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connection messages, watchdog, etc.
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@kaspesla
kaspesla committed Aug 19, 2015
1 parent d4779b6 commit 95d2636
Showing 1 changed file with 182 additions and 26 deletions.
208 changes: 182 additions & 26 deletions ev3_scratch.js → ev3_scratch_v1.js
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Original file line number Diff line number Diff line change
Expand Up @@ -9,13 +9,6 @@
// Cleanup function when the extension is unloaded
ext._shutdown = function() {};

// Status reporting code
// Use this to report missing hardware, plugin or unsupported browser
ext._getStatus = function()
{
return {status: 2, msg: 'Ready'};
};

ext._getStatus = function()
{
if (!connected)
Expand All @@ -32,6 +25,7 @@


var connected = false;
var connecting = false;
var notifyConnection = false;
var device = null;

Expand All @@ -54,27 +48,104 @@
};

var poller = null;
var watchdog = null;
var pingTimeout = null;
var waitingForPing = false;

var DEBUG_NO_EV3 = false;

var theDevice = null;

function reconnect()
{
theDevice.open({ stopBits: 0, bitRate: 115200, ctsFlowControl: 0, parity:2, bufferSize:255 });
console.log('Attempting connection with ' + theDevice.id);
theDevice.set_receive_handler(receive_handler);

connecting = true;
testTheConnection(startupBatteryCheckCallback);
}

function startupBatteryCheckCallback(result)
{
console.log("got battery level at connect: " + result);

connected = true;
connecting = false;

playStartUpTones();

setupWatchdog();
}

function setupWatchdog()
{
if (poller)
clearInterval(poller);

poller = setInterval(pingBatteryWatchdog, 5000);
}

function pingBatteryWatchdog()
{
testTheConnection(pingBatteryCheckCallback);
waitingForPing = true;
pingTimeout = setTimeout(pingTimeOutCallback, 1000);
}

function pingTimeOutCallback()
{
if (waitingForPing == true)
{
console.log("Ping timed out!");
if (poller)
clearInterval(poller);

connected = false;
}
}

function pingBatteryCheckCallback(result)
{
console.log("pinged battery level: " + result);
if (pingTimeout)
clearTimeout(pingTimeout);
waitingForPing = false;
}


function testTheConnection(theCallback)
{
window.setTimeout(function() {
readThatBatteryLevel(theCallback);
}, 500);
}

function playStartUpTones()
{
var tonedelay = 1000;
window.setTimeout(function() {
playFreqM2M(262, 100);
}, tonedelay);

window.setTimeout(function() {
playFreqM2M(392, 100);
}, tonedelay+100);

window.setTimeout(function() {
playFreqM2M(523, 100);
}, tonedelay+200);
}

function tryNextDevice()
{
device = potentialDevices.shift();
if (!device)
return;


theDevice = device;

if (!DEBUG_NO_EV3)
{
device.open({ stopBits: 0, bitRate: 115200, ctsFlowControl: 0, parity:2, bufferSize:255 });
console.log('Attempting connection with ' + device.id);
device.set_receive_handler(receive_handler);

poller = setInterval(function() {
// queryFirmware();
}, 1000);

// need some way to see if connection is working, a watchdog ping or something
connected =true;
reconnect();
}
/*
watchdog = setTimeout(function() {
Expand All @@ -94,7 +165,7 @@
device.close();
if (poller)
clearInterval(poller);
connected = false;

device = null;
};

Expand All @@ -115,10 +186,10 @@
return result;
}

var waitingCallbacks = [[],[],[],[],[],[],[],[]];
var waitingCallbacks = [[],[],[],[],[],[],[],[], []];
var waitingQueries = [];
var global_touch_pressed = [false, false, false, false,false, false, false, false];
var global_sensor_queried = [0, 0, 0, 0, 0, 0, 0, 0];
var global_touch_pressed = [false, false, false, false,false, false, false, false, false];
var global_sensor_queried = [0, 0, 0, 0, 0, 0, 0, 0, 0];

function receive_handler(data)
{
Expand Down Expand Up @@ -151,7 +222,14 @@
else
theResult = "none";
}
/*
else if (modeType == COLOR_RAW_RGB) // is color_raw encoded as a string, hex, or number?
{
theResult = num; //maybe? probably not, but here's hoping it's this simple.
}
*/
}

else if (mode == IR_SENSOR)
{
theResult = getFloatResult(inputData);
Expand All @@ -160,6 +238,13 @@
{
theResult = getFloatResult(inputData);
}
else if (mode == UIREAD)
{
if (modeType == UIREAD_BATTERY)
{
theResult = inputData[5];
}
}

