mirror of
https://github.com/We-Dont-Byte/Mind_Reader.git
synced 2024-11-15 03:35:59 +00:00
Implement HubController
This commit is contained in:
jakergrossman
parent
e3e9a218df
commit
8ac7e2c5ea
4415
package-lock.json
generated
4415
package-lock.json
generated
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143
package.json
143
package.json
@ -47,48 +47,71 @@
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"command": "mind-reader.selectTheme",
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"title": "Select Theme"
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},
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{
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"command": "mind-reader.runLineContext",
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"title": "Run Line Context"
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},
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{
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"command": "mind-reader.runCursorContext",
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"title": "Run Cursor Context"
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}
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},
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{
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"command": "mind-reader.connectHub",
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"title": "Connect LEGO Hub"
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},
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{
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"command": "mind-reader.disconnectHub",
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"title": "Disconnect LEGO Hub"
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},
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{
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"command": "mind-reader.uploadCurrentFile",
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"title": "Upload current file to LEGO Hub"
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},
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{
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"command": "mind-reader.runProgram",
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"title": "Run a program from the LEGO Hub"
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},
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{
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"command": "mind-reader.stopExecution",
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"title": "Stop running program on the LEGO Hub"
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},
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{
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"command": "mind-reader.deleteProgram",
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"title": "Delete a program from the LEGO Hub"
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}
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],
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"keybindings": [
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{
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"command": "mind-reader.decreaseFontScale",
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"key": "numpad_subtract",
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"mac": ""
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},
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{
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"command": "mind-reader.increaseFontScale",
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"key": "numpad_add",
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"mac": ""
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},
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{
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"command": "mind-reader.increaseEditorScale",
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"key": "shift+numpad_add"
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},
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{
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"command": "mind-reader.decreaseEditorScale",
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"key": "shift+numpad_subtract",
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"mac": ""
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},
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{
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"command": "mind-reader.resetEditorScale",
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"key": "shift+enter",
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"mac": ""
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}
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],
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"keybindings": [
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{
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"command": "mind-reader.decreaseFontScale",
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"key": "numpad_subtract",
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"mac": ""
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},
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{
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"command": "mind-reader.increaseFontScale",
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"key": "numpad_add",
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"mac": ""
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},
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{
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"command": "mind-reader.increaseEditorScale",
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"key": "shift+numpad_add"
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},
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{
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"command": "mind-reader.decreaseEditorScale",
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"key": "shift+numpad_subtract",
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"mac": ""
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},
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{
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"command": "mind-reader.resetEditorScale",
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"key": "shift+enter",
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"mac": ""
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}
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],
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"menus": {
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"editor/context": [
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{
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@ -187,25 +210,25 @@
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}
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}
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},
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"views": {
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"accessActions": [
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{
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"id": "accessActions",
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"name": "Access Actions",
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"icon": "media/dep.svg",
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"contextualTitle": "Accessibility Menu Actions"
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}
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]
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},
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"viewsContainers": {
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"activitybar": [
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{
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"id": "accessActions",
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"title": "Access Actions",
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"icon": "media/dep.svg"
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}
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]
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}
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"views": {
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"accessActions": [
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{
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"id": "accessActions",
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"name": "Access Actions",
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"icon": "media/dep.svg",
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"contextualTitle": "Accessibility Menu Actions"
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}
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]
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},
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"viewsContainers": {
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"activitybar": [
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{
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"id": "accessActions",
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"title": "Access Actions",
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"icon": "media/dep.svg"
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}
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]
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}
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},
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"scripts": {
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"vscode:prepublish": "npm run compile",
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@ -216,17 +239,23 @@
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"test": "node ./out/test/runTest.js"
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},
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"devDependencies": {
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"@types/vscode": "^1.60.0",
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"@types/glob": "^7.1.3",
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"@types/mocha": "^8.2.2",
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"@types/node": "14.x",
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"eslint": "^7.27.0",
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"@types/node": "16.x",
