mirror of
https://github.com/iNavFlight/inav-configurator.git
synced 2025-07-14 11:59:51 +03:00
Merge pull request #1738 from Scavanger/SITL-Integration
SITL integration
This commit is contained in:
Paweł Spychalski
GitHub
commit
448d9dc3ba
26 changed files with 6597 additions and 5710 deletions
3
js/fc.js
3
js/fc.js
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@ -596,7 +596,8 @@ var FC = {
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'NMEA',
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'UBLOX',
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'UBLOX7',
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'MSP'
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'MSP',
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'FAKE'
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];
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},
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getGpsBaudRates: function () {
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@ -14,6 +14,7 @@ var GUI_control = function () {
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'landing',
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'firmware_flasher',
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'mission_control',
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'sitl',
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'help'
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];
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this.defaultAllowedTabsWhenConnected = [
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@ -69,7 +69,7 @@ PortHandler.check = function () {
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chrome.storage.local.get('last_used_port', function (result) {
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// if last_used_port was set, we try to select it
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if (result.last_used_port) {
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if (result.last_used_port == "ble" || result.last_used_port == "tcp" || result.last_used_port == "udp") {
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if (result.last_used_port == "ble" || result.last_used_port == "tcp" || result.last_used_port == "udp" || result.last_used_port == "sitl" || result.last_used_port == "sitl-demo") {
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$('#port').val(result.last_used_port);
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} else {
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current_ports.forEach(function(port) {
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@ -184,6 +184,8 @@ PortHandler.update_port_select = function (ports) {
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$('div#port-picker #port').append($("<option/>", {value: 'ble', text: 'BLE', data: {isBle: true}}));
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$('div#port-picker #port').append($("<option/>", {value: 'tcp', text: 'TCP', data: {isTcp: true}}));
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$('div#port-picker #port').append($("<option/>", {value: 'udp', text: 'UDP', data: {isUdp: true}}));
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$('div#port-picker #port').append($("<option/>", {value: 'sitl', text: 'SITL', data: {isSitl: true}}));
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$('div#port-picker #port').append($("<option/>", {value: 'sitl-demo', text: 'Demo mode', data: {isSitl: true}}));
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};
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PortHandler.port_detected = function(name, code, timeout, ignore_timeout) {
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@ -5,7 +5,8 @@ $(document).ready(function () {
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var $port = $('#port'),
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$baud = $('#baud'),
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$portOverride = $('#port-override');
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$portOverride = $('#port-override'),
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isDemoRunning = false;
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/*
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* Handle "Wireless" mode with strict queueing of messages
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@ -89,14 +90,14 @@ $(document).ready(function () {
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$('#port-override-label').text("Port");
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}
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if (selected_port.data().isDFU || selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp) {
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if (selected_port.data().isDFU || selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp || selected_port.data().isSitl) {
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$baud.hide();
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}
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else {
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$baud.show();
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}
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if (selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp) {
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if (selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp || selected_port.data().isSitl) {
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$('.tab_firmware_flasher').hide();
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} else {
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$('.tab_firmware_flasher').show();
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@ -104,7 +105,7 @@ $(document).ready(function () {
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var type = ConnectionType.Serial;
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if (selected_port.data().isBle) {
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type = ConnectionType.BLE;
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} else if (selected_port.data().isTcp) {
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} else if (selected_port.data().isTcp || selected_port.data().isSitl) {
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type = ConnectionType.TCP;
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} else if (selected_port.data().isUdp) {
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type = ConnectionType.UDP;
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@ -150,10 +151,24 @@ $(document).ready(function () {
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if (selected_port == 'tcp' || selected_port == 'udp') {
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CONFIGURATOR.connection.connect($portOverride.val(), {}, onOpen);
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} else if (selected_port == 'sitl') {
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CONFIGURATOR.connection.connect("127.0.0.1:5760", {}, onOpen);
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} else if (selected_port == 'sitl-demo') {
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if (SITLProcess.isRunning) {
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SITLProcess.stop();
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}
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SITLProcess.start("demo.bin");
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this.isDemoRunning = true;
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CONFIGURATOR.connection.connect("127.0.0.1:5760", {}, onOpen);
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} else {
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CONFIGURATOR.connection.connect(selected_port, {bitrate: selected_baud}, onOpen);
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}
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} else {
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if (this.isDemoRunning) {
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SITLProcess.stop();
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this.isDemoRunning = false;
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}
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var wasConnected = CONFIGURATOR.connectionValid;
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helper.timeout.killAll();
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270
js/sitl.js
Normal file
270
js/sitl.js
Normal file
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@ -0,0 +1,270 @@
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'use strict'
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const { spawn } = require('node:child_process');
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const pathMod = require('path');
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const { chmod, rm } = require('node:fs');
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const serialRXProtocolls = [
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{
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name : "SBus",
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baudrate: 100000,
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stopBits: "Two",
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parity: "Even"
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},
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{
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name : "SBus Fast",
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baudrate: 200000,
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stopBits: "Two",
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parity: "Even"
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},
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{
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name : "Crossfire/Ghost",
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baudrate: 420000,
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stopBits: "One",
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parity: "None"
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},
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{
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name : "FPort/IBus/Spektrum/SRXL2/SUMD",
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baudrate: 115200,
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stopBits: "One",
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parity: "None"
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},
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{
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name : "JETI EX Bus",
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baudrate: 125000,
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stopBits: "One",
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parity: "None"
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},
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];
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var Ser2TCP = {
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isRunning: false,
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process: null,
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portsList: [],
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stopPolling: false,
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getProtocolls: function() {
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return serialRXProtocolls;
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},
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start: function(comPort, serialPortOptions, ipAddress, tcpPort, callback) {
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if (this.isRunning)
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this.stop();
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var path;
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if (GUI.operating_system == 'Windows') {
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path = './resources/sitl/windows/Ser2TCP.exe'
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} else if (GUI.operating_system == 'Linux') {
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path = './resources/sitl/linux/ser2TCP'
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chmod(path, 0o755, (err) => {
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if (err)
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console.log(err);
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});
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} else {
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return;
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}
