ON motor.get_power() #######"); + var motor = new mySPIKE.Motor("A"); + console.log("motor power: ", motor.get_power()); + console.log("###### ENDING UNIT TEST ON motor.get_power() #######"); }) \ No newline at end of file diff --git a/server/examples/tests/SPIKE/motorpair.js b/server/examples/tests/SPIKE/motorpair.js index 0becb52..4a798aa 100644 --- a/server/examples/tests/SPIKE/motorpair.js +++ b/server/examples/tests/SPIKE/motorpair.js @@ -9,6 +9,8 @@ var testMotorPairMoveLeft = document.getElementById("motorPairMoveLeft"); var testMotorPairMoveRight = document.getElementById("motorPairMoveRight"); var testMotorPairMoveLeftSlightly = document.getElementById("motorPairMoveLeftSlightly"); var testMotorPairMoveRightSlightly = document.getElementById("motorPairMoveRightSlightly"); +var testMotorPairStartTank = document.getElementById("motorPairStartTank"); +var testMotorPairStop = document.getElementById("motorPairStop"); testMotorPairStop.addEventListener("click", function () { console.log("###### BEGINNING UNIT TEST ON motorPair.stop() #######"); @@ -92,4 +94,12 @@ testMotorPairMoveRightSlightly.addEventListener("click", function () { console.log("Expected result: driving base moving right SLIGHTLY and stopping") console.log("###### ENDING UNIT TEST ON motorPair.move(100, 'cm', 50, 100) #######"); +}) + +testMotorPairStartTank.addEventListener("click", function () { + console.log("###### BEGINNING UNIT TEST ON motorPair.start_tank(10,10) #######"); + var motorPair = new mySPIKE.MotorPair("A", "B"); + + motorPair.start_tank(50,50); + console.log("###### ENDING UNIT TEST ON motorPair.start_tank(10,10) #######"); }) \ No newline at end of file