SITL integration

js/sitl.js

@@ -0,0 +1,270 @@
+'use strict'
+
+const { spawn } = require('node:child_process');
+const pathMod = require('path');
+const { chmod, rm } = require('node:fs');
+
+const serialRXProtocolls = [
+{
+    name : "SBus",
+    baudrate: 100000,
+    stopBits: "Two",
+    parity: "Even"
+},
+{
+    name : "SBus Fast",
+    baudrate: 200000,
+    stopBits: "Two",
+    parity: "Even"
+},
+{
+    name : "Crossfire/Ghost",
+    baudrate: 420000,
+    stopBits: "One",
+    parity: "None"
+},
+{
+    name : "FPort/IBus/Spektrum/SRXL2/SUMD",
+    baudrate: 115200,
+    stopBits: "One",
+    parity: "None"
+},
+{
+    name : "JETI EX Bus",
+    baudrate: 125000,
+    stopBits: "One",
+    parity: "None"
+},
+];
+
+var Ser2TCP = {
+
+    isRunning: false,
+    process: null,
+    portsList: [],
+    stopPolling: false,
+
+    getProtocolls: function() {
+        return serialRXProtocolls;
+    },
+
+    start: function(comPort, serialPortOptions, ipAddress, tcpPort, callback) {
+        
+        if (this.isRunning)
+            this.stop();
+        
+        var path;
+        if (GUI.operating_system == 'Windows') {
+            path = './resources/sitl/windows/Ser2TCP.exe'
+        } else if (GUI.operating_system == 'Linux') {
+            path = './resources/sitl/linux/ser2TCP'
+            chmod(path, 0o755, (err) => {
+                if (err)
+                    console.log(err);
+            });
+        } else {
+            return;
+        }
+
+        var protocoll = serialRXProtocolls.find(proto => {
+            return proto.name == serialPortOptions.protocollName;
+        });
+        
+        var args = [];
+        if (protocoll && protocoll.name != "manual") {
+            args.push(`--comport=${comPort}`)
+            args.push(`--baudrate=${protocoll.baudrate}`);
+            args.push(`--stopbits=${protocoll.stopBits}`)
+            args.push(`--parity=${protocoll.parity}`)
+            args.push(`--ip=${ipAddress}`);
+            args.push(`--tcpport=${tcpPort}`);
+        } else {
+            args.push(`--comport=${comPort}`)
+            args.push(`--baudrate${proserialPortOptionstocoll.baudrate}`);
+            args.push(`--stopbits=${protserialPortOptionsocoll.stopBits}`)
+            args.push(`--parity=${serialPortOptions.parity}`)
+            args.push(`--ip=${ipAddress}`);
+            args.push(`--tcpport=${tcpPort}`);
+        } 
+
+        var opts = undefined;
+        if (GUI.operating_system == 'Linux') 
+            opts = { useShell: true };
+        
+        this.process = spawn(path, args, opts);
+        this.isRunning = true;
+                
+        this.process.stdout.on('data', (data) => {
+            if (callback)
+                callback(data);
+        });
+
+        this.process.stderr.on('data', (data) => {
+            if (callback)
+                callback(data);
+        });
+
+        this.process.on('error', (error) => {
+            if (callback)
+                callback(error);
+            this.isRunning = false;
+        });
+        
+        this.process.on('exit', () => {
+            if (this.isRunning)
+               this.spawn(path, args, callback);
+        });
+    },
+
+    stop: function() {
+        if (this.isRunning) {
+            this.isRunning = false;
+            this.process.kill(); 
+        }  
+    },
+
+    getDevices: function(callback) {
+        chrome.serial.getDevices((devices_array) => {
+            var devices = [];
+            devices_array.forEach((device) => {
+                
+                if (GUI.operating_system == 'Windows') { 
+                    var m = device.path.match(/COM\d?\d/g)
+                        if (m)
+                          devices.push(m[0]);
+                } else               
+                    devices.push(device.displayName);
+            });
+            callback(devices);
+        });
+    },
+
+    pollSerialPorts: function(callback) {       
+        this.getDevices(devices => {
+            if (!this.arraysEqual(this.portsList, devices)) {
+               this.portsList = devices;
+                if (callback)
+                    callback(this.portsList);
+            }
+
+        });
+        if (!this.stopPolling) {
+            setTimeout(() => { this.pollSerialPorts(callback) }, 250);        
+        } else {
+            this.stopPolling = false;
+        }
+    },
+
+    resetPortsList: function() {
+        this.portsList = [];
+    },
+
+    stopPollSerialPorts: function()
+    {
+        this.stopPolling = true;
+    },
+
+    arraysEqual: function(a, b) {
+        if (a === b) return true;
+        if (a == null || b == null) return false;
+        if (a.length !== b.length) return false;
+      
+        for (var i = 0; i < a.length; ++i) {
+          if (a[i] !== b[i]) return false;
+        }
+        return true;
+      }
+}
+
+var SITLProcess = {
+    
+    spawn : null,
+    isRunning: false,
+    process: null,
+
+    deleteEepromFile(filename) {
+        rm(`${nw.App.dataPath}/${filename}`, error => {
+            if (error) {
+                GUI.log(`Unable to reset Demo mode: ${error.message}`);
+            }
+        });
+    },
+
+    start: function(eepromFileName, sim, useIMU, simIp, simPort, channelMap, callback) {
+
+        if (this.isRunning)
+            this.stop();
+        
+        var sitlExePath, eepromPath;
+        if (GUI.operating_system == 'Windows') {
+            sitlExePath = './resources/sitl/windows/inav_SITL.exe'
+            eepromPath = `${nw.App.dataPath}\\${eepromFileName}`
+        } else if (GUI.operating_system == 'Linux') {
+            sitlExePath = './resources/sitl/linux/inav_SITL';
+            eepromPath = `${nw.App.dataPath}/${eepromFileName}`
+            chmod(sitlExePath, 0o755, err => {
+                if (err)
+                    console.log(err);
+            });
+        } else {
+            return;
+        }
+        
+        var args = [];
+        args.push(`--path=${eepromPath}`);
+
+        if (sim) {
+            args.push(`--sim=${sim}`);      
+            if (useIMU) 
+                args.push("--useimu")
+            
+            if (simIp) 
+                args.push(`--simip=${simIp}`);
+            
+            if (simPort) 
+                args.push(`--simport=${simPort}`);
+            
+            if (channelMap)
+                args.push(`--chanmap=${channelMap}`)
+        }         
+        this.spawn(sitlExePath, args, callback);       
+    },
+
+    spawn: function(path, args, callback) {
+         
+        var opts = undefined;
+        if (GUI.operating_system == 'Linux') 
+            opts = { useShell: true };
+        
+        this.process = spawn(path, args, opts);
+        this.isRunning = true;
+                
+        this.process.stdout.on('data', (data) => {
+            if (callback)
+                callback(data);
+        });
+
+        this.process.stderr.on('data', (data) => {
+            if (callback)
+                callback(data);
+        });
+
+        this.process.on('error', (error) => {
+            if (callback)
+                callback(error);
+            this.isRunning = false;
+        });
+        
+        this.process.on('exit', () => {
+            if (this.isRunning)
+                this.spawn(path, args, callback);
+        });
+    },
+
+    stop: function() {
+        if (this.isRunning) {
+            this.isRunning = false;
+            this.process.kill(); 
+        }      
+    }
+};