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"@types/serialport": "^8.0.2",
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"@types/vscode": "^1.60.0",
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"@typescript-eslint/eslint-plugin": "^4.26.0",
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"@typescript-eslint/parser": "^4.26.0",
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"@vscode/test-electron": "^1.6.2",
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"electron": "^13.5.2",
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"electron-rebuild": "^3.2.5",
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"eslint": "^7.27.0",
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"glob": "^7.1.7",
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"mocha": "^8.4.0",
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"typescript": "^4.3.2",
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"vscode-test": "^1.5.2",
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"@vscode/test-electron": "^1.6.2"
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"vscode-test": "^1.5.2"
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},
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"dependencies": {
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"serialport": "^9.2.5"
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}
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}
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178
src/commands.ts
178
src/commands.ts
@ -1,5 +1,8 @@
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import * as vscode from 'vscode';
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import * as pl from './pylex';
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import * as path from 'path';
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import HubManager from './hubManager';
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/**
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* @type {Object} Command // Command to register with the VS Code Extension API
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@ -54,10 +57,40 @@ const commands: Command[] = [
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name: 'mind-reader.runLineContext',
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callback: runLineContext,
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},
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{
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name: 'mind-reader.runCursorContext',
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callback: runCursorContext
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},
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{
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name: 'mind-reader.connectHub',
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callback: connectHub
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},
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{
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name: 'mind-reader.disconnectHub',
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callback: disconnectHub
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},
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{
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name: 'mind-reader.uploadCurrentFile',
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callback: uploadCurrentFile
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},
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{
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name: 'mind-reader.runProgram',
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callback: runProgram
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},
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{
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name: 'mind-reader.stopExecution',
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callback: stopExecution
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},
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{
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name: 'mind-reader.deleteProgram',
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callback: deleteProgram
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}
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];
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@ -145,7 +178,7 @@ function createContextString(context: pl.LexNode[], line: number): string {
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function runCursorContext(): void {
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let editor = vscode.window.activeTextEditor;
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if (!editor) {
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vscode.window.showErrorMessage("RunCursorContext: No Active Editor");
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vscode.window.showErrorMessage('RunCursorContext: No Active Editor');
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return;
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}
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@ -206,4 +239,145 @@ function runCursorContext(): void {
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}
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}
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// Current connected hub
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let hub: HubManager | null;
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// TODO: port option
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async function connectHub(): Promise<void> {
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if (hub) {
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vscode.window.showWarningMessage('LEGO Hub is already connected, reconnecting...');
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hub.close();
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}
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const config = vscode.workspace.getConfiguration();
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try {
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if (config.get('mindreader.connection.connectAutomatically')) {
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hub = await HubManager.create();
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vscode.window.showInformationMessage('LEGO Hub connected');
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} else {
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const ports = await HubManager.queryPorts();
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if (ports.length === 0) {
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vscode.window.showErrorMessage('No ports found. Is the LEGO Hub connected?');
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return;
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}
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let slots: vscode.QuickPickItem[] = [];
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for (const port of ports) {
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slots.push({ label: port.path });
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}
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let picked = await vscode.window.showQuickPick(slots);
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if (!picked) {
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return;
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}
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hub = await HubManager.create({ port: picked.label });
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vscode.window.showInformationMessage('LEGO Hub connected');
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}
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} catch (err) {
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// TODO: better handling
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vscode.window.showErrorMessage('Could not connect to LEGO Hub');
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}
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}
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async function disconnectHub(): Promise<void> {
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if (!hub) {
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vscode.window.showErrorMessage('LEGO Hub is not connected');
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return;
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}
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await hub.close();
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hub = null;
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vscode.window.showInformationMessage('LEGO Hub disconnected');
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}
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async function uploadCurrentFile(): Promise<void> {
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if (!hub) {
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vscode.window.showErrorMessage('LEGO Hub is not connected!');
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return;
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}
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if (!vscode.window.activeTextEditor) {
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vscode.window.showErrorMessage('No active text editor');
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return;
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}
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const currentFilePath = vscode.window.activeTextEditor.document.fileName;
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if (currentFilePath) {
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// construct quickpick
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const slots: vscode.QuickPickItem[] = [];
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for (let i = 0; i < 10; i++) {
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slots.push({ label: i.toString() });
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}
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const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false });
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if (!slotID) {
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return;
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}
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// TODO: progress bar?
