feederBus.js

import {commands} from './commands.js'
import feederIcon from './public/feeder-icon.png'
// v1
// 1. a field for sending unicast has a to address, the command you want to send, and if a feed command, a distance payload field
// 2. a field for broadcast, space for uuid payload, plus program feeder floor has an address field
// 3. an arbitrary packet sender, that does crc calc, from address, but the rest is you
// 4. crc calc tool.

// v2
// #1 above is replaced with scanning and a box pops up for each found feeder. all the unicast commands now become buttons and fields in each one of those boxes.
// 2, 3, and 4 are all the same

export class feederBus {

    // fake enum in the structure of [command_byte, unicast/broadcast, send payload length]
    
    constructor(serialManager, modal) {
      this.serial = serialManager;
      this.packetID = 0x00;
      this.feeders = [];
      this.modal = modal;

    }

    beautifyResponse(dataArray){
        let payloadString = "";
        let payload = dataArray.slice(6);
        for(let i=0; i<payload.length; i++){
          payloadString = payloadString + this.intToHexString(payload[i]) + " ";
        }
        alert("From: " + this.intToHexString(dataArray[1]) + "\nPacketID: " + this.intToHexString(dataArray[2]) + "\nPayload Length: " + this.intToHexString(dataArray[3]) + "\nChecksum: " + this.intToHexString(dataArray[4]) + "\nStatus: " + this.intToHexString(dataArray[5]) + "\nPayload: " + payloadString);
    }

    intToHexString(number){
        let convert = number.toString(16).toUpperCase();
        if(convert.length == 1){
            convert = "0".concat(convert);
        }
        return "0x".concat(convert);
    }

    calcCRC(data){
      let crc = 0;
      for(var i = 0; i< data.length;i++){
        crc = crc ^ (data[i] << 8);
        for(let j = 0; j < 8; j++){
          if ((crc & 0x8000) != 0) {
            crc = crc ^ (0x1070 << 3);
          }
          crc <<= 1;
        }
      }
      return (crc >> 8) & 0xFF;
    }

    hexStringToIntArray(hexString){
        let intArray = [];
        console.log("string: ", hexString);

        for(let i = 0; i<(hexString.length/2);i++){
            let index = (i)*2;
            let sliced = hexString.slice(index, index+2);
            let hexed = parseInt(sliced, 16);
            intArray[i] = hexed;
        }
        return intArray;
    }

    validatePacketCrc(intArray){
        // grabbing received crc
        let receivedCrc = intArray[4];

        //making copy of the array without crc
        let crcChecker = intArray.slice(0,4).concat(intArray.slice(5));
        

        //calculating based on remaining data
        let calculatedCrc = this.calcCRC(crcChecker);
        if(receivedCrc != calculatedCrc){
            console.log("Received packet had CRC mismatch.");
            return false;
        }
        return true;
    }

    intArrayToHexString(intArray){
      let finalString = "";
      for(let i = 0; i<intArray.length; i++){
        let hexString = intArray[i].toString(16).toUpperCase();
        if(hexString.length == 1){
          hexString = "0".concat(hexString);
        }
        finalString = finalString.concat(hexString);
      }
      return finalString;

    }
  
    //calculates crc, splices it in, and converts it to a gcode string
    getGcodeFromPacketAndPayloadArray(dataArray){

      //calc crc is destructive, so we make a copy of our data
      let dataToSend = dataArray;
      let crc = this.calcCRC(dataArray);
    
      // splices in crc byte at location 4 without replacing
      dataToSend.splice(4, 0, crc);
      console.log("finalArray: ", dataToSend);

      let dataString = this.intArrayToHexString(dataToSend);
      let gcodeString = "M485 ".concat(dataString);

      return gcodeString;
    }

  
    async sendPacket(command, address, payload){
        // checking we have a recipient address if we need one
        if (command[1] == "UNICAST" && address == ""){
            console.log("Error: Selected command requires address.");
            return false;
        }
    
        // checking we have a payload if we need one
        if (command[2] > 1 && payload === undefined){
            console.log("Error: Selected command requires payload.");
            return false;
        }
    