global_touch_pressed[this_is_from_port] = theResult;
global_sensor_queried[this_is_from_port]--;
Expand Down Expand Up @@ -299,20 +384,43 @@
var PLAYTONE = "9401";
var INPUT_DEVICE_READY_SI = "991D";
var READ_SENSOR = "9A00";
var UIREAD = "81"; // opUI_READ
var UIREAD_BATTERY = "12"; // GET_LBATT

var mode0 = "00";
var TOUCH_SENSOR = "10";
var COLOR_SENSOR = "1D";
var ULTRASONIC_SENSOR = "1E";
var ULTRSONIC_CM = "00";
var ULTRSONIC_INCH = "01";
var ULTRSONIC_LISTEN = "02";
var ULTRSONIC_SI_CM = "03";
var ULTRSONIC_SI_INCH = "04";
var ULTRSONIC_DC_CM = "05";
var ULTRSONIC_DC_INCH = "06"; //I'm just putting this in for the sake of knowing I didn't miss any.
var WHY_IS_THERE_A_GAP_HERE = "1F"; //Just so I don't think I'm missing one
var GYRO_SENSOR = "20";
var GYRO_ANGLE = "00";
var GYRO_RATE = "01";
var GYRO_FAST = "02"; //very descriptive, LEGO firmware writers
var GYRO_RATE_AND_ANGLE = "03"; //I kid you not, this is a real thing. WHYYYY?
var GYRO_CALIBRATION = "04";
var IR_SENSOR = "21";
var IR_PROX = "00";
var IR_SEEKER = "01";
var IR_REMOTE = "02"
var IR_REMOTE_ADVANCE = "03"; //I have no clue what this is.
var IR_CALIBRATION = "05"; //Yep, no clue what some of these do. I don't think many, if any people do.
var REFLECTED_INTENSITY = "00";
var AMBIENT_INTENSITY = "01";
var COLOR_VALUE = "02";
var COLOR_RAW_RGB = "04";
var READ_FROM_MOTOR = "FOOBAR";


function sendCommand(commandArray)
{
if (connected && device)
if ((connected || connecting) && device)
device.send(commandArray.buffer);
}

Expand Down Expand Up @@ -378,7 +486,21 @@
callback();
}, duration);
}


function playFreqM2M(freq, duration)
{
console.log("playFreqM2M duration: " + duration + " freq: " + freq);
var volume = 100;
var volString = getPackedOutputHexString(volume, 1);
var freqString = getPackedOutputHexString(freq, 2);
var durString = getPackedOutputHexString(duration, 2);

var toneCommand = createMessage(DIRECT_COMMAND_PREFIX + PLAYTONE + volString + freqString + durString);

sendCommand(toneCommand);

}

function clearDriveTimer()
{
if (driveTimer)
Expand Down Expand Up @@ -478,6 +600,7 @@
var modeCode = AMBIENT_INTENSITY;
if (mode == 'reflected') { modeCode = REFLECTED_INTENSITY; }
if (mode == 'color') { modeCode = COLOR_VALUE; }
if (mode == 'RGBcolor') { modeCode = COLOR_RAW_RGB; }

var portInt = parseInt(port) - 1;

Expand Down Expand Up @@ -554,7 +677,37 @@
"0160"); // result stuff
sendCommand(readCommand);
}

ext.readBatteryLevel = function(callback)
{
readThatBatteryLevel(callback);
}

function readThatBatteryLevel(callback)
{
var portInt = 8; // bogus port number
waitingCallbacks[portInt].push(callback);
if (global_sensor_queried[portInt] == 0)
{
global_sensor_queried[portInt]++;
UIRead(portInt, UIREAD_BATTERY);
}
}

ext.reconnectToDevice = function()
{
reconnect();
}

function UIRead(port, subtype)
{
waitingQueries.push([port, UIREAD, subtype]);

var readCommand = createMessage(DIRECT_COMMAND_REPLY_PREFIX +
UIREAD + subtype +
"60"); // result stuff
sendCommand(readCommand);
}

// Block and block menu descriptions
var descriptor = {
Expand All @@ -569,6 +722,9 @@
['R', 'light sensor %m.whichInputPort %m.lightSensorMode', 'readColorSensorPort', '1', 'color'],
['R', 'measure distance %m.whichInputPort', 'readDistanceSensorPort', '1'],
['R', 'motor %m.motorInputMode %m.whichMotorIndividual', 'readFromMotor', 'position', 'B'],

// ['R', 'battery level', 'readBatteryLevel'],
// [' ', 'reconnect', 'reconnectToDevice'],
],
menus: {
whichMotorPort: ['A', 'B', 'C', 'D', 'A+D', 'B+C'],
Expand Down

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