287 lines
9.2 KiB
TypeScript
287 lines
9.2 KiB
TypeScript
/**
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* See https://www.lego.com/cdn/cs/set/assets/blt6879b00ae6951482/LEGO_MINDSTORMS_EV3_Communication_Developer_Kit.pdf
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* https://github.com/mindboards/ev3sources/blob/master/lms2012/lms2012/source/bytecodes.h#L146
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*/
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import HF2 = pxt.HF2
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import U = pxt.U
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function log(msg: string) {
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pxt.log("serial: " + msg)
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}
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export interface DirEntry {
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name: string;
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md5?: string;
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size?: number;
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}
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const runTemplate = "C00882010084XX0060640301606400"
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const usbMagic = 0x3d3f
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const DIRECT_COMMAND_NO_REPLY = 0x80
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export class Ev3Wrapper {
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msgs = new U.PromiseBuffer<Uint8Array>()
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private cmdSeq = U.randomUint32() & 0xffff;
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private lock = new U.PromiseQueue();
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isStreaming = false;
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dataDump = /talkdbg=1/.test(window.location.href);
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constructor(public io: pxt.packetio.PacketIO) {
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io.onData = buf => {
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buf = buf.slice(0, HF2.read16(buf, 0) + 2)
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if (HF2.read16(buf, 4) == usbMagic) {
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let code = HF2.read16(buf, 6)
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let payload = buf.slice(8)
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if (code == 1) {
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let str = U.uint8ArrayToString(payload)
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if (U.isNodeJS)
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pxt.debug("SERIAL: " + str.replace(/\n+$/, ""))
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else
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window.postMessage({
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type: 'serial',
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id: 'n/a', // TODO?
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data: str
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}, "*")
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} else
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pxt.debug("Magic: " + code + ": " + U.toHex(payload))
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return
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}
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if (this.dataDump)
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log("RECV: " + U.toHex(buf))
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this.msgs.push(buf)
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}
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}
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private allocCore(addSize: number, replyType: number) {
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let len = 5 + addSize
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let buf = new Uint8Array(len)
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HF2.write16(buf, 0, len - 2) // pktLen
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HF2.write16(buf, 2, this.cmdSeq++) // msgCount
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buf[4] = replyType
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return buf
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}
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private allocSystem(addSize: number, cmd: number, replyType = 1) {
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let buf = this.allocCore(addSize + 1, replyType)
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buf[5] = cmd
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return buf
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}
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private allocCustom(code: number, addSize = 0) {
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let buf = this.allocCore(1 + 2 + addSize, 0)
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HF2.write16(buf, 4, usbMagic)
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HF2.write16(buf, 6, code)
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return buf
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}
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stopAsync() {
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return this.isVmAsync()
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.then(vm => {
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if (vm) return Promise.resolve();
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log(`stopping PXT app`)
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let buf = this.allocCustom(2)
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return this.justSendAsync(buf)
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.then(() => pxt.U.delay(500))
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})
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}
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dmesgAsync() {
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log(`asking for DMESG buffer over serial`)
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let buf = this.allocCustom(3)
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return this.justSendAsync(buf)
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}
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runAsync(path: string) {
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let codeHex = runTemplate.replace("XX", U.toHex(U.stringToUint8Array(path)))
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let code = U.fromHex(codeHex)
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let pkt = this.allocCore(2 + code.length, DIRECT_COMMAND_NO_REPLY)
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HF2.write16(pkt, 5, 0x0800)
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U.memcpy(pkt, 7, code)
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log(`run ${path}`)
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return this.justSendAsync(pkt)
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}
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justSendAsync(buf: Uint8Array) {
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return this.lock.enqueue("talk", () => {
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this.msgs.drain()
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if (this.dataDump)
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log("SEND: " + U.toHex(buf))
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return this.io.sendPacketAsync(buf)
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})
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}
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talkAsync(buf: Uint8Array, altResponse = 0) {
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return this.lock.enqueue("talk", () => {
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this.msgs.drain()
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if (this.dataDump)
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log("TALK: " + U.toHex(buf))
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return this.io.sendPacketAsync(buf)
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.then(() => this.msgs.shiftAsync(5000))
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.then(resp => {
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if (resp[2] != buf[2] || resp[3] != buf[3])
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U.userError("msg count de-sync")
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if (buf[4] == 1) {
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if (altResponse != -1 && resp[5] != buf[5])
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U.userError("cmd de-sync")
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if (altResponse != -1 && resp[6] != 0 && resp[6] != altResponse)
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U.userError("cmd error: " + resp[6])
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}
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return resp
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})
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})
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}
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flashAsync(path: string, file: Uint8Array) {
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log(`write ${file.length} bytes to ${path}`)
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let handle = -1
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let loopAsync = (pos: number): Promise<void> => {
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if (pos >= file.length) return Promise.resolve()