        //building initial header. still requires crc.
        let header;
        //if payload length can vary, our datatype has 0 in the field and we take the length of the payload passed plus one for the command
        if (command[2] == 0){
            console.log("first one")
            console.log(payload.length);
            header = [address, 0x00, this.packetID, payload.length + 1];

            
        }
        //if our payload length is known, we just grab from the datatype
        else{
            header = [address, 0x00, this.packetID, command[2]];
        }

        console.log(header, " header");

        //ADDING PAYLOAD

        // we always add the command id
        let data = header.concat([command[0]]);
    
        //if there's more payload than just the command id, or it's defined from payload.length we add it in
        if(command[2] > 1 || command[2] == 0){
            data = data.concat(payload);

            console.log("header and command ID")
            console.log(data);

            console.log("submitted payload")
            console.log(payload);

            console.log("payload difference")
            console.log(command[2] - 1 - payload.length);

            const payloadDiff = command[2] - 1 - payload.length;

            if(payloadDiff > 0){ // if payload isn't padded out, stuff zeros

                let stuff = Array(payloadDiff).fill(0);
                console.log(stuff);
                data = data.concat(stuff);
                console.log(data);

            }

        }

        //convert to gcode line
        let sendableString = this.getGcodeFromPacketAndPayloadArray(data);

        // wipe incoming buffer
        this.serial.clearBuffer();

        // send string
        await this.serial.send([sendableString]);

        let startTime = Date.now();

        while(true){
            //giving the listen process a moment to breathe and receive any incoming stuff
            await this.serial.delay(10);

            if(Date.now() - startTime > 400){
                console.log("Timeout: didn't get serial response.");
                return false;
            }

            let okReceived = false;

            console.log(this.serial.receiveBuffer);

            const regex = new RegExp('ok');
            for (let i=0, x=this.serial.receiveBuffer.length; i<x; i++) {
                let currLine = this.serial.receiveBuffer[i];
                okReceived = regex.test(currLine);
                if(okReceived){
                    break;
                }
            }
            if(okReceived){
                break;
            }
        }

        //saving sent packetid
        let sentPacketID = this.packetID;

        //increment packetid, and wrap back to zero if it's
        if(this.packetID < 255){
            this.packetID++;
        }
        else{
            this.packetID = 0;
        }
        

        // find response in receiveBuffer
        let response = "";
        const regex = new RegExp('rs485-reply:');
        for (let i=0, x=this.serial.receiveBuffer.length; i<x; i++) {
            let currLine = this.serial.receiveBuffer[i];
            let matched = regex.test(currLine);
            if(matched){
                response = currLine.match("rs485-reply: (.*)")[1];
                break
            }
        }

        if(response == "TIMEOUT"){
            console.log("Received TIMEOUT.");
            return false;
        }

        //this is only true if we never get a regex match on the rs485-reply string
        if(response == ""){
            this.modal.show("Photon Support", "Your version of Marlin does not support Photon. Please update Marlin to the version in the <a href='https://github.com/opulo-inc/lumenpnp/releases'>latest LumenPnP release</a> using the instructions <a href='https://docs.opulo.io/byop/motherboard/update-firmware/'>here</a>.");
            return false;
        }

        //converts response to array
        let responseArray = this.hexStringToIntArray(response);

        //checking response is valid crc
        if(!this.validatePacketCrc(responseArray)){
            return false;
        }

        //checking response is the same packetid
        if(responseArray[2] != sentPacketID){
            console.log("Returning packet ID mismatched sent packet ID.")
            return false;
        }


        return responseArray;
        
    }

    async sendUnicast(){
        //first we have hella values to get from the dom
        let toAddress = document.getElementById("uni-to").value;
        let command = document.getElementById("uni-command").value;
        let payload = document.getElementById("uni-payload").value;

        toAddress = parseInt(toAddress);
        payload = this.hexStringToIntArray(payload);

        let response;

