@robotical/ricjs/examples/dashboard/src/system.ts

Javascript/TS library for Robotical RIC

import RICCommsStats from "../../../src/RICCommsStats";
import RICConnector from "../../../src/RICConnector";
import RICLog from "../../../src/RICLog";
import { ROSSerialAddOnStatus, ROSSerialIMU, ROSSerialMagneto, ROSSerialPowerStatus, ROSSerialRGBT, ROSSerialRobotStatus, ROSSerialSmartServos } from "../../../src/RICROSSerial";
import { Dictionary, RICHWElem } from "../../../src/RICTypes";
import { RICRoboticalAddOns } from "@robotical/ricjs-robotical-addons";

declare global {
    var ricConnector: RICConnector;
    var ricPrevData: Dictionary<string>;
}

export function checkNewData(name: string, data: object) {
  return true;
}

export async function sysInfoGet(params: Array<string>): Promise<void> {
    RICRoboticalAddOns.registerAddOns(globalThis.ricConnector.getAddOnManager());
    const sysInfoOk = await globalThis.ricConnector.retrieveMartySystemInfo();
    if (!sysInfoOk) {
      RICLog.warn("Failed to retrieve system info");
    } else {
      RICLog.verbose(`System info retrieved ${globalThis.ricConnector.getRICSystem()}`);
      const wifiIP = document.getElementById("wifi-ip") as HTMLInputElement;
      wifiIP.value = globalThis.ricConnector.getRICSystem().getCachedWifiStatus().ipAddress;
    }
}

export async function connPerfTest(params: Array<string>): Promise<void> {
  try {
    const perfStatus = await globalThis.ricConnector.checkConnPerformance();
    const statusContainer = document.getElementById('conn-perf-status-container');
    statusContainer.innerHTML = "Performance: " + perfStatus.toFixed(2) + " bytes per second";
  } catch (e) {
    RICLog.warn(`connPerfTest - failed to start performance check ${e}`);
  }
}

export async function setReconnect(params: Array<string | number | boolean>): Promise<void> {
  if (globalThis.ricConnector.isConnected()) {
    globalThis.ricConnector.setRetryConnectionIfLost(params[0] as boolean, params[1] as number);
  }
}

export function robotStatusFormat(name:string, robotStatus:ROSSerialRobotStatus): string {

  // robotStatus = JSON.parse('{ "robotStatus": { "flags": 0, "isMoving": false, "isPaused": false, "isFwUpdating": false, "workQCount": 0, "heapFree": 77280, "heapMin": 56540, "pixRGBT": [ { "r": 0, "g": 0, "b": 64, "t": 1 }, { "r": 0, "g": 0, "b": 0, "t": 0 }, { "r": 0, "g": 0, "b": 32, "t": 1 } ], "loopMsAvg": 2, "loopMsMax": 5 } }');
  const innerStatus = robotStatus.robotStatus;
  let statