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"sha512-GpVkmM8vF2vQUkj2LvZmD35JxeJOLCwJ9cUkugyk2nuhbv3+mJvpLYYt+0+USMxE+oj+ey/lJEnhZw75x/OMcQ==", - "dev": true - }, "source-map": { "version": "0.6.1", "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.6.1.tgz", @@ -23114,6 +23696,15 @@ "punycode": "^2.1.1" } }, + "trim-repeated": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/trim-repeated/-/trim-repeated-1.0.0.tgz", + "integrity": "sha1-42RqLqTokTEr9+rObPsFOAvAHCE=", + "dev": true, + "requires": { + "escape-string-regexp": "^1.0.2" + } + }, "ts-jest": { "version": "26.5.5", "resolved": "https://registry.npmjs.org/ts-jest/-/ts-jest-26.5.5.tgz", @@ -23719,6 +24310,11 @@ } } }, + "web-streams-polyfill": { + "version": "3.0.3", + "resolved": "https://registry.npmjs.org/web-streams-polyfill/-/web-streams-polyfill-3.0.3.tgz", + "integrity": "sha512-d2H/t0eqRNM4w2WvmTdoeIvzAUSpK7JmATB8Nr2lb7nQ9BTIJVjbQ/TRFVEh2gUH1HwclPdoPtfMoFfetXaZnA==" + }, "webidl-conversions": { "version": "6.1.0", "resolved": "https://registry.npmjs.org/webidl-conversions/-/webidl-conversions-6.1.0.tgz", @@ -23995,11 +24591,6 @@ "resolved": "https://registry.npmjs.org/which-module/-/which-module-2.0.0.tgz", "integrity": "sha1-2e8H3Od7mQK4o6j6SzHD4/fm6Ho=" }, - "which-pm-runs": { - "version": "1.0.0", - "resolved": "https://registry.npmjs.org/which-pm-runs/-/which-pm-runs-1.0.0.tgz", - "integrity": "sha1-Zws6+8VS4LVd9rd4DKdGFfI60cs=" - }, "wide-align": { "version": "1.1.3", "resolved": "https://registry.npmjs.org/wide-align/-/wide-align-1.1.3.tgz", diff --git a/package.json b/package.json index 94a0adc..e751776 100644 --- a/package.json +++ b/package.json @@ -26,6 +26,7 @@ "prestart": "npm run build", "start": "node cli.js", "dev": "tsc && webpack --mode=development -w & node cli.js", + "deploy": "rimraf dist/ui && IS_WEB=1 webpack --mode=production && gh-pages -d dist/ui", "test": "jest" }, "author": "Jeremy Apthorp ", @@ -39,6 +40,7 @@ "@types/react": "^16.7.20", "@types/react-dom": "^16.0.11", "@types/serialport": "^8.0.0", + "@types/w3c-web-serial": "^1.0.2", "@types/ws": "^6.0.1", "@types/yargs": "^12.0.8", "@typescript-eslint/eslint-plugin": "^1.5.0", @@ -49,6 +51,7 @@ "eslint": "^5.15.3", "eslint-plugin-react": "^7.12.4", "file-loader": "^3.0.1", + "gh-pages": "^3.2.3", "html-webpack-plugin": "^3.2.0", "jest": "^26.6.3", "react": "^16.8.0-alpha.1", @@ -68,9 +71,10 @@ "express": "^4.16.4", "flatten-svg": "^0.2.1", "optimize-paths": "^1.2.0", - "serialport": "^8.0.7", + "serialport": "^9.2.0", "svgdom": "0.0.21", "wake-lock": "^0.2.0", + "web-streams-polyfill": "^3.0.3", "ws": "^7.4.6", "yargs": "^15.4.1" }, diff --git a/src/ebb.ts b/src/ebb.ts index 99a8dd7..668b27b 100644 --- a/src/ebb.ts +++ b/src/ebb.ts @@ -1,6 +1,5 @@ -import SerialPort from "serialport"; - import {Block, Motion, PenMotion, Plan, XYMotion} from "./planning"; +import { RegexParser } from "./regex-transform-stream"; import {Vec2, vsub} from "./vec"; /** Split d into its fractional and integral parts */ @@ -10,20 +9,11 @@ function modf(d: number): [number, number] { return [fracPart, intPart]; } -function isEBB(p: SerialPort.PortInfo): boolean { - return p.manufacturer === "SchmalzHaus" || p.manufacturer === "SchmalzHaus LLC" || (p.vendorId == "04D8" && p.productId == "FD92"); -} - export class EBB { - /** List connected EBBs */ - public static async list(): Promise { - const ports = await SerialPort.list(); - return ports.filter(isEBB).map((p) => p.path); - } - public port: SerialPort; - public parser: SerialPort.parsers.Delimiter; private commandQueue: Iterator[]; + private writer: WritableStreamDefaultWriter; + private