From 8ac7e2c5eaf98db3694e2610d5f475fa2e14cd61 Mon Sep 17 00:00:00 2001 From: jakergrossman Date: Wed, 17 Nov 2021 19:36:18 -0600 Subject: [PATCH] Implement HubController --- package-lock.json | 4415 ++++++++++++++++++++++++++++++++++++++++++++- package.json | 143 +- src/commands.ts | 178 +- src/extension.ts | 3 +- src/hubManager.ts | 455 +++++ 5 files changed, 5066 insertions(+), 128 deletions(-) create mode 100644 src/hubManager.ts diff --git a/package-lock.json b/package-lock.json index 7a51c50..808706b 100644 --- a/package-lock.json +++ b/package-lock.json @@ -7,14 +7,20 @@ "": { "name": "mind-reader", "version": "0.0.1", + "dependencies": { + "serialport": "^9.2.5" + }, "devDependencies": { "@types/glob": "^7.1.3", "@types/mocha": "^8.2.2", "@types/node": "14.x", + "@types/serialport": "^8.0.2", "@types/vscode": "^1.60.0", "@typescript-eslint/eslint-plugin": "^4.26.0", "@typescript-eslint/parser": "^4.26.0", "@vscode/test-electron": "^1.6.2", + "electron": "^13.5.2", + 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"unzipper": { "version": "0.10.11", "resolved": "https://registry.npmjs.org/unzipper/-/unzipper-0.10.11.tgz", @@ -4593,11 +8853,19 @@ "punycode": "^2.1.0" } }, + "url-parse-lax": { + "version": "3.0.0", + "resolved": "https://registry.npmjs.org/url-parse-lax/-/url-parse-lax-3.0.0.tgz", + "integrity": "sha1-FrXK/Afb42dsGxmZF3gj1lA6yww=", + "dev": true, + "requires": { + "prepend-http": "^2.0.0" + } + }, "util-deprecate": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz", - "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=", - "dev": true + "integrity": "sha1-RQ1Nyfpw3nMnYvvS1KKJgUGaDM8=" }, "v8-compile-cache": { "version": "2.3.0", @@ -4617,6 +8885,15 @@ "unzipper": "^0.10.11" } }, + "wcwidth": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/wcwidth/-/wcwidth-1.0.1.tgz", + "integrity": "sha1-8LDc+RW8X/FSivrbLA4XtTLaL+g=", + "dev": true, + "requires": { + "defaults": "^1.0.3" + } + }, "which": { "version": "2.0.2", "resolved": "https://registry.npmjs.org/which/-/which-2.0.2.tgz", @@ -4630,7 +8907,6 @@ "version": "1.1.3", "resolved": "https://registry.npmjs.org/wide-align/-/wide-align-1.1.3.tgz", "integrity": "sha512-QGkOQc8XL6Bt5PwnsExKBPuMKBxnGxWWW3fU55Xt4feHozMUhdUMaBCk290qpm/wG5u/RSKzwdAC4i51YigihA==", - "dev": true, "requires": { "string-width": "^1.0.2 || 2" }, @@ -4638,20 +8914,17 @@ "ansi-regex": { "version": "3.0.0", "resolved": "https://registry.npmjs.org/ansi-regex/-/ansi-regex-3.0.0.tgz", - "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=", - "dev": true + "integrity": "sha1-7QMXwyIGT3lGbAKWa922Bas32Zg=" }, "is-fullwidth-code-point": { "version": "2.0.0", "resolved": "https://registry.npmjs.org/is-fullwidth-code-point/-/is-fullwidth-code-point-2.0.0.tgz", - "integrity": "sha1-o7MKXE8ZkYMWeqq5O+764937ZU8=", - "dev": true + "integrity": "sha1-o7MKXE8ZkYMWeqq5O+764937ZU8=" }, "string-width": { "version": "2.1.1", "resolved": 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"requires": { + "buffer-crc32": "~0.2.3", + "fd-slicer": "~1.1.0" + } + }, "yocto-queue": { "version": "0.1.0", "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", diff --git a/package.json b/package.json index 611ff18..0f7c969 100644 --- a/package.json +++ b/package.json @@ -47,48 +47,71 @@ "command": "mind-reader.selectTheme", "title": "Select Theme" }, - { "command": "mind-reader.runLineContext", "title": "Run Line Context" }, - { "command": "mind-reader.runCursorContext", "title": "Run Cursor Context" - } + }, + { + "command": "mind-reader.connectHub", + "title": "Connect LEGO Hub" + }, + + { + "command": "mind-reader.disconnectHub", + "title": "Disconnect LEGO Hub" + }, + + { + "command": "mind-reader.uploadCurrentFile", + "title": "Upload current file to LEGO Hub" + }, + + { + "command": "mind-reader.runProgram", + "title": "Run a program from the LEGO Hub" + }, + + { + "command": "mind-reader.stopExecution", + "title": "Stop running program on the LEGO Hub" + }, + + { + "command": "mind-reader.deleteProgram", + "title": "Delete a program from