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vscode.window.showInformationMessage('Uploading current file');
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await hub.uploadFile(currentFilePath, parseInt(slotID.label), path.basename(currentFilePath));
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vscode.window.showInformationMessage(path.basename(currentFilePath) + ' uploaded to slot ' + slotID.label);
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}
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}
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// TODO: find empty slots
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async function runProgram(): Promise<void> {
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if (!hub) {
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vscode.window.showErrorMessage('LEGO Hub is not connected!');
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return;
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}
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const slots: vscode.QuickPickItem[] = [];
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// construct quickpick
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for (let i = 0; i < 10; i++) {
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slots.push({ label: i.toString() });
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}
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const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false });
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if (!slotID) {
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return;
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}
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vscode.window.showInformationMessage('Running program ' + slotID.label);
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await hub.programExecute(parseInt(slotID.label));
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}
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async function stopExecution(): Promise<void> {
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if (!hub) {
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vscode.window.showErrorMessage('LEGO Hub is not connected!');
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return;
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}
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await hub.programTerminate();
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vscode.window.showInformationMessage('Execution stopped');
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}
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// TODO: find slots from status
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async function deleteProgram(): Promise<void> {
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if (!hub) {
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vscode.window.showErrorMessage('LEGO Hub is not connected!');
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return;
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}
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const slots: vscode.QuickPickItem[] = [];
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// construct quickpick
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for (let i = 0; i < 10; i++) {
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slots.push({ label: i.toString() });
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}
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const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false });
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if (!slotID) {
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return;
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}
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await hub.deleteProgram(parseInt(slotID.label));
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vscode.window.showInformationMessage('Deleted program ' + slotID.label);
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}
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export default commands;
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@ -3,7 +3,7 @@ import * as vscode from 'vscode';
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import * as pl from './pylex';
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import commands from './commands';
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import AccessNodeProvider from './accessNodeProvider'
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import AccessNodeProvider from './accessNodeProvider';
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let parser: pl.Parser = new pl.Parser();
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@ -24,7 +24,6 @@ export function activate(context: vscode.ExtensionContext) {
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let provider = new AccessNodeProvider();
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vscode.window.registerTreeDataProvider('accessActions', provider);
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}
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export function deactivate() {}
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455
src/hubManager.ts
Normal file
455
src/hubManager.ts
Normal file
@ -0,0 +1,455 @@
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import * as vscode from 'vscode';
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import * as SerialPort from 'serialport';
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import * as fs from 'fs';
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import { performance } from 'perf_hooks';
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/**
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* @type RPCRequest an RPC request message
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*
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* @prop {string} `'m'` method to invoke.
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* @prop {Object?} `'p'` optional parameters for method.
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* @prop {string|null?} `'i'` optional request ID.
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*/
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type RPCRequest = {
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'm': string;
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'p'?: Object;
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'i'?: string;
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};
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/**
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* @type RPCResponse an RPC response message
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*
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* @prop {any?} `'r'` RPC response body
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* @prop {Object?} `'e'` RPC error body
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* @prop {string|null} `'i'` required response ID.
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*/
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type RPCResponse = {
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'r'?: any;
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'e'?: Object;
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'i': string | null;
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};
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/**
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* @type HubOptions Connection options
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*
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* @prop {boolean=} `magic` automatically try and find a suitable port to connect. Defaults to `true`
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* @prop {string=} `port` port to use if `magic` is disabled. Defaults to `'/dev/ttyACM0'`.
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* @prop {number|null=} `timeout` how long to wait for responses from the Hub.
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*/
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type HubOptions = {
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magic?: boolean;
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port?: string;
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timeout?: number | null;
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};
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/**
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* Manages sending and receiving of JSON Remote Procedure Call (JSON-RPC) protocol messages
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* to the Hub.
