Merge branch 'develop' into feature/proper-mdns-support

OpenShock · Oct 8, 2024 · dae41bb · dae41bb · github-actions · Oct 8, 2024
2 parents 9269344 + 3d1acb7
commit dae41bb
Show file tree

Hide file tree

Showing 42 changed files with 928 additions and 416 deletions.
diff --git a/.clang-format b/.clang-format
@@ -67,7 +67,7 @@ AlignTrailingComments:
   Kind: Always
   OverEmptyLines: 1
 AllowAllArgumentsOnNextLine: true
-AllowAllParametersOfDeclarationOnNextLine: false
+AllowAllParametersOfDeclarationOnNextLine: true
 AllowShortBlocksOnASingleLine: Always
 AllowShortCaseLabelsOnASingleLine: false
 AllowShortEnumsOnASingleLine: false
@@ -87,7 +87,7 @@ BraceWrapping:
   AfterClass: false
   AfterControlStatement: MultiLine
   AfterEnum: false
-  AfterFunction: false
+  AfterFunction: true
   AfterNamespace: false
   AfterStruct: false
   AfterUnion: false
@@ -100,7 +100,7 @@ BraceWrapping:
   SplitEmptyFunction: true
   SplitEmptyRecord: true
   SplitEmptyNamespace: true
-BreakAfterAttributes: Never
+BreakAfterAttributes: Leave
 BreakBeforeBinaryOperators: All
 BreakBeforeConceptDeclarations: Allowed
 BreakBeforeInlineASMColon: Always

diff --git a/frontend/src/lib/MessageHandlers/index.ts b/frontend/src/lib/MessageHandlers/index.ts
@@ -38,6 +38,16 @@ PayloadHandlers[HubToLocalMessagePayload.ReadyMessage] = (cli, msg) => {
     store.accountLinked = payload.accountLinked();
     store.config = mapConfig(payload.config());
 
+    const gpioValidInputs = payload.gpioValidInputsArray();
+    if (gpioValidInputs) {
+      store.gpioValidInputs = gpioValidInputs;
+    }
+
+    const gpioValidOutputs = payload.gpioValidOutputsArray();
+    if (gpioValidOutputs) {
+      store.gpioValidOutputs = gpioValidOutputs;
+    }
+
     console.log('[WS] Updated device state store: ', store);
 
     return store;

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration/estop-config.ts
@@ -32,7 +32,7 @@ enabled():boolean {
  */
 gpioPin():number {
   const offset = this.bb!.__offset(this.bb_pos, 6);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 static startEStopConfig(builder:flatbuffers.Builder) {

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/configuration/rfconfig.ts b/frontend/src/lib/_fbs/open-shock/serialization/configuration/rfconfig.ts
@@ -27,7 +27,7 @@ static getSizePrefixedRootAsRFConfig(bb:flatbuffers.ByteBuffer, obj?:RFConfig):R
  */
 txPin():number {
   const offset = this.bb!.__offset(this.bb_pos, 4);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 /**

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/ready-message.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/ready-message.ts
@@ -46,8 +46,38 @@ config(obj?:HubConfig):HubConfig|null {
   return offset ? (obj || new HubConfig()).__init(this.bb!.__indirect(this.bb_pos + offset), this.bb!) : null;
 }
 
+gpioValidInputs(index: number):number|null {
+  const offset = this.bb!.__offset(this.bb_pos, 12);
+  return offset ? this.bb!.readInt8(this.bb!.__vector(this.bb_pos + offset) + index) : 0;
+}
+
+gpioValidInputsLength():number {
+  const offset = this.bb!.__offset(this.bb_pos, 12);
+  return offset ? this.bb!.__vector_len(this.bb_pos + offset) : 0;
+}
+
+gpioValidInputsArray():Int8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 12);
+  return offset ? new Int8Array(this.bb!.bytes().buffer, this.bb!.bytes().byteOffset + this.bb!.__vector(this.bb_pos + offset), this.bb!.__vector_len(this.bb_pos + offset)) : null;
+}
+
+gpioValidOutputs(index: number):number|null {
+  const offset = this.bb!.__offset(this.bb_pos, 14);
+  return offset ? this.bb!.readInt8(this.bb!.__vector(this.bb_pos + offset) + index) : 0;
+}
+
+gpioValidOutputsLength():number {
+  const offset = this.bb!.__offset(this.bb_pos, 14);
+  return offset ? this.bb!.__vector_len(this.bb_pos + offset) : 0;
+}
+
+gpioValidOutputsArray():Int8Array|null {
+  const offset = this.bb!.__offset(this.bb_pos, 14);
+  return offset ? new Int8Array(this.bb!.bytes().buffer, this.bb!.bytes().byteOffset + this.bb!.__vector(this.bb_pos + offset), this.bb!.__vector_len(this.bb_pos + offset)) : null;
+}
+
 static startReadyMessage(builder:flatbuffers.Builder) {
-  builder.startObject(4);
+  builder.startObject(6);
 }
 
