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fgrossmanfgrossman
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update to handle puppet over USB serial
This allows the gamepad and dashboard to work over USB serial. Moved common code to connections.ts
1 parent 6891971 commit 10dbda9

3 files changed

Lines changed: 184 additions & 77 deletions

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‎src/connections/bluetoothconnection.ts‎

Lines changed: 4 additions & 76 deletions
Original file line numberDiff line numberDiff line change
@@ -39,11 +39,6 @@ export class BluetoothConnection extends Connection {
3939

4040
private Table: TableMgr | undefined = undefined;
4141

42-
// XPP Protocol constants for packet detection
43-
private readonly XPP_START_SEQ: number[] = [0xAA, 0x55];
44-
private readonly XPP_END_SEQ: number[] = [0x55, 0xAA];
45-
private xppBuffer: Uint8Array = new Uint8Array(0); // Buffer for incomplete XPP packets
46-
4742
constructor(connMgr: ConnectionMgr) {
4843
super();
4944
this.connMgr = connMgr;
@@ -181,72 +176,6 @@ export class BluetoothConnection extends Connection {
181176
}
182177

183178

184-
/**
185-
* Extracts complete XPP packets from the buffer and returns them.
186-
* XPP packet format: [0xAA 0x55] [Type] [Length] [Payload] [0x55 0xAA]
187-
* @param data - New data to add to the buffer
188-
* @returns Array of complete XPP packets
189-
*/
190-
private extractCompleteXPPPackets(data: Uint8Array): Uint8Array[] {
191-
// Add new data to buffer
192-
this.xppBuffer = this.concatUint8Arrays(this.xppBuffer, data);
193-
194-
const completePackets: Uint8Array[] = [];
195-
196-
while (this.xppBuffer.length >= 4) { // Minimum packet size is 4 bytes (start + type + length + end)
197-
// Look for start sequence [0xAA 0x55]
198-
const startIndex = this.xppBuffer.findIndex((val, idx) =>
199-
idx < this.xppBuffer.length - 1 &&
200-
val === this.XPP_START_SEQ[0] &&
201-
this.xppBuffer[idx + 1] === this.XPP_START_SEQ[1]
202-
);
203-
204-
if (startIndex === -1) {
205-
// No start sequence found, clear buffer
206-
this.xppBuffer = new Uint8Array(0);
207-
break;
208-
}
209-
210-
// Remove any data before the start sequence
211-
if (startIndex > 0) {
212-
this.xppBuffer = this.xppBuffer.subarray(startIndex);
213-
}
214-
215-
// Check if we have enough data for type and length (at least 4 bytes: start + type + length)
216-
if (this.xppBuffer.length < 4) {
217-
break; // Need more data
218-
}
219-
220-
// Extract length (byte 3 after start sequence)
221-
// Type is at byte 2, but we don't need it for packet extraction
222-
const payloadLength = this.xppBuffer[3];
223-
224-
// Calculate total packet size: start(2) + type(1) + length(1) + payload + end(2)
225-
const totalPacketSize = 2 + 1 + 1 + payloadLength + 2;
226-
227-
// Check if we have the complete packet
228-
if (this.xppBuffer.length < totalPacketSize) {
229-
break; // Need more data
230-
}
231-
232-
// Verify end sequence
233-
const endIndex = totalPacketSize - 2;
234-
if (this.xppBuffer[endIndex] === this.XPP_END_SEQ[0] &&
235-
this.xppBuffer[endIndex + 1] === this.XPP_END_SEQ[1]) {
236-
// Complete packet found
237-
const completePacket = this.xppBuffer.subarray(0, totalPacketSize);
238-
completePackets.push(completePacket);
239-
240-
// Remove processed packet from buffer
241-
this.xppBuffer = this.xppBuffer.subarray(totalPacketSize);
242-
} else {
243-
// Invalid end sequence, skip this start sequence and continue
244-
this.xppBuffer = this.xppBuffer.subarray(2);
245-
}
246-
}
247-
248-
return completePackets;
249-
}
250179

251180
/**
252181
* readWorker - this worker read data from the XRP robot
@@ -266,11 +195,10 @@ export class BluetoothConnection extends Connection {
266195
valuesD = await this.get2BLEData();
267196
if(valuesD != undefined) {
268197
// Extract complete XPP packets and only process those
269-
const completePackets = this.extractCompleteXPPPackets(valuesD);
270-
for (const packet of completePackets) {
271-
this.joyStick?.handleXPPMessage(packet);
272-
this.Table?.readFromDevice(packet);
273-
//NOTE: if there is one more of these then we should switch to a subscription model.
198+
// Note: regularData is ignored since bleDataReader only receives XPP packets
199+
const { packets } = this.extractCompleteXPPPackets(valuesD);
200+
for (const packet of packets) {
201+
this.processXPPPacket(packet, this.Table);
274202
}
275203
}
276204
}

‎src/connections/connection.ts‎

Lines changed: 162 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,7 @@
11
import ConnectionMgr from "@/managers/connectionmgr";
22
import logger from "@/utils/logger";
33
import Joystick from '@/managers/joystickmgr';
4+
import TableMgr from '@/managers/tablemgr';
45