the LEGO Hub" + } + ], + "keybindings": [ + { + "command": "mind-reader.decreaseFontScale", + "key": "numpad_subtract", + "mac": "" + }, + { + "command": "mind-reader.increaseFontScale", + "key": "numpad_add", + "mac": "" + }, + { + "command": "mind-reader.increaseEditorScale", + "key": "shift+numpad_add" + }, + { + "command": "mind-reader.decreaseEditorScale", + "key": "shift+numpad_subtract", + "mac": "" + }, + { + "command": "mind-reader.resetEditorScale", + "key": "shift+enter", + "mac": "" + } ], - "keybindings": [ - { - "command": "mind-reader.decreaseFontScale", - "key": "numpad_subtract", - "mac": "" - }, - - { - "command": "mind-reader.increaseFontScale", - "key": "numpad_add", - "mac": "" - }, - - { - "command": "mind-reader.increaseEditorScale", - "key": "shift+numpad_add" - }, - - { - "command": "mind-reader.decreaseEditorScale", - "key": "shift+numpad_subtract", - "mac": "" - }, - - { - "command": "mind-reader.resetEditorScale", - "key": "shift+enter", - "mac": "" - } - ], "menus": { "editor/context": [ { @@ -187,25 +210,25 @@ } } }, - "views": { - "accessActions": [ - { - "id": "accessActions", - "name": "Access Actions", - "icon": "media/dep.svg", - "contextualTitle": "Accessibility Menu Actions" - } - ] - }, - "viewsContainers": { - "activitybar": [ - { - "id": "accessActions", - "title": "Access Actions", - "icon": "media/dep.svg" - } - ] - } + "views": { + "accessActions": [ + { + "id": "accessActions", + "name": "Access Actions", + "icon": "media/dep.svg", + "contextualTitle": "Accessibility Menu Actions" + } + ] + }, + "viewsContainers": { + "activitybar": [ + { + "id": "accessActions", + "title": "Access Actions", + "icon": "media/dep.svg" + } + ] + } }, "scripts": { "vscode:prepublish": "npm run compile", @@ -216,17 +239,23 @@ "test": "node ./out/test/runTest.js" }, "devDependencies": { - "@types/vscode": "^1.60.0", "@types/glob": "^7.1.3", "@types/mocha": "^8.2.2", - "@types/node": "14.x", - "eslint": "^7.27.0", + "@types/node": "16.x", + "@types/serialport": "^8.0.2", + "@types/vscode": "^1.60.0", "@typescript-eslint/eslint-plugin": "^4.26.0", "@typescript-eslint/parser": "^4.26.0", + "@vscode/test-electron": "^1.6.2", + "electron": "^13.5.2", + "electron-rebuild": "^3.2.5", + "eslint": "^7.27.0", "glob": "^7.1.7", "mocha": "^8.4.0", "typescript": "^4.3.2", - "vscode-test": "^1.5.2", - "@vscode/test-electron": "^1.6.2" + "vscode-test": "^1.5.2" + }, + "dependencies": { + "serialport": "^9.2.5" } } diff --git a/src/commands.ts b/src/commands.ts index efbaded..7e68a9b 100644 --- a/src/commands.ts +++ b/src/commands.ts @@ -1,5 +1,8 @@ import * as vscode from 'vscode'; import * as pl from './pylex'; +import * as path from 'path'; + +import HubManager from './hubManager'; /** * @type {Object} Command // Command to register with the VS Code Extension API @@ -54,10 +57,40 @@ const commands: Command[] = [ name: 'mind-reader.runLineContext', callback: runLineContext, }, + { name: 'mind-reader.runCursorContext', - callback: runCursorContext + }, + + { + name: 'mind-reader.connectHub', + callback: connectHub + }, + + { + name: 'mind-reader.disconnectHub', + callback: disconnectHub + }, + + { + name: 'mind-reader.uploadCurrentFile', + callback: uploadCurrentFile + }, + + { + name: 'mind-reader.runProgram', + callback: runProgram + }, + + { + name: 'mind-reader.stopExecution', + callback: stopExecution + }, + + { + name: 'mind-reader.deleteProgram', + callback: deleteProgram } ]; @@ -145,7 +178,7 @@ function createContextString(context: pl.LexNode[], line: number): string { function runCursorContext(): void { let editor = vscode.window.activeTextEditor; if (!editor) { - vscode.window.showErrorMessage("RunCursorContext: No Active Editor"); + vscode.window.showErrorMessage('RunCursorContext: No Active Editor'); return; } @@ -206,4 +239,145 @@ function runCursorContext(): void { } } +// Current connected hub +let hub: HubManager | null; + +// TODO: port option +async function connectHub(): Promise { + if (hub) { + vscode.window.showWarningMessage('LEGO Hub is already