 static addPoggies(builder:flatbuffers.Builder, poggies:boolean) {
@@ -66,6 +96,48 @@ static addConfig(builder:flatbuffers.Builder, configOffset:flatbuffers.Offset) {
   builder.addFieldOffset(3, configOffset, 0);
 }
 
+static addGpioValidInputs(builder:flatbuffers.Builder, gpioValidInputsOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(4, gpioValidInputsOffset, 0);
+}
+
+static createGpioValidInputsVector(builder:flatbuffers.Builder, data:number[]|Int8Array):flatbuffers.Offset;
+/**
+ * @deprecated This Uint8Array overload will be removed in the future.
+ */
+static createGpioValidInputsVector(builder:flatbuffers.Builder, data:number[]|Uint8Array):flatbuffers.Offset;
+static createGpioValidInputsVector(builder:flatbuffers.Builder, data:number[]|Int8Array|Uint8Array):flatbuffers.Offset {
+  builder.startVector(1, data.length, 1);
+  for (let i = data.length - 1; i >= 0; i--) {
+    builder.addInt8(data[i]!);
+  }
+  return builder.endVector();
+}
+
+static startGpioValidInputsVector(builder:flatbuffers.Builder, numElems:number) {
+  builder.startVector(1, numElems, 1);
+}
+
+static addGpioValidOutputs(builder:flatbuffers.Builder, gpioValidOutputsOffset:flatbuffers.Offset) {
+  builder.addFieldOffset(5, gpioValidOutputsOffset, 0);
+}
+
+static createGpioValidOutputsVector(builder:flatbuffers.Builder, data:number[]|Int8Array):flatbuffers.Offset;
+/**
+ * @deprecated This Uint8Array overload will be removed in the future.
+ */
+static createGpioValidOutputsVector(builder:flatbuffers.Builder, data:number[]|Uint8Array):flatbuffers.Offset;
+static createGpioValidOutputsVector(builder:flatbuffers.Builder, data:number[]|Int8Array|Uint8Array):flatbuffers.Offset {
+  builder.startVector(1, data.length, 1);
+  for (let i = data.length - 1; i >= 0; i--) {
+    builder.addInt8(data[i]!);
+  }
+  return builder.endVector();
+}
+
+static startGpioValidOutputsVector(builder:flatbuffers.Builder, numElems:number) {
+  builder.startVector(1, numElems, 1);
+}
+
 static endReadyMessage(builder:flatbuffers.Builder):flatbuffers.Offset {
   const offset = builder.endObject();
   return offset;

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/set-estop-pin-command-result.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/set-estop-pin-command-result.ts
@@ -27,7 +27,7 @@ static getSizePrefixedRootAsSetEstopPinCommandResult(bb:flatbuffers.ByteBuffer,
 
 gpioPin():number {
   const offset = this.bb!.__offset(this.bb_pos, 4);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 result():SetGPIOResultCode {

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/set-estop-pin-command.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/set-estop-pin-command.ts
@@ -24,7 +24,7 @@ static getSizePrefixedRootAsSetEstopPinCommand(bb:flatbuffers.ByteBuffer, obj?:S
 
 pin():number {
   const offset = this.bb!.__offset(this.bb_pos, 4);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 static startSetEstopPinCommand(builder:flatbuffers.Builder) {