56

67
/**
@@ -50,6 +51,11 @@ abstract class Connection {
5051

5152
readonly XRP_SEND_BLOCK_SIZE: number = 250; // wired can handle 255 bytes, but BLE 5.0 is only 250
5253

54+
// XPP Protocol constants for packet detection
55+
protected readonly XPP_START_SEQ: number[] = [0xAA, 0x55];
56+
protected readonly XPP_END_SEQ: number[] = [0x55, 0xAA];
57+
protected xppBuffer: Uint8Array = new Uint8Array(0); // Buffer for incomplete XPP packets
58+
5359
joyStick: Joystick | undefined;
5460

5561
constructor() {
@@ -107,6 +113,162 @@ abstract class Connection {
107113
return result;
108114
}
109115

116+
/**
117+
* Extracts complete XPP packets from the buffer and returns them.
118+
* XPP packet format: [0xAA 0x55] [Type] [Length] [Payload] [0x55 0xAA]
119+
* @param data - New data to add to the buffer
120+
* @returns Array of complete XPP packets
121+
*
122+
* regularData anything that is not part of a XPP packet
123+
* packets are the complete XPP packets
124+
* anything before start sequence is regular data
125+
* anything after an end with no other start sequence is regular data
126+
*
127+
*/
128+
protected extractCompleteXPPPackets(data: Uint8Array): { packets: Uint8Array[], regularData: Uint8Array } {
129+
// Add new data to buffer
130+
this.xppBuffer = this.concatUint8Arrays(this.xppBuffer, data);
131+
let regularData: Uint8Array = new Uint8Array(0);
132+
133+
const completePackets: Uint8Array[] = [];
134+
135+
// Process buffer to extract packets and regular data
136+
while (this.xppBuffer.length > 0) {
137+
// If buffer is too small to be a complete packet, check if we can pass through regular data
138+
if (this.xppBuffer.length < 4) {
139+
// Check if buffer could potentially start an XPP packet
140+
if (this.xppBuffer.length === 1) {
141+
// Single byte: if it's 0xAA, might be start of XPP, keep it
142+
// Otherwise, it's definitely regular data
143+
if (this.xppBuffer[0] !== this.XPP_START_SEQ[0]) {
144+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer);
145+
this.xppBuffer = new Uint8Array(0);
146+
}
147+
break; // Need more data to determine
148+
} else if (this.xppBuffer.length === 2) {
149+
// Two bytes: check if it's [0xAA, 0x55]
150+
if (this.xppBuffer[0] === this.XPP_START_SEQ[0] &&
151+
this.xppBuffer[1] === this.XPP_START_SEQ[1]) {
152+
// Could be start of XPP packet, keep it
153+
break; // Need more data
154+
} else if (this.xppBuffer[0] === this.XPP_START_SEQ[0]) {
155+
// First byte is 0xAA but second isn't 0x55, pass first byte as regular data
156+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, 1));
157+
this.xppBuffer = this.xppBuffer.subarray(1);
158+
// Continue processing the remaining byte
159+
} else {
160+
// First byte is not 0xAA, both bytes are regular data
161+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer);
162+
this.xppBuffer = new Uint8Array(0);
163+
break;
164+
}
165+
} else if (this.xppBuffer.length === 3) {
166+
// Three bytes: check if it starts with [0xAA, 0x55]
167+
if (this.xppBuffer[0] === this.XPP_START_SEQ[0] &&
168+
this.xppBuffer[1] === this.XPP_START_SEQ[1]) {
169+
// Could be start of XPP packet, keep it
170+
break; // Need more data
171+
} else if (this.xppBuffer[0] === this.XPP_START_SEQ[0]) {
172+
// First byte is 0xAA but second isn't 0x55, pass first byte as regular data
173+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, 1));
174+
this.xppBuffer = this.xppBuffer.subarray(1);
175+
// Continue processing the remaining 2 bytes
176+
} else {
177+
// First byte is not 0xAA, check if second byte is 0xAA (could be start of XPP)
178+
if (this.xppBuffer[1] === this.XPP_START_SEQ[0]) {
179+
// Second byte might be start, pass first byte as regular data
180+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, 1));
181+
this.xppBuffer = this.xppBuffer.subarray(1);
182+
// Continue processing the remaining 2 bytes
183+
} else {
184+
// No potential XPP start, pass all as regular data
185+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer);
186+
this.xppBuffer = new Uint8Array(0);
187+
break;
188+
}
189+
}
190+
}
191+
continue; // Re-check buffer after modifications
192+
}
193+
194+
// Buffer has at least 4 bytes, look for start sequence [0xAA 0x55]
195+
const startIndex = this.xppBuffer.findIndex((val, idx) =>
196+
idx < this.xppBuffer.length - 1 &&
197+
val === this.XPP_START_SEQ[0] &&
198+
this.xppBuffer[idx + 1] === this.XPP_START_SEQ[1]
199+
);
200+
201+
if (startIndex === -1) {
202+
// No start sequence found
203+
// Check if last byte is 0xAA (might be start of next XPP packet)
204+
const lastByte = this.xppBuffer[this.xppBuffer.length - 1];
205+
if (lastByte === this.XPP_START_SEQ[0]) {
206+
// Keep last byte in buffer, pass rest as regular data
207+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, this.xppBuffer.length - 1));
208+
this.xppBuffer = this.xppBuffer.subarray(this.xppBuffer.length - 1);
209+
} else {
210+
// No potential XPP start, clear buffer
211+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer);
212+
this.xppBuffer = new Uint8Array(0);
213+
}
214+
break;
215+
}
216+
217+
// Remove any data before the start sequence
218+
if (startIndex > 0) {
219+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, startIndex));
220+
this.xppBuffer = this.xppBuffer.subarray(startIndex);
221+
}
222+
223+
// Check if we have enough data for type and length (at least 4 bytes: start + type + length)
224+
if (this.xppBuffer.length < 4) {
225+
break; // Need more data
226+
}
227+
228+
// Extract length (byte 3 after start sequence)
229+
// Type is at byte 2, but we don't need it for packet extraction
230+
const payloadLength = this.xppBuffer[3];
231+
232+
// Calculate total packet size: start(2) + type(1) + length(1) + payload + end(2)
233+
const totalPacketSize = 2 + 1 + 1 + payloadLength + 2;
234+
235+
// Check if we have the complete packet
236+
if (this.xppBuffer.length < totalPacketSize) {
237+
break; // Need more data
238+
}
239+
240+
// Verify end sequence
241+
const endIndex = totalPacketSize - 2;
242+
if (this.xppBuffer[endIndex] === this.XPP_END_SEQ[0] &&
243+
this.xppBuffer[endIndex + 1] === this.XPP_END_SEQ[1]) {
244+
// Complete packet found
245+
const completePacket = this.xppBuffer.subarray(0, totalPacketSize);
246+
completePackets.push(completePacket);
247+
248+
// Remove processed packet from buffer
249+
this.xppBuffer = this.xppBuffer.subarray(totalPacketSize);
250+
} else {
251+
// Invalid end sequence, skip this start sequence and continue
252+
regularData = this.concatUint8Arrays(regularData, this.xppBuffer.subarray(0, 2));
253+
this.xppBuffer = this.xppBuffer.subarray(2);
254+
}
255+
}
256+
257+
return { packets: completePackets, regularData };
258+
}
259+
260+
/**
261+
* Processes a complete XPP packet by routing it to the appropriate handlers.
262+
* @param packet - Complete XPP packet
263+
* @param tableMgr - Optional TableMgr instance for handling table-related XPP messages
264+
*/
265+
protected processXPPPacket(packet: Uint8Array, tableMgr?: TableMgr): void {
266+
this.joyStick?.handleXPPMessage(packet);
267+
tableMgr?.readFromDevice(packet);
268+
}
269+
270+
271+
110272
/**
111273
* readData - read data from the XRP connection
112274
* @param values