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*/
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export default class HubManager {
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private port: SerialPort;
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private receiveQueue: string[] = []; // queue of received messages to handle
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public responses: RPCResponse[] = []; // list of messages returned to the user
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// ======================== INSTANCE METHODS ========================
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/**
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* Private constructor, use static `create` + `init`
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*/
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private constructor(public options: HubOptions) { }
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/**
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* Initializes a created HubManager with the current option settings
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*/
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public async init(): Promise<void> {
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try {
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this.port = new SerialPort(
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this.options.port!,
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{
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autoOpen: true,
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baudRate: 112500,
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}
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);
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} catch (err) {
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// error during port opening
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throw err;
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}
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this.port.setEncoding('utf-8');
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// push lines received to data queue
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let rl = this.port.pipe(new SerialPort.parsers.Readline({delimiter: '\r'}));
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rl.on('data', data => this.receiveQueue.push(data));
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}
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public async close(): Promise<void> {
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this.port.close(console.error);
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}
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/**
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* Send an RPC message and get the corresponding response.
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*
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* @param `proc` Procedure to execute
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* @param `params` Optional parameters for the procedure
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* @param `id` The ID to use for the RPC message. Use null to indicate no ID/notification message.
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* If neither a string or `null` is passed, an ID is automatically generated.
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*/
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// TODO: make send take a single RPCRequest argument, made inline in each function
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public async send(request: RPCRequest): Promise<RPCResponse> {
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return new Promise(resolve => {
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if (request['i'] === undefined) {
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// generate an ID
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request['i'] = 'mind-reader-' + HubManager.randomID();
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}
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// write JSON to port
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this.port.write(JSON.stringify(request));
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this.port.write('\r', async () => {
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if (request['i']) {
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// expecting a response
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let response = await this.recv(request['i']);
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resolve(response);
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}
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});
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});
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}
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/**
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* Receive an RPC message.
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*
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* @param `id` The id to match received messages against. Use `null` to match *all* messages
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*/
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public async recv(id: string | null): Promise<RPCResponse> {
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let index = 0; // index into receive qeueue
|
||||
let startTime = performance.now();
|
||||
|
||||
return new Promise(async (resolve) => {
|
||||
// used for non-blocking "wait-until" behavior
|
||||
let rcv = () => {
|
||||
let elapsedTime = performance.now() - startTime;
|
||||
if (this.options.timeout !== null && elapsedTime >= this.options.timeout!) {
|
||||
return resolve({
|
||||
'e': 'Timed out while receiving message',
|
||||
'i': id
|
||||
});
|
||||
}
|
||||
|
||||
// check that there is more data in the queue
|
||||
if (index < this.receiveQueue.length) {
|
||||
// get next message in queue
|
||||
let r = this.receiveQueue[index];
|
||||
index++;
|
||||
|
||||
try {
|
||||
let j = JSON.parse(r);
|
||||
|
||||
|
||||
// check for matching id
|
||||
if (id === null || 'i' in j && j['i'] === id) {
|
||||
let response: RPCResponse;
|
||||
// is response an error?
