'use strict'; /** * * @constructor */ var MspMessageClass = function () { var publicScope = {}; publicScope.code = null; publicScope.messageBody = null; publicScope.onFinish = null; publicScope.onSend = null; publicScope.timer = false; publicScope.createdOn = new Date().getTime(); publicScope.sentOn = null; publicScope.retryCounter = 5; return publicScope; }; /** * @typedef {{state: number, message_direction: number, code: number, message_length_expected: number, message_length_received: number, message_buffer: null, message_buffer_uint8_view: null, message_checksum: number, callbacks: Array, packet_error: number, unsupported: number, ledDirectionLetters: [*], ledFunctionLetters: [*], ledBaseFunctionLetters: [*], ledOverlayLetters: [*], last_received_timestamp: null, analog_last_received_timestamp: number, read: MSP.read, send_message: MSP.send_message, promise: MSP.promise, callbacks_cleanup: MSP.callbacks_cleanup, disconnect_cleanup: MSP.disconnect_cleanup}} MSP */ var MSP = { symbols: { BEGIN: '$'.charCodeAt(0), PROTO_V1: 'M'.charCodeAt(0), PROTO_V2: 'X'.charCodeAt(0), FROM_MWC: '>'.charCodeAt(0), TO_MWC: '<'.charCodeAt(0), UNSUPPORTED: '!'.charCodeAt(0), }, decoder_states: { IDLE: 0, PROTO_IDENTIFIER: 1, DIRECTION_V1: 2, DIRECTION_V2: 3, PAYLOAD_LENGTH_V1: 4, PAYLOAD_LENGTH_V2_LOW: 5, PAYLOAD_LENGTH_V2_HIGH: 6, CODE_V1: 7, CODE_V2_LOW: 8, CODE_V2_HIGH: 9, PAYLOAD_V1: 10, PAYLOAD_V2: 11, CHECKSUM_V1: 12, CHECKSUM_V2: 13, }, state: 0, // this.decoder_states.IDLE message_direction: 1, code: 0, message_length_expected: 0, message_length_received: 0, message_buffer: null, message_buffer_uint8_view: null, message_checksum: 0, callbacks: [], packet_error: 0, unsupported: 0, ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit last_received_timestamp: null, analog_last_received_timestamp: null, read: function (readInfo) { var data = new Uint8Array(readInfo.data); for (var i = 0; i < data.length; i++) { switch (this.state) { case this.decoder_states.IDLE: // sync char 1 if (data[i] == this.symbols.BEGIN) { this.state = this.decoder_states.PROTO_IDENTIFIER; } break; case this.decoder_states.PROTO_IDENTIFIER: // sync char 2 switch (data[i]) { case this.symbols.PROTO_V1: this.state = this.decoder_states.DIRECTION_V1; break; case this.symbols.PROTO_V2: // eventually, MSPv2 default: this.state = this.decoder_states.IDLE; } break; case this.decoder_states.DIRECTION_V1: // direction (should be >) this.unsupported = 0; switch (data[i]) { case this.symbols.FROM_MWC: this.message_direction = 1; break; case this.symbols.TO_MWC: this.message_direction = 0; break; case this.symbols.UNSUPPORTED: this.unsupported = 1; break; } this.state = this.decoder_states.PAYLOAD_LENGTH_V1; break; case this.decoder_states.PAYLOAD_LENGTH_V1: this.message_length_expected = data[i]; this.message_checksum = data[i]; // setup arraybuffer this.message_buffer = new ArrayBuffer(this.message_length_expected); this.message_buffer_uint8_view = new Uint8Array(this.message_buffer); this.state = this.decoder_states.CODE_V1; break; case this.decoder_states.CODE_V1: this.code = data[i]; this.message_checksum ^= data[i]; if (this.message_length_expected > 0) { // process payload this.state = this.decoder_states.PAYLOAD_V1; } else { // no payload this.state = this.decoder_states.CHECKSUM_V1; } break; case this.decoder_states.PAYLOAD_V1: this.message_buffer_uint8_view[this.message_length_received] = data[i]; this.message_checksum ^= data[i]; this.message_length_received++; if (this.message_length_received >= this.message_length_expected) { this.state = this.decoder_states.CHECKSUM_V1; } break; case this.decoder_states.CHECKSUM_V1: if (this.message_checksum == data[i]) { // message received, process mspHelper.processData(this); } else { console.log('code: ' + this.code + ' - crc failed'); this.packet_error++; $('span.packet-error').html(this.packet_error); } /* * Free port */ helper.mspQueue.freeHardLock(); // Reset variables this.message_length_received = 0; this.state = this.decoder_states.IDLE; break; default: /* * Free port */ helper.mspQueue.freeHardLock(); console.log('Unknown state detected: ' + this.state); } } this.last_received_timestamp = Date.now(); }, /** * * @param {MSP} mspData */ putCallback: function (mspData) { MSP.callbacks.push(mspData); }, /** * @param {number} code */ removeCallback: function (code) { for (var i in this.callbacks) { if (this.callbacks.hasOwnProperty(i) && this.callbacks[i].code == code) { clearTimeout(this.callbacks[i].timer); this.callbacks.splice(i, 1); } } }, send_message: function (code, data, callback_sent, callback_msp) { var bufferOut, bufView, i; // always reserve 6 bytes for protocol overhead ! if (data) { var size = data.length + 6, checksum; bufferOut = new ArrayBuffer(size); bufView = new Uint8Array(bufferOut); bufView[0] = 36; // $ bufView[1] = 77; // M bufView[2] = 60; // < bufView[3] = data.length; bufView[4] = code; checksum = bufView[3] ^ bufView[4]; for (i = 0; i < data.length; i++) { bufView[i + 5] = data[i]; checksum ^= bufView[i + 5]; } bufView[5 + data.length] = checksum; } else { bufferOut = new ArrayBuffer(6); bufView = new Uint8Array(bufferOut); bufView[0] = 36; // $ bufView[1] = 77; // M bufView[2] = 60; // < bufView[3] = 0; // data length bufView[4] = code; // code bufView[5] = bufView[3] ^ bufView[4]; // checksum } var message = new MspMessageClass(); message.code = code; message.messageBody = bufferOut; message.onFinish = callback_msp; message.onSend = callback_sent; /* * In case of MSP_REBOOT special procedure is required */ if (code == MSPCodes.MSP_SET_REBOOT || code == MSPCodes.MSP_EEPROM_WRITE) { message.retryCounter = 10; } helper.mspQueue.put(message); return true; }, promise: function(code, data) { var self = this; return new Promise(function(resolve) { self.send_message(code, data, false, function(data) { resolve(data); }); }); }, callbacks_cleanup: function () { for (var i = 0; i < this.callbacks.length; i++) { clearInterval(this.callbacks[i].timer); } this.callbacks = []; }, disconnect_cleanup: function () { this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects) this.packet_error = 0; // reset CRC packet error counter for next session this.callbacks_cleanup(); } }; MSP.SDCARD_STATE_NOT_PRESENT = 0; MSP.SDCARD_STATE_FATAL = 1; MSP.SDCARD_STATE_CARD_INIT = 2; MSP.SDCARD_STATE_FS_INIT = 3; MSP.SDCARD_STATE_READY = 4;