connected, reconnecting...'); + hub.close(); + } + const config = vscode.workspace.getConfiguration(); + + try { + if (config.get('mindreader.connection.connectAutomatically')) { + hub = await HubManager.create(); + vscode.window.showInformationMessage('LEGO Hub connected'); + } else { + const ports = await HubManager.queryPorts(); + + if (ports.length === 0) { + vscode.window.showErrorMessage('No ports found. Is the LEGO Hub connected?'); + return; + } + + let slots: vscode.QuickPickItem[] = []; + for (const port of ports) { + slots.push({ label: port.path }); + } + + let picked = await vscode.window.showQuickPick(slots); + + if (!picked) { + return; + } + + hub = await HubManager.create({ port: picked.label }); + vscode.window.showInformationMessage('LEGO Hub connected'); + } + } catch (err) { + // TODO: better handling + vscode.window.showErrorMessage('Could not connect to LEGO Hub'); + } +} + +async function disconnectHub(): Promise { + if (!hub) { + vscode.window.showErrorMessage('LEGO Hub is not connected'); + return; + } + + await hub.close(); + hub = null; + vscode.window.showInformationMessage('LEGO Hub disconnected'); +} + +async function uploadCurrentFile(): Promise { + if (!hub) { + vscode.window.showErrorMessage('LEGO Hub is not connected!'); + return; + } + + if (!vscode.window.activeTextEditor) { + vscode.window.showErrorMessage('No active text editor'); + return; + } + + const currentFilePath = vscode.window.activeTextEditor.document.fileName; + + if (currentFilePath) { + // construct quickpick + const slots: vscode.QuickPickItem[] = []; + for (let i = 0; i < 10; i++) { + slots.push({ label: i.toString() }); + } + const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false }); + + if (!slotID) { + return; + } + + // TODO: progress bar? + vscode.window.showInformationMessage('Uploading current file'); + await hub.uploadFile(currentFilePath, parseInt(slotID.label), path.basename(currentFilePath)); + vscode.window.showInformationMessage(path.basename(currentFilePath) + ' uploaded to slot ' + slotID.label); + } +} + +// TODO: find empty slots +async function runProgram(): Promise { + if (!hub) { + vscode.window.showErrorMessage('LEGO Hub is not connected!'); + return; + } + + const slots: vscode.QuickPickItem[] = []; + // construct quickpick + for (let i = 0; i < 10; i++) { + slots.push({ label: i.toString() }); + } + const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false }); + + if (!slotID) { + return; + } + + vscode.window.showInformationMessage('Running program ' + slotID.label); + await hub.programExecute(parseInt(slotID.label)); +} + +async function stopExecution(): Promise { + if (!hub) { + vscode.window.showErrorMessage('LEGO Hub is not connected!'); + return; + } + + await hub.programTerminate(); + vscode.window.showInformationMessage('Execution stopped'); +} + +// TODO: find slots from status +async function deleteProgram(): Promise { + if (!hub) { + vscode.window.showErrorMessage('LEGO Hub is not connected!'); + return; + } + + const slots: vscode.QuickPickItem[] = []; + // construct quickpick + for (let i = 0; i < 10; i++) { + slots.push({ label: i.toString() }); + } + const slotID = await vscode.window.showQuickPick(slots, { canPickMany: false }); + + if (!slotID) { + return; + } + + await hub.deleteProgram(parseInt(slotID.label)); + vscode.window.showInformationMessage('Deleted program ' + slotID.label); +} + + export default commands; diff --git a/src/extension.ts b/src/extension.ts index ffeab0f..54d3b39 100644 --- a/src/extension.ts +++ b/src/extension.ts @@ -3,7 +3,7 @@ import * as vscode from 'vscode'; import * as pl from './pylex'; import commands from './commands'; -import AccessNodeProvider from './accessNodeProvider' +import AccessNodeProvider from './accessNodeProvider'; let parser: pl.Parser = new pl.Parser(); @@ -24,7 +24,6 @@ export function activate(context: vscode.ExtensionContext) { let provider = new AccessNodeProvider(); vscode.window.registerTreeDataProvider('accessActions', provider); - } export function deactivate() {} diff --git a/src/hubManager.ts b/src/hubManager.ts new file mode 100644 index 0000000..d35bfac --- /dev/null +++ b/src/hubManager.ts @@ -0,0 +1,455 @@ +import * as vscode from 'vscode'; +import * as SerialPort from 'serialport'; +import * as fs from 'fs'; +import { performance } from 'perf_hooks'; + +/** + * @type RPCRequest an RPC request message + * + * @prop {string} `'m'` method to invoke. + * @prop {Object?