readableClosed: Promise private microsteppingMode: number = 0; @@ -34,25 +24,33 @@ export class EBB { public constructor(port: SerialPort) { this.port = port; - this.parser = this.port.pipe(new SerialPort.parsers.Regex({ regex: /[\r\n]+/ })); + this.writer = this.port.writable.getWriter() this.commandQueue = []; - this.parser.on("data", (chunk: Buffer) => { - if (this.commandQueue.length) { - if (chunk[0] === "!".charCodeAt(0)) { - return (this.commandQueue.shift() as any).reject(new Error(chunk.toString("ascii"))); - } - try { - const d = this.commandQueue[0].next(chunk); - if (d.done) { - return (this.commandQueue.shift() as any).resolve(d.value); + this.readableClosed = port.readable + .pipeThrough(new RegexParser({ regex: /[\r\n]+/ })) + .pipeTo(new WritableStream({ + write: (chunk) => { + if (/^[\r\n]*$/.test(chunk)) return + if (this.commandQueue.length) { + if (chunk[0] === "!".charCodeAt(0)) { + (this.commandQueue.shift() as any).reject(new Error(chunk.toString("ascii"))); + return; + } + try { + const d = this.commandQueue[0].next(chunk); + if (d.done) { + (this.commandQueue.shift() as any).resolve(d.value); + return; + } + } catch (e) { + (this.commandQueue.shift() as any).reject(e); + return; + } + } else { + console.log(`unexpected data: ${chunk}`); } - } catch (e) { - return (this.commandQueue.shift() as any).reject(e); } - } else { - console.log(`unexpected data: ${chunk}`); - } - }); + })) } private get stepMultiplier() { @@ -67,19 +65,16 @@ export class EBB { } } - public close(): Promise { - return new Promise((resolve, reject) => { - this.port.close((err) => { - if (err) { reject(err); } else { resolve(); } - }); - }); + public async close(): Promise { + throw new Error("TODO") } - private write(str: string): boolean { + private write(str: string): Promise { if (process.env.DEBUG_SAXI_COMMANDS) { console.log(`writing: ${str}`) } - return this.port.write(str); + const encoder = new TextEncoder() + return this.writer.write(encoder.encode(str)) } /** Send a raw command to the EBB and expect a single line in return, without an "OK" line to terminate. */ diff --git a/src/global.d.ts b/src/global.d.ts index 682de80..3a17d2e 100644 --- a/src/global.d.ts +++ b/src/global.d.ts @@ -27,3 +27,5 @@ declare module 'flatten-svg' { import main = require('flatten-svg/index'); export = main; } + +declare const IS_WEB: boolean diff --git a/src/regex-transform-stream.ts b/src/regex-transform-stream.ts new file mode 100644 index 0000000..97d4e46 --- /dev/null +++ b/src/regex-transform-stream.ts @@ -0,0 +1,29 @@ +export class RegexParser extends TransformStream { + public constructor(opts: { regex: RegExp }) { + if (opts.regex === undefined) { + throw new TypeError('"options.regex" must be a regular expression pattern or object') + } + + if (!(opts.regex instanceof RegExp)) { + opts.regex = new RegExp(opts.regex) + } + + const regex = opts.regex + let data = '' + const decoder = new TextDecoder() + super({ + transform(chunk, controller) { + const newData = data + decoder.decode(chunk) + const parts = newData.split(regex) + data = parts.pop() + parts.forEach(part => { + controller.enqueue(part) + }) + }, + flush(controller) { + controller.enqueue(data) + data = '' + } + }) + } +} diff --git a/src/serialport-serialport.ts b/src/serialport-serialport.ts new file mode 100644 index 0000000..19100e1 --- /dev/null +++ b/src/serialport-serialport.ts @@ -0,0 +1,125 @@ +import { EventEmitter } from "events"; +import { default as NodeSerialPort } from "serialport"; + +function readableStreamFromAsyncIterable(iterable: AsyncIterable) { + const it = iterable[Symbol.asyncIterator](); + return new ReadableStream({ + async pull(controller) { + const { done, value } = await it.next(); + if (done) { + controller.close(); + } else { + controller.enqueue(value); + } + }, + async cancel(reason) { + await it.throw(reason); + } + }, { highWaterMark: 0 }); +} + +export class SerialPortSerialPort extends EventEmitter implements SerialPort { + private _path: string; + private _port: NodeSerialPort + + public constructor(path: string) { + super() + this._path = path + } + + public onconnect: (this: this, ev: Event) => any; + public ondisconnect: (this: this, ev: Event) => any; + public readable: ReadableStream; + public writable: WritableStream; + + public open(options: SerialOptions): Promise { + const opts: NodeSerialPort.OpenOptions = { + baudRate: options.baudRate, + } + if (options.dataBits != null) + opts.dataBits = options.dataBits as any + if (options.stopBits != null) + opts.stopBits = options.stopBits as any + if (options.parity != null) + opts.parity = options.parity + + /* + TODO: + bufferSize?: number | undefined; + flowControl?: FlowControlType | undefined; + */ + return new Promise((resolve, reject) => { + this._port = new NodeSerialPort(this._path, opts, (err) => { + this._port.once('close', () => this.emit('disconnect')) + if (err) reject(err) + else { + // Drain the port + while (this._port.read() != null) { /* do nothing */ } + resolve() + } + }) + this.readable = readableStreamFromAsyncIterable(this._port) + this.writable = new WritableStream({ + write: (chunk) => { + return new Promise((resolve, reject) => { + this._port.write(Buffer.from(chunk), (err, _bytesWritten) => { + if (err) reject(err) + else resolve() + // TODO: check bytesWritten? + }) + }) + } + }) + }) + } + public setSignals(signals: SerialOutputSignals): Promise { + return new Promise((resolve, reject) => { + this._port.set({ + dtr: signals.dataTerminalReady, + rts: signals.requestToSend, + brk: signals.break + }, (err) => { + if (err) reject(err) + else resolve() + }) + }) + } + public getSignals(): Promise { + throw new Error("Method not implemented."); + } + public getInfo(): SerialPortInfo { + throw new Error("Method not implemented."); + } + public close(): Promise { + return new Promise((resolve, reject) => { + this._port.close((err) => { + if (err) reject(err) + else resolve() + }) + }) + } + + public addEventListener(type: "connect" | "disconnect", listener: (this: this, ev: Event) => any, useCapture?: boolean): void; + public addEventListener(type: string, listener: EventListenerOrEventListenerObject, options?: boolean | AddEventListenerOptions): void; + public addEventListener(type: any, listener: any, options?: any): void { + if (typeof options === 'object' && options.once) { + this.once(type, listener) + } else { + this.on(type, listener) + } + } + + public removeEventListener(type: "connect" | "disconnect", callback: (this: this, ev: Event) => any, useCapture?: boolean): void; + public removeEventListener(type: string, callback: EventListenerOrEventListenerObject, options?: boolean | EventListenerOptions): void; + public removeEventListener(type: any, callback: any, options?: any): void { + if (typeof options === 'object' && options.once) { + this.off(type, callback) + } else { + this.off(type, callback) + } + } + + public dispatchEvent(event: Event): boolean { + return this.emit(event.type) + } +} diff --git a/src/server.ts b/src/server.ts index 1019fee..c8531d3 100644 --- a/src/server.ts +++ b/src/server.ts @@ -1,10 +1,12 @@ import cors from "cors"; +import "web-streams-polyfill/es2018" import express from "express"; import http from "http"; import path from "path"; -import SerialPort from "serialport"; +import { default as NodeSerialPort } from "serialport"; import { WakeLock } from "wake-lock"; import WebSocket from "ws"; +import { SerialPortSerialPort } from "./serialport-serialport"; import { EBB } from "./ebb"; import { Device, PenMotion, Motion, Plan } from "./planning"; import { formatDuration } from "./util"; @@ -56,7 +58,7 @@ export function startServer(port: number, device: string | null = null, enableCo } }); - ws.send(JSON.stringify({c: "dev", p: {path: ebb ? ebb.port.path : null}})); + ws.send(JSON.stringify({c: "dev", p: {path: ebb ? /*ebb.port.path*/"/dev/XXX" : null}})); ws.send(JSON.stringify({c: "pause", p: {paused: !!unpaused}})); if (motionIdx != null) { ws.send(JSON.stringify({c: "progress", p: {motionIdx}})); @@ -221,7 +223,7 @@ export function startServer(port: number, device: string | null = null, enableCo async function connect() { for await (const d of ebbs(device)) { ebb = d; - broadcast({c: "dev", p: {path: ebb ? ebb.port.path : null}}); + broadcast({c: "dev", p: {path: ebb ? /*ebb.port.path*/"/dev/XXX" : null}}); } } connect(); @@ -233,27 +235,28 @@ export function startServer(port: number, device: string | null = null, enableCo }); } -function tryOpen(path: string): Promise { - return new Promise((resolve, reject) => { - const port = new SerialPort(path); - port.on("open", () => { - port.removeAllListeners(); - resolve(port); - }); - port.on("error", (e) => { - port.removeAllListeners(); - reject(e); - }); - }); +async function tryOpen(path: string): Promise { + const port = new SerialPortSerialPort(path); + await port.open({baudRate: 9600}) + return port } function sleep(ms: number) { return new Promise((resolve) => setTimeout(resolve, ms)); } +function isEBB(p: NodeSerialPort.PortInfo): boolean { + return p.manufacturer === "SchmalzHaus" || p.manufacturer === "SchmalzHaus LLC" || (p.vendorId == "04D8" && p.productId == "FD92"); +} + +async function listEBBs() { + const ports = await NodeSerialPort.list(); + return ports.filter(isEBB).map((p) => p.path); +} + async function waitForEbb() { while (true) { - const ebbs = await EBB.list(); + const ebbs = await listEBBs(); if (ebbs.length) { return ebbs[0]; } @@ -261,12 +264,6 @@ async function waitForEbb() { } } -function drain(port: SerialPort) { - while (port.read() != null) { - /* do nothing */ - } -} - async function* ebbs(path?: string) { while (true) { try { @@ -274,10 +271,8 @@ async function* ebbs(path?: string) { console.log(`Found EBB at ${com}`); const port = await tryOpen(com); const closed = new Promise((resolve) => { - port.once("close", resolve); - port.once("error", resolve); + port.addEventListener('disconnect', resolve, { once: true }) }); - drain(port); yield new EBB(port); await closed; yield null; @@ -292,11 +287,11 @@ async function* ebbs(path?: string) { export async function connectEBB(path: string | undefined): Promise { if (path) { - return new EBB(new SerialPort(path)); + return new EBB(new SerialPortSerialPort(path)); } else { - const ebbs = await EBB.list(); + const ebbs = await listEBBs(); if (ebbs.length) { - return new EBB(new SerialPort(ebbs[0])); + return new EBB(new SerialPortSerialPort(ebbs[0])); } else { return null; } diff --git a/src/ui.tsx b/src/ui.tsx index 9e62971..d2e9c99 100644 --- a/src/ui.tsx +++ b/src/ui.tsx @@ -6,7 +6,7 @@ import * as colormap from "colormap" import {flattenSVG} from "flatten-svg"; import {PaperSize} from "./paper-size"; -import {Device, Plan, PlanOptions, defaultPlanOptions, XYMotion} from "./planning"; +import {Device, Plan, PlanOptions, defaultPlanOptions, XYMotion, PenMotion} from "./planning"; import {formatDuration} from "./util"; import {Vec2} from "./vec"; @@ -17,6 +17,7 @@ import "./style.css"; import pathJoinRadiusIcon from "./icons/path-joining radius.svg"; import pointJoinRadiusIcon from "./icons/point-joining radius.svg"; import rotateDrawingIcon from "./icons/rotate-drawing.svg"; +import { EBB } from "./ebb"; const defaultVisualizationOptions = { penStrokeWidth: 0.5, @@ -82,9 +83,133 @@ interface DeviceInfo { path: string; } -class Driver { +interface Driver { + onprogress: (motionIdx: number) => void | null; + oncancelled: () => void | null; + onfinished: () => void | null; + ondevinfo: (devInfo: DeviceInfo) => void | null; + onpause: (paused: boolean) => void | null; + onconnectionchange: (connected: boolean) => void | null; + onplan: (plan: Plan) => void | null; + + plot(plan: Plan): void; + + cancel(): void; + pause(): void; + resume(): void; + setPenHeight(height: number, rate: number): void; + limp(): void; + + name(): string; + close(): Promise; +} + +class WebSerialDriver implements Driver { + public onprogress: (motionIdx: number) => void; + public oncancelled: () => void; + public onfinished: () => void; + public ondevinfo: (devInfo: DeviceInfo) => void; + public onpause: (paused: boolean) => void; + public onconnectionchange: (connected: boolean) => void; + public onplan: (plan: Plan) => void; + + private _unpaused: Promise = null; + private _signalUnpause: () => void = null; + private _cancelRequested: boolean = false; + + public static async connect(port?: SerialPort) { + if (!port) + port = await navigator.serial.requestPort({ filters: [{ usbVendorId: 0x04D8, usbProductId: 0xFD92 }] }) + // baudRate ref: https://github.com/evil-mad/plotink/blob/a45739b7d41b74d35c1e933c18949ed44c72de0e/plotink/ebb_serial.py#L281 + // (doesn't specify baud rate) + // and https://pyserial.readthedocs.io/en/latest/pyserial_api.html#serial.Serial.__init__ + // (pyserial defaults to 9600) + await port.open({ baudRate: 9600 }) + const { usbVendorId, usbProductId } = port.getInfo() + return new WebSerialDriver(new EBB(port), `${usbVendorId.toString(16).padStart(4, '0')}:${usbProductId.toString(16).padStart(4, '0')}`) + } + + private _name: string + public name(): string { + return this._name + } + + private ebb: EBB + private constructor(ebb: EBB, name: string) { + this.ebb = ebb + this._name = name + } + + public close(): Promise { + return this.ebb.close() + } + + public async plot(plan: Plan): Promise { + const microsteppingMode = 2 + this._unpaused = null; + this._cancelRequested = false; + await this.ebb.enableMotors(microsteppingMode); + + let motionIdx = 0 + let penIsUp = true; + for (const motion of plan.motions) { + if (this.onprogress) this.onprogress(motionIdx) + await this.ebb.executeMotion(motion); + if (motion instanceof PenMotion) { + penIsUp = motion.initialPos < motion.finalPos; + } + if (this._unpaused && penIsUp) { + await this._unpaused + if (this.onpause) this.onpause(false) + } + if (this._cancelRequested) { break; } + motionIdx += 1 + } + + if (this._cancelRequested) { + await this.ebb.setPenHeight(Device.Axidraw.penPctToPos(0), 1000); + if (this.oncancelled) this.oncancelled() + } else { + if (this.onfinished) this.onfinished() + } + + await this.ebb.waitUntilMotorsIdle(); + await this.ebb.disableMotors(); + } + + public cancel(): void { + this._cancelRequested = true + } + + public pause(): void { + this._unpaused = new Promise(resolve => { + this._signalUnpause = resolve + }) + if (this.onpause) this.onpause(true) + } + + public resume(): void { + const signal = this._signalUnpause + this._unpaused = null + this._signalUnpause = null + signal() + } + + public async setPenHeight(height: number, rate: number): Promise { + if (await this.ebb.supportsSR()) { + await this.ebb.setServoPowerTimeout(10000, true) + } + await this.ebb.setPenHeight(height, rate) + } + + public limp(): void { + this.ebb.disableMotors() + } +} + +class SaxiDriver implements Driver { public static connect(): Driver { - const d = new Driver(); + const d = new SaxiDriver(); d.connect(); return d; } @@ -101,6 +226,15 @@ class Driver { private connected: boolean; private pingInterval: number; + public name() { + return 'Saxi Server' + } + + public close() { + this.socket.close() + return Promise.resolve() + } + public connect() { this.socket = new WebSocket(`ws://${document.location.host}/chat`); this.socket.addEventListener("open", () => { @@ -154,7 +288,7 @@ class Driver { } } }); - this.socket.addEventListener("error", (_e: ErrorEvent) => { + this.socket.addEventListener("error", () => { // TODO: something }); this.socket.addEventListener("close", () => { @@ -833,7 +967,50 @@ function PlanOptions({state}: {state: State}) { ; } -function Root({driver}: {driver: Driver}) { +function PortSelector({driver, setDriver}: {driver: Driver; setDriver: (d: Driver) => void}) { + const [initializing, setInitializing] = useState(false) + useEffect(() => { + (async () => { + try { + const ports = await navigator.serial.getPorts() + if (ports.length > 0) { + console.log('connecting to', ports[0]) + // get the first + setDriver(await WebSerialDriver.connect(ports[0])) + } + } finally { + setInitializing(false) + } + })() + }, []) + return <> + {driver ? `Connected: ${driver.name()}` : null} + {!driver ? + + : null} + +} + +function Root() { + const [driver, setDriver] = useState( + IS_WEB ? null as Driver | null : SaxiDriver.connect() + ) const [state, dispatch] = useReducer(reducer, initialState); const [isPlanning, plan, setPlan] = usePlan(state.paths, state.planOptions); const [isLoadingFile, setIsLoadingFile] = useState(false); @@ -841,7 +1018,9 @@ function Root({driver}: {driver: Driver}) { useEffect(() => { window.localStorage.setItem("planOptions", JSON.stringify(state.planOptions)); }, [state.planOptions]); + useEffect(() => { + if (driver == null) return; driver.onprogress = (motionIdx: number) => { dispatch({type: "SET_PROGRESS", motionIdx}); }; @@ -860,6 +1039,9 @@ function Root({driver}: {driver: Driver}) { driver.onplan = (plan: Plan) => { setPlan(plan); }; + }, [driver]) + + useEffect(() => { const ondrop = (e: DragEvent) => { e.preventDefault(); const item = e.dataTransfer.items[0]; @@ -912,6 +1094,7 @@ function Root({driver}: {driver: Driver}) {
saxi
+ {IS_WEB ? : null} {!state.connected ?
disconnected
: null}
pen
@@ -961,7 +1144,7 @@ function DragTarget() {
; } -ReactDOM.render(, document.getElementById("app")); +ReactDOM.render(, document.getElementById("app")); function withSVG(svgString: string, fn: (svg: SVGSVGElement) => T): T { const div = document.createElement("div"); diff --git a/webpack.config.js b/webpack.config.js index ad7108d..76db0d5 100644 --- a/webpack.config.js +++ b/webpack.config.js @@ -1,4 +1,5 @@ const path = require('path'); +const webpack = require('webpack') const HtmlWebpackPlugin = require('html-webpack-plugin'); module.exports = (env, {mode = 'development'}) => ({ @@ -39,7 +40,10 @@ module.exports = (env, {mode = 'development'}) => ({ plugins: [ new HtmlWebpackPlugin({ template: './src/index.html', - }) + }), + new webpack.DefinePlugin({ + IS_WEB: !!process.env['IS_WEB'] + }), ], devtool: mode === 'development' ? 'inline-source-map' : 'source-map', });