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/set-rf-tx-pin-command-result.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/set-rf-tx-pin-command-result.ts
@@ -27,7 +27,7 @@ static getSizePrefixedRootAsSetRfTxPinCommandResult(bb:flatbuffers.ByteBuffer, o
 
 pin():number {
   const offset = this.bb!.__offset(this.bb_pos, 4);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 result():SetGPIOResultCode {

diff --git a/frontend/src/lib/_fbs/open-shock/serialization/local/set-rf-tx-pin-command.ts b/frontend/src/lib/_fbs/open-shock/serialization/local/set-rf-tx-pin-command.ts
@@ -24,7 +24,7 @@ static getSizePrefixedRootAsSetRfTxPinCommand(bb:flatbuffers.ByteBuffer, obj?:Se
 
 pin():number {
   const offset = this.bb!.__offset(this.bb_pos, 4);
-  return offset ? this.bb!.readUint8(this.bb_pos + offset) : 0;
+  return offset ? this.bb!.readInt8(this.bb_pos + offset) : 0;
 }
 
 static startSetRfTxPinCommand(builder:flatbuffers.Builder) {

diff --git a/frontend/src/lib/components/GpioPinSelector.svelte b/frontend/src/lib/components/GpioPinSelector.svelte
@@ -0,0 +1,46 @@
+<script lang="ts">
+  import { DeviceStateStore } from '$lib/stores';
+  import { UsedPinsStore } from '$lib/stores/UsedPinsStore';
+  import { WebSocketClient } from '$lib/WebSocketClient';
+
+  export let name: string;
+  export let currentPin: number | null;
+  export let serializer: (gpio: number) => Uint8Array;
+
+  let pendingPin: number | null = null;
+  let statusText: string = 'Loading...';
+
+  $: canSet = pendingPin !== null && pendingPin !== currentPin && pendingPin >= 0 && pendingPin <= 255 && $DeviceStateStore.gpioValidOutputs.includes(pendingPin) && !$UsedPinsStore.has(pendingPin);
+
+  $: if (currentPin !== null) {
+    UsedPinsStore.markPinUsed(currentPin, name);
+    statusText = currentPin >= 0 ? 'Currently ' + currentPin : 'Invalid pin';
+  } else {
+    statusText = 'Loading...';
+  }
+
+  $: if (pendingPin !== null) {
+    if (pendingPin < 0) {
+      pendingPin = null;
+    } else if (pendingPin > 255) {
+      pendingPin = 255;
+    }
+  }
+
+  function setGpioPin() {
+    if (!canSet) return;
+    const data = serializer(pendingPin!);
+    WebSocketClient.Instance.Send(data);
+  }
+</script>
+
+<div class="flex flex-col space-y-2">
+  <div class="flex flex-row space-x-2 items-center">
+    <h3 class="h3">{name}</h3>
+    <span class="text-sm text-gray-500">{statusText}</span>
+  </div>
+  <div class="flex space-x-2">
+    <input class="input variant-form-material" type="number" placeholder="GPIO Pin" bind:value={pendingPin} />
+    <button class="btn variant-filled" on:click={setGpioPin} disabled={!canSet}>Set</button>
+  </div>
+</div>
diff --git a/frontend/src/lib/stores/DeviceStateStore.ts b/frontend/src/lib/stores/DeviceStateStore.ts
@@ -10,6 +10,8 @@ const { subscribe, update } = writable<DeviceState>({
   wifiNetworkGroups: new Map<string, WiFiNetworkGroup>(),
   accountLinked: false,
   config: null,
+  gpioValidInputs: new Int8Array(),
+  gpioValidOutputs: new Int8Array(),
 });
 
 function insertSorted<T>(array: T[], value: T, compare: (a: T, b: T) => number) {