‎src/connections/usbconnection.ts‎

Lines changed: 18 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,6 +3,7 @@ import ConnectionMgr from '@/managers/connectionmgr';
33
import i18n from '@/utils/i18n';
44
import { ConnectionType } from '@/utils/types';
55
import Connection, { ConnectionState } from '@connections/connection';
6+
import TableMgr from '@/managers/tablemgr';
67

78
/**
89
* USB Connection - establish USB serial connection to the XRP Robot
@@ -12,6 +13,7 @@ export class USBConnection extends Connection {
1213
private port: SerialPort | undefined = undefined;
1314
private reader: ReadableStreamDefaultReader<Uint8Array> | undefined = undefined; // Reference to serial port reader, only one can be locked at a time
1415
private writer: WritableStreamDefaultWriter<Uint8Array> | undefined = undefined; // Reference to serial port writer, only one can be locked at a time
16+
private Table: TableMgr | undefined = undefined;
1517

1618
// Define USB connection constants
1719
readonly USB_VENDOR_ID_BETA: number = 11914; // For filtering ports during auto or manual selection
@@ -23,6 +25,9 @@ export class USBConnection extends Connection {
2325
super();
2426
this.connMgr = connMgr;
2527
this.isManualConnection = false;
28+
this.Table = new TableMgr();
29+
if(this.joyStick)
30+
this.joyStick.writeToDevice = this.writeToDevice.bind(this);
2631

2732
// setup USB connection listeners
2833
// Check if browser can use WebSerial
@@ -85,7 +90,19 @@ export class USBConnection extends Connection {
8590
this.reader.releaseLock();
8691
break;
8792
}
88-
this.readData(value);
93+
94+
// Extract XPP packets and regular data from the incoming stream
95+
const { packets, regularData } = this.extractCompleteXPPPackets(value);
96+
97+
// Process complete XPP packets
98+
for (const packet of packets) {
99+
this.processXPPPacket(packet, this.Table);
100+
}
101+
102+
// Pass any regular (non-XPP) data to readData for normal processing
103+
if (regularData.length > 0) {
104+
this.readData(regularData);
105+
}
89106
}
90107
}
91108
// eslint-disable-next-line @typescript-eslint/no-explicit-any

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