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var protocoll = serialRXProtocolls.find(proto => {
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return proto.name == serialPortOptions.protocollName;
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});
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var args = [];
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if (protocoll && protocoll.name != "manual") {
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args.push(`--comport=${comPort}`)
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args.push(`--baudrate=${protocoll.baudrate}`);
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args.push(`--stopbits=${protocoll.stopBits}`)
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args.push(`--parity=${protocoll.parity}`)
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args.push(`--ip=${ipAddress}`);
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args.push(`--tcpport=${tcpPort}`);
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} else {
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args.push(`--comport=${comPort}`)
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args.push(`--baudrate${proserialPortOptionstocoll.baudrate}`);
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args.push(`--stopbits=${protserialPortOptionsocoll.stopBits}`)
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args.push(`--parity=${serialPortOptions.parity}`)
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args.push(`--ip=${ipAddress}`);
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args.push(`--tcpport=${tcpPort}`);
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}
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var opts = undefined;
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if (GUI.operating_system == 'Linux')
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opts = { useShell: true };
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this.process = spawn(path, args, opts);
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this.isRunning = true;
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this.process.stdout.on('data', (data) => {
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if (callback)
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callback(data);
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});
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this.process.stderr.on('data', (data) => {
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if (callback)
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callback(data);
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});
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this.process.on('error', (error) => {
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if (callback)
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callback(error);
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this.isRunning = false;
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});
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this.process.on('exit', () => {
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if (this.isRunning)
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this.spawn(path, args, callback);
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});
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},
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stop: function() {
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if (this.isRunning) {
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this.isRunning = false;
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this.process.kill();
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}
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},
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getDevices: function(callback) {
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chrome.serial.getDevices((devices_array) => {
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var devices = [];
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devices_array.forEach((device) => {
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if (GUI.operating_system == 'Windows') {
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var m = device.path.match(/COM\d?\d/g)
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if (m)
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devices.push(m[0]);
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} else
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devices.push(device.displayName);
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});
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callback(devices);
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});
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},
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pollSerialPorts: function(callback) {
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this.getDevices(devices => {
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if (!this.arraysEqual(this.portsList, devices)) {
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this.portsList = devices;
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if (callback)
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callback(this.portsList);
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}
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});
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if (!this.stopPolling) {
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setTimeout(() => { this.pollSerialPorts(callback) }, 250);
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} else {
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this.stopPolling = false;
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}
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},
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resetPortsList: function() {
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this.portsList = [];
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},
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stopPollSerialPorts: function()
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{
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this.stopPolling = true;
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},
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arraysEqual: function(a, b) {
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if (a === b) return true;
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if (a == null || b == null) return false;
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if (a.length !== b.length) return false;
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for (var i = 0; i < a.length; ++i) {
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if (a[i] !== b[i]) return false;
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}
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return true;
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}
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}
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var SITLProcess = {
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spawn : null,
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isRunning: false,
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process: null,
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deleteEepromFile(filename) {
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rm(`${nw.App.dataPath}/${filename}`, error => {
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if (error) {
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GUI.log(`Unable to reset Demo mode: ${error.message}`);
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}
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});
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},
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start: function(eepromFileName, sim, useIMU, simIp, simPort, channelMap, callback) {
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if (this.isRunning)
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this.stop();
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var sitlExePath, eepromPath;
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if (GUI.operating_system == 'Windows') {
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sitlExePath = './resources/sitl/windows/inav_SITL.exe'
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eepromPath = `${nw.App.dataPath}\\${eepromFileName}`
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} else if (GUI.operating_system == 'Linux') {
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sitlExePath = './resources/sitl/linux/inav_SITL';
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eepromPath = `${nw.App.dataPath}/${eepromFileName}`
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chmod(sitlExePath, 0o755, err => {
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if (err)
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console.log(err);
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});
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} else {
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return;
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}
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var args = [];
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args.push(`--path=${eepromPath}`);
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if (sim) {
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args.push(`--sim=${sim}`);
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if (useIMU)
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args.push("--useimu")
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if (simIp)
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args.push(`--simip=${simIp}`);
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if (simPort)
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args.push(`--simport=${simPort}`);
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if (channelMap)
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args.push(`--chanmap=${channelMap}`)
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}
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this.spawn(sitlExePath, args, callback);
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},
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spawn: function(path, args, callback) {
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var opts = undefined;
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if (GUI.operating_system == 'Linux')
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opts = { useShell: true };
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this.process = spawn(path, args, opts);
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this.isRunning = true;
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this.process.stdout.on('data', (data) => {
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if (callback)
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callback(data);
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});
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this.process.stderr.on('data', (data) => {
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if (callback)
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callback(data);
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});
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this.process.on('error', (error) => {
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if (callback)
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callback(error);
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this.isRunning = false;
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});
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this.process.on('exit', () => {
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if (this.isRunning)
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this.spawn(path, args, callback);
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});
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},
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stop: function() {
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if (this.isRunning) {
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this.isRunning = false;
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this.process.kill();
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}
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}
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};
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