        if(command == 0x01){
            response = await this.sendPacket(commands.GET_ID, toAddress);
        }
        else if(command == 0x02){
            response = await this.sendPacket(commands.INITIALIZE, toAddress, payload);
        }
        else if(command == 0x03){
            response = await this.sendPacket(commands.GET_VERSION, toAddress);
        }
        else if(command == 0x04){
            response = await this.sendPacket(commands.MOVE_FEED_FORWARD, toAddress, payload);
        }
        else if(command == 0x05){
            response = await this.sendPacket(commands.MOVE_FEED_BACKWARD, toAddress, payload);
        }
        else if(command == 0x06){
            response = await this.sendPacket(commands.MOVE_FEED_STATUS, toAddress);
        }
        else if(command == 0xbf){
            console.log(payload);
            response = await this.sendPacket(commands.VENDOR_OPTIONS, toAddress, payload);
        }

        if(response != false){
            this.beautifyResponse(response);
        }
        else{
            this.modal.show("Invalid Packet", "We did not receive a valid packet.");
        }
        

    }

    async sendBroadcast(){
        //first we have hella values to get from the dom
        let programAddress = document.getElementById("broad-program-address").value;
        let command = document.getElementById("broad-command").value;
        let uuid = document.getElementById("broad-uuid").value;

        programAddress = parseInt(programAddress);
        uuid = this.hexStringToIntArray(uuid);

        let response;

        if(command == 0xc0){
            response =  await this.sendPacket(commands.GET_FEEDER_ADDRESS, 255, uuid);
        }
        else if(command == 0xc1){
            response = await this.sendPacket(commands.IDENTIFY_FEEDER, 255, uuid);
        }
        else if(command == 0xc2){
            uuid.push(programAddress);
            response = await this.sendPacket(commands.PROGRAM_FEEDER_FLOOR, 255, uuid);
        }
        else if(command == 0xc3){
            response = await this.sendPacket(commands.UNINITIALIZED_FEEDERS_RESPOND, 255);
        }

        if(response != false){
            this.beautifyResponse(response);
        }
        else{
            this.modal.show("Invalid Packet", "We did not receive a valid packet.");

        }

    }

    async customPacket(){
        let to = parseInt(document.getElementById("custom-to").value);
        let command = parseInt(document.getElementById("calc-command").value);
        let payload = parseInt(document.getElementById("calc-payload").value);

        if(to === NaN || command === NaN){
            this.modal.show("Invalid Command", "Please make sure you've entered at least a To Address and a Command.");
            return false;
        }

        let response;
        
        if (payload == ""){
            response = await this.sendPacket(command, to);
        }
        else{
            response = await this.sendPacket(command, to, payload);
        }

        if(response != false){
            this.beautifyResponse(response);
        }
        else{
            this.modal.show("Invalid Packet", "We did not receive a valid packet.");
        }
        
    }

    async calculateUserCRC(){
        //first we have hella values to get from the dom
        let to = parseInt(document.getElementById("calc-to").value);
        let from = parseInt(document.getElementById("calc-from").value);
        let packetid = parseInt(document.getElementById("calc-packetid").value);
        let payloadLength = parseInt(document.getElementById("calc-payload-length").value);
        let command = parseInt(document.getElementById("calc-command").value);
        let payload = this.hexStringToIntArray(document.getElementById("calc-payload").value);

        let data = [to, from, packetid, payloadLength, command];
        data = data.concat(payload);

        let crc = this.calcCRC(data);
        this.modal.show("CRC Result", crc);

    }

    async scan(){
        let maxAddress = 50; //254

        //main loop, checking every address
        for(let i=1;i<(maxAddress+1);i++){
            //first, we 0x01 get_id to see if somethigns there.
            let response = await this.sendPacket(commands.GET_ID, i)
            if(response != false){
                //we got somethin! is it an OK response?
                if(response[5] == 0){
                    //grab uuid
                    let uuid = response.slice(6)
                    
                    //send initialize with uuid
                    let initResponse = await this.sendPacket(commands.INITIALIZE, i, uuid);

                    if(initResponse[5] == 0){
                        console.log("found one at ", i);

                        uuid = this.intArrayToHexString(uuid);

                        let addr = i.toString();
                        
                        //add to dom
                        let newFeederDiv = document.createElement("div");

                        let feederImage = document.createElement("img");
                        feederImage.src = feederIcon;

                        let newAddress = document.createElement("H3");
                        let addressText = document.createTextNode(addr);
                        newAddress.appendChild(addressText);