diff --git a/frontend/src/lib/stores/UsedPinsStore.ts b/frontend/src/lib/stores/UsedPinsStore.ts
@@ -0,0 +1,21 @@
+import { writable } from "svelte/store";
+
+const { subscribe, update } = writable<Map<number, string>>(new Map<number, string>());
+
+export const UsedPinsStore = {
+  subscribe,
+  markPinUsed(pin: number, name: string) {
+    update((store) => {
+        // Remove any existing entries with the same pin or name
+        for (const [key, value] of store) {
+            if (key === pin || value === name) {
+                store.delete(key);
+            }
+        }
+
+        store.set(pin, name);
+
+        return store;
+    });
+  }
+};
diff --git a/frontend/src/lib/types/DeviceState.ts b/frontend/src/lib/types/DeviceState.ts
@@ -9,4 +9,6 @@ export type DeviceState = {
   wifiNetworkGroups: Map<string, WiFiNetworkGroup>;
   accountLinked: boolean;
   config: Config | null;
+  gpioValidInputs: Int8Array;
+  gpioValidOutputs: Int8Array;
 };
diff --git a/frontend/src/routes/+page.svelte b/frontend/src/routes/+page.svelte
@@ -1,9 +1,9 @@
 <script lang="ts">
-  import { browser } from '$app/environment';
   import { SerializeAccountLinkCommand } from '$lib/Serializers/AccountLinkCommand';
   import { SerializeSetRfTxPinCommand } from '$lib/Serializers/SetRfTxPinCommand';
   import { SerializeSetEstopPinCommand } from '$lib/Serializers/SetEstopPinCommand';
   import { WebSocketClient } from '$lib/WebSocketClient';
+  import GpioPinSelector from '$lib/components/GpioPinSelector.svelte';
   import WiFiList from '$lib/components/WiFiList.svelte';
   import { DeviceStateStore } from '$lib/stores';
 
@@ -20,29 +20,11 @@
   let linkCode: string = '';
   $: linkCodeValid = isValidLinkCode(linkCode);
 
-  let rfTxPin: number | null = $DeviceStateStore.config?.rf.txPin ?? null;
-  $: rfTxPinValid = rfTxPin !== null && rfTxPin >= 0 && rfTxPin < 255;
-
-  let estopPin: number | null = $DeviceStateStore.config?.estop.gpioPin ?? null;
-  $: estopPinValid = estopPin !== null && estopPin >= 0 && estopPin < 255;
-
   function linkAccount() {
     if (!linkCodeValid) return;
     const data = SerializeAccountLinkCommand(linkCode!);
     WebSocketClient.Instance.Send(data);
   }
-
-  function setRfTxPin() {
-    if (!rfTxPinValid) return;
-    const data = SerializeSetRfTxPinCommand(rfTxPin!);
-    WebSocketClient.Instance.Send(data);
-  }
-
-  function setEstopPin() {
-    if (!estopPinValid) return;
-    const data = SerializeSetEstopPinCommand(estopPin!);
-    WebSocketClient.Instance.Send(data);
-  }
 </script>
 
 <div class="flex flex-col items-center justify-center h-full">
@@ -57,28 +39,10 @@
       </div>
     </div>
 
-    <div class="flex flex-col space-y-2">
-      <div class="flex flex-row space-x-2 items-center">
-        <h3 class="h3">RF TX Pin</h3>
-        <span class="text-sm text-gray-500">(Currently {$DeviceStateStore.config?.rf == null ? ' unavailable' : $DeviceStateStore.config.rf.txPin}) </span>
-      </div>
-      <div class="flex space-x-2">
-        <input class="input variant-form-material" type="number" placeholder="TX Pin" bind:value={rfTxPin} />
-        <button class="btn variant-filled" on:click={setRfTxPin} disabled={!rfTxPinValid}>Set</button>
-      </div>
-    </div>
+    <GpioPinSelector name="RF TX Pin" currentPin={$DeviceStateStore.config?.rf?.txPin ?? null} serializer={SerializeSetRfTxPinCommand} />
 
     <!-- TODO: Add EStop Enable/Disable toggle -->
 
-    <div class="flex flex-col space-y-2">
-      <div class="flex flex-row space-x-2 items-center">
-        <h3 class="h3">EStop GPIO Pin</h3>
-        <span class="text-sm text-gray-500">(Currently {$DeviceStateStore.config?.estop == null ? ' unavailable' : $DeviceStateStore.config.estop.gpioPin}) </span>
-      </div>
-      <div class="flex space-x-2">
-        <input class="input variant-form-material" type="number" placeholder="EStop Pin" bind:value={estopPin} />
-        <button class="btn variant-filled" on:click={setEstopPin} disabled={!estopPinValid}>Set</button>
-      </div>
-    </div>
+    <GpioPinSelector name="EStop Pin" currentPin={$DeviceStateStore.config?.estop?.gpioPin ?? null} serializer={SerializeSetEstopPinCommand} />
   </div>
 </div>