} `'p'` optional parameters for method. + * @prop {string|null?} `'i'` optional request ID. + */ +type RPCRequest = { + 'm': string; + 'p'?: Object; + 'i'?: string; +}; + +/** + * @type RPCResponse an RPC response message + * + * @prop {any?} `'r'` RPC response body + * @prop {Object?} `'e'` RPC error body + * @prop {string|null} `'i'` required response ID. + */ +type RPCResponse = { + 'r'?: any; + 'e'?: Object; + 'i': string | null; +}; + +/** + * @type HubOptions Connection options + * + * @prop {boolean=} `magic` automatically try and find a suitable port to connect. Defaults to `true` + * @prop {string=} `port` port to use if `magic` is disabled. Defaults to `'/dev/ttyACM0'`. + * @prop {number|null=} `timeout` how long to wait for responses from the Hub. + */ +type HubOptions = { + magic?: boolean; + port?: string; + timeout?: number | null; +}; + +/** + * Manages sending and receiving of JSON Remote Procedure Call (JSON-RPC) protocol messages + * to the Hub. + */ +export default class HubManager { + private port: SerialPort; + private receiveQueue: string[] = []; // queue of received messages to handle + public responses: RPCResponse[] = []; // list of messages returned to the user + + // ======================== INSTANCE METHODS ======================== + + /** + * Private constructor, use static `create` + `init` + */ + private constructor(public options: HubOptions) { } + + /** + * Initializes a created HubManager with the current option settings + */ + public async init(): Promise { + try { + this.port = new SerialPort( + this.options.port!, + { + autoOpen: true, + baudRate: 112500, + } + ); + } catch (err) { + // error during port opening + throw err; + } + + this.port.setEncoding('utf-8'); + + // push lines received to data queue + + let rl = this.port.pipe(new SerialPort.parsers.Readline({delimiter: '\r'})); + rl.on('data', data => this.receiveQueue.push(data)); + } + + public async close(): Promise { + this.port.close(console.error); + } + + /** + * Send an RPC message and get the corresponding response. + * + * @param `proc` Procedure to execute + * @param `params` Optional parameters for the procedure + * @param `id` The ID to use for the RPC message. Use null to indicate no ID/notification message. + * If neither a string or `null` is passed, an ID is automatically generated. + */ + // TODO: make send take a single RPCRequest argument, made inline in each function + public async send(request: RPCRequest): Promise { + return new Promise(resolve => { + if (request['i'] === undefined) { + // generate an ID + request['i'] = 'mind-reader-' + HubManager.randomID(); + } + + // write JSON to port + this.port.write(JSON.stringify(request)); + this.port.write('\r', async () => { + if (request['i']) { + // expecting a response + let response = await this.recv(request['i']); + resolve(response); + } + }); + }); + } + + /** + * Receive an RPC message. + * + * @param `id` The id to match received messages against. Use `null` to match *all* messages + */ + public async recv(id: string | null): Promise { + 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 { + return Promise.resolve( + await this.send({ + 'm': 'program_execute', + 'p': { + 'slotid': slotid + } + }) + ); + } + + /** + * Terminate a currently running program + */ + public async programTerminate(): Promise { + 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 { + 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 { + // 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 { + 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 { + 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; + }; +}