                        let newUUID = document.createElement("H4");
                        let uuidText = document.createTextNode(uuid);
                        newUUID.appendChild(uuidText);

                        //identify button
                        let newButton = document.createElement("button");
                        let buttonText = document.createTextNode("Identify");
                        newButton.appendChild(buttonText);
                        newButton.classList.add("identify");

                        //feed button
                        let newFeed = document.createElement("button");
                        let feedText = document.createTextNode("Feed");
                        newFeed.appendChild(feedText);
                        newFeed.classList.add("feed");

                        //firmware button
                        let newFirmware = document.createElement("button");
                        let firmwareText = document.createTextNode("FW Version");
                        newFirmware.appendChild(firmwareText);
                        newFirmware.classList.add("firmware");

                        newFeederDiv.appendChild(feederImage);
                        newFeederDiv.appendChild(newAddress);
                        newFeederDiv.appendChild(newUUID);
                        newFeederDiv.appendChild(newButton);
                        newFeederDiv.appendChild(newFeed);
                        newFeederDiv.appendChild(newFirmware);
                        newFeederDiv.classList.add("found-feeder");

                        let foundFeeders = document.getElementById("found-feeders");

                        foundFeeders.appendChild(newFeederDiv);
                        

                    }

                        
                }

                
            }

        }

        document.getElementById("feeder-scan").innerHTML="Scan";
    }

    async flashFifty(){
        let response = await this.sendPacket(commands.GET_ID, 50)
        if(response != false){
            //we got somethin! is it an OK response?
            if(response[5] == 0){
                //grab uuid
                let uuid = response.slice(6)

                await this.sendPacket(commands.IDENTIFY_FEEDER, 0xFF, uuid);

                return true                
                
            }
        }
    }

    async getFirmware(address){
        console.log(address);

        let versionString = "";

        for(let i = 0; i<16; i++){ //go through all sixteen pages of 20

            let response = await this.sendPacket(commands.VENDOR_OPTIONS, address, [i]);

            if(response == false){
                this.modal.show("Firmware Version of Feeder at Slot " + address, "Firmware is 1.3 or earlier, update feeder firmware to use this feature.");
                return;
            }

            for(let j = 0; j < response.length; j++){
                const character = String.fromCharCode(response[j]);
                if(j > 4){
                    versionString = versionString + character;
                    console.log(character);
                }

            }

            console.log(versionString);
        }
        

        console.log(versionString);

        this.modal.show("Firmware Version of Feeder at Slot " + address, versionString);
    }

    async programSlotsUtility(){

        let resp = await this.modal.show("Before Beginning", "To program your slots, first remove all Photon feeders from your machine. Once you've done this, click ok.\n\nIf at any point you'd like to exit this utility, click cancel.");
        console.log(resp);
        if(!resp){
            return false;
        }

        while(true){

            let address = await this.modal.show("Insert a Feeder","Insert a feeder into the slot you'd like to program. Enter the address you'd like to program in the field below. Once you've done this, click ok.", 1);
            if(!address){
                return false;
            }

            address = parseInt(address);

            //program
            let response = await this.sendPacket(commands.UNINITIALIZED_FEEDERS_RESPOND, 0xFF);
            if(response == false){
                resp = await this.modal.show("Programming Feeder Not Found","The feeder you inserted was not detected.");
            }
            else{
                //this line does the programming, but it fails because programming takes too long, rs-485 library has too short a timeout
                let prgmResponse = await this.sendPacket(commands.PROGRAM_FEEDER_FLOOR, 0xFF, response.slice(6).concat(address));
                
                //instead we confirm by just checking to see if the address has actually been updated
                let currentAddress = await this.sendPacket(commands.GET_FEEDER_ADDRESS, 0xFF, response.slice(6))
                
                if(currentAddress != false && currentAddress[1] == address){

                    resp = await this.modal.show("Success","Slot has been programmed with address " + address + "! Remove the feeder from the slot, then click OK to program another.");
                    if(!resp){
                        return false;
                    }
                }
                else{
                    resp = await this.modal.show("Failure","Programming Failed for slot " + address + ". Click OK to retry.");
                    if(!resp){
                        return false;
                    }                    
                }
            }
        }
    }
}