|
||||
if ('e' in j) {
|
||||
// decode error from base64
|
||||
let error = JSON.parse(Buffer.from(j['e'], 'base64').toString('ascii'));
|
||||
|
||||
response = {
|
||||
'i': id,
|
||||
'e': error
|
||||
};
|
||||
|
||||
this.responses.push(response);
|
||||
return resolve(response);
|
||||
} else {
|
||||
response = j;
|
||||
}
|
||||
|
||||
// trim start of queue (just processed)
|
||||
this.receiveQueue = this.receiveQueue.slice(index);
|
||||
|
||||
// return response object
|
||||
this.responses.push(response);
|
||||
return resolve(response);
|
||||
} else {
|
||||
// not at end of queue, eager retry
|
||||
setTimeout(rcv, 0);
|
||||
}
|
||||
} catch (err) {
|
||||
// TODO: parse print statements somehow
|
||||
//console.debug('Could not parse json response: "' + r + '"');
|
||||
|
||||
// not at end of queue, eager retry
|
||||
setTimeout(rcv, 0);
|
||||
}
|
||||
} else {
|
||||
// no more data in queue, wait
|
||||
// before attempting again
|
||||
setTimeout(rcv, 1000);
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
rcv();
|
||||
});
|
||||
}
|
||||
|
||||
public async uploadFile(file: string, slotid: number, name?: string, autoStart: boolean = false) {
|
||||
const data = fs.readFileSync(file, 'utf8');
|
||||
const size = data.length;
|
||||
name = name || file;
|
||||
const now = performance.now();
|
||||
|
||||
const ack = await this.startWriteProgram(name, size, slotid, now, now);
|
||||
const blockSize = ack['r'].blocksize;
|
||||
const transferid = ack['r'].transferid;
|
||||
|
||||
const numBlocks = Math.ceil(size / blockSize);
|
||||
|
||||
for (let i = 0; i < numBlocks; i++) {
|
||||
const dataChunk = data.substring(i*blockSize, i*blockSize + blockSize);
|
||||
await this.writePackage(dataChunk, transferid);
|
||||
}
|
||||
|
||||
if (autoStart) {
|
||||
return Promise.resolve(await this.programExecute(slotid));
|
||||
}
|
||||
}
|
||||
|
||||
// ========================= Hub Methods =========================
|
||||
// TODO: only spike is supported rn -> m_strType
|
||||
//
|
||||
// These methods each handle a single RPC method's communication.
|
||||
|
||||
/**
|
||||
* Execute a program that is saved on the hub
|
||||
*
|
||||
* @param `slotid` Slot ID of the program to run
|
||||
*/
|
||||
public async programExecute(slotid: number): Promise<RPCResponse> {
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'program_execute',
|
||||
'p': {
|
||||
'slotid': slotid
|
||||
}
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Terminate a currently running program
|
||||
*/
|
||||
public async programTerminate(): Promise<RPCResponse> {
|
||||
return Promise.resolve(
|
||||
await this.send({ 'm': 'program_terminate' })
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the storage status of the hub
|
||||
*
|
||||
* TODO: fill with actual example
|
||||
* slot
|
||||
* decoded name
|
||||
* size
|
||||
* last modified
|
||||
* project_id
|
||||
* type
|
||||
*/
|
||||
public async getStorageStatus(): Promise<RPCResponse> {
|
||||
return Promise.resolve(
|
||||
await this.send({ 'm': 'get_storage_status' })
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Notify the Hub that a program write is about to occur.
|
||||
*
|
||||
* @param `name` Name of the program.
|
||||
* @param `name` Size of the program TODO: in bytes?
|
||||
* @param `slotID` Slot ID to write the program to
|
||||
* @param `created` Creation timestamp
|
||||
* @param `modified` Modified timestamp
|
||||
*/
|
||||
public async startWriteProgram(
|
||||
name: string,
|
||||
size: number,
|
||||
slotID: number,
|
||||
created: number,
|
||||
modified: number
|
||||
): Promise<RPCResponse> {
|
||||
// file meta data
|
||||
let stat = {
|
||||
'created': created,
|
||||
'modified': modified,
|
||||
'name': name,
|
||||
'type': 'python', // always python
|
||||
// eslint-disable-next-line @typescript-eslint/naming-convention
|
||||
'project_id': '50uN1ZaRpHj2', // TODO: check this
|
||||
};
|
||||
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'start_write_program',
|
||||
'p': {
|
||||
'slotid': slotID,
|
||||
'size': size,
|
||||
'meta': stat
|
||||
}
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Write a package chunk of a file
|
||||
*
|
||||
* @param `data` Chunk of data to write
|
||||
* @param `transferID` The transfer id for the current transfer
|
||||
*/
|
||||
public async writePackage(data: string, transferID: string): Promise<RPCResponse> {
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'write_package',
|
||||
'p': {
|
||||
'data': Buffer.from(data, 'utf-8').toString('base64'),
|
||||
'transferid': transferID
|
||||
}
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Move a program from slot `fromSlot` to slot `toSlot`.