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let size = file.length - pos
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if (size > 1000) size = 1000
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let upl = this.allocSystem(1 + size, 0x93, 0x1)
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upl[6] = handle
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U.memcpy(upl, 6 + 1, file, pos, size)
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return this.talkAsync(upl, 8) // 8=EOF
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.then(() => loopAsync(pos + size))
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}
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let begin = this.allocSystem(4 + path.length + 1, 0x92)
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HF2.write32(begin, 6, file.length) // fileSize
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U.memcpy(begin, 10, U.stringToUint8Array(path))
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return this.lock.enqueue("file", () =>
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this.talkAsync(begin)
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.then(resp => {
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handle = resp[7]
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return loopAsync(0)
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}))
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}
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lsAsync(path: string): Promise<DirEntry[]> {
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let lsReq = this.allocSystem(2 + path.length + 1, 0x99)
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HF2.write16(lsReq, 6, 1024) // maxRead
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U.memcpy(lsReq, 8, U.stringToUint8Array(path))
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return this.talkAsync(lsReq, 8)
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.then(resp =>
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U.uint8ArrayToString(resp.slice(12)).split(/\n/).map(s => {
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if (!s) return null as DirEntry
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let m = /^([A-F0-9]+) ([A-F0-9]+) ([^\/]*)$/.exec(s)
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if (m)
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return {
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md5: m[1],
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size: parseInt(m[2], 16),
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name: m[3]
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}
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else
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return {
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name: s.replace(/\/$/, "")
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}
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}).filter(v => !!v))
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}
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rmAsync(path: string): Promise<void> {
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log(`rm ${path}`)
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let rmReq = this.allocSystem(path.length + 1, 0x9c)
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U.memcpy(rmReq, 6, U.stringToUint8Array(path))
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return this.talkAsync(rmReq, 5)
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.then(resp => { })
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}
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isVmAsync(): Promise<boolean> {
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let path = "/no/such/dir"
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let mkdirReq = this.allocSystem(path.length + 1, 0x9b)
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U.memcpy(mkdirReq, 6, U.stringToUint8Array(path))
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return this.talkAsync(mkdirReq, -1)
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.then(resp => {
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let isVM = resp[6] == 0x05
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log(`${isVM ? "PXT app" : "VM"} running`)
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return isVM
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})
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}
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private streamFileOnceAsync(path: string, cb: (d: Uint8Array) => void) {
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let fileSize = 0
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let filePtr = 0
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let handle = -1
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let resp = (buf: Uint8Array): Promise<void> => {
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if (buf[6] == 2) {
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// handle not ready - file is missing
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this.isStreaming = false
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return Promise.resolve()
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}
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if (buf[6] != 0 && buf[6] != 8)
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U.userError("bad response when streaming file: " + buf[6] + " " + U.toHex(buf))
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this.isStreaming = true
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fileSize = HF2.read32(buf, 7)
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if (handle == -1) {
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handle = buf[11]
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log(`stream on, handle=${handle}`)
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}
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let data = buf.slice(12)
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filePtr += data.length
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if (data.length > 0)
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cb(data)
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if (buf[6] == 8) {
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// end of file
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this.isStreaming = false
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return this.rmAsync(path)
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}
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let contFileReq = this.allocSystem(1 + 2, 0x97)
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HF2.write16(contFileReq, 7, 1000) // maxRead
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contFileReq[6] = handle
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return pxt.U.delay(data.length > 0 ? 0 : 500)
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.then(() => this.talkAsync(contFileReq, -1))
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.then(resp)
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}
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let getFileReq = this.allocSystem(2 + path.length + 1, 0x96)
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HF2.write16(getFileReq, 6, 1000) // maxRead
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U.memcpy(getFileReq, 8, U.stringToUint8Array(path))
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return this.talkAsync(getFileReq, -1).then(resp)
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}
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streamFileAsync(path: string, cb: (d: Uint8Array) => void) {
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let loop = (): Promise<void> =>
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this.lock.enqueue("file", () =>
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this.streamFileOnceAsync(path, cb))
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.then(() => pxt.U.delay(500))
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.then(loop)
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return loop()
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}
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downloadFileAsync(path: string, cb: (d: Uint8Array) => void) {
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return this.lock.enqueue("file", () =>
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this.streamFileOnceAsync(path, cb))
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}
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private initAsync() {
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return Promise.resolve()
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}
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private resetState() {
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}
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reconnectAsync(first = false): Promise<void> {
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this.resetState()
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if (first) return this.initAsync()
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log(`reconnect`);
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return this.io.reconnectAsync()
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.then(() => this.initAsync())
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}
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disconnectAsync() {
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log(`disconnect`);
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return this.io.disconnectAsync()
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}
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}
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