|
||||
* TODO: verify
|
||||
* If the destination already has a program stored in it, the two programs
|
||||
* are swapped
|
||||
*
|
||||
* @param `fromSlot` slot to move from
|
||||
* @param `toSlot` slot to move to
|
||||
*/
|
||||
public async moveProgram(oldSlotID: number, newSlotID: number) {
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'move_project',
|
||||
'p': {
|
||||
// eslint-disable-next-line @typescript-eslint/naming-convention
|
||||
'old_slotid': oldSlotID,
|
||||
// eslint-disable-next-line @typescript-eslint/naming-convention
|
||||
'new_slotid': newSlotID
|
||||
}
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Delete a program from the slot on the Hub
|
||||
*
|
||||
* @param `slotID` the slot to delete
|
||||
*/
|
||||
public async deleteProgram(slotID: number) {
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'remove_project',
|
||||
'p': {
|
||||
'slotid': slotID
|
||||
}
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get firmware info for the connected device
|
||||
*/
|
||||
public async getHubInfo() {
|
||||
return Promise.resolve(
|
||||
await this.send({
|
||||
'm': 'get_hub_info'
|
||||
})
|
||||
);
|
||||
}
|
||||
|
||||
// ======================== INSTANCE METHODS ========================
|
||||
|
||||
public static async create(options?: HubOptions): Promise<HubManager> {
|
||||
return new Promise(async (resolve) => {
|
||||
// merge passed options into default options
|
||||
options = {
|
||||
port: '/dev/ttyACM0',
|
||||
magic: true,
|
||||
timeout: 2500,
|
||||
...options
|
||||
};
|
||||
|
||||
let mgr: HubManager;
|
||||
|
||||
// try to detect port automatically
|
||||
if (options.magic) {
|
||||
const availablePorts = await HubManager.queryPorts();
|
||||
|
||||
// get paths from port information
|
||||
const portPaths = availablePorts.map(x => x.path);
|
||||
|
||||
if (portPaths.length > 0) {
|
||||
// try to establish connections to found ports
|
||||
for (const port of portPaths) {
|
||||
try {
|
||||
mgr = new HubManager({ ...options, port });
|
||||
await mgr.init();
|
||||
|
||||
return resolve(mgr);
|
||||
} catch (err) {
|
||||
// could not connect to port, try next port
|
||||
continue;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// TODO: better error, this will do for now
|
||||
vscode.window.showErrorMessage('Mind_Reader: Magic is enabled but no ports were found. Is the Hub plugged in and turned on');
|
||||
}
|
||||
|
||||
// magic disabled or failed, try normally
|
||||
try {
|
||||
mgr = new HubManager(options);
|
||||
await mgr.init();
|
||||
|
||||
return resolve(mgr);
|
||||
} catch (err) {
|
||||
|
||||
// could not connect to port
|
||||
throw err;
|
||||
}
|
||||
|
||||
});
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns a list of serial devices
|
||||
* advertising their manufacturer
|
||||
* as `LEGO System A/S`
|
||||
*/
|
||||
public static async queryPorts() {
|
||||
// get all ports
|
||||
let ports = await SerialPort.list();
|
||||
|
||||
// filter by manufacturer
|
||||
ports = ports.filter(x => x.manufacturer === 'LEGO System A/S');
|
||||
return Promise.resolve(ports);
|
||||
}
|
||||
|
||||
/**
|
||||
* Generate a random identifier consisting of lowercase
|
||||
* letters, numbers, and underscores
|
||||
*
|
||||
* @param `len` The length of the string to generate
|
||||
*/
|
||||
static randomID(len: number = 4): string {
|
||||
let result = '';
|
||||
let characters = 'abcdefghijklmnopqrstuvwxyz0123456789_';
|
||||
for (let i = 0; i < len; i++) {
|
||||
result += characters[Math.floor(Math.random() * characters.length)];
|
||||
}
|
||||
|
||||
return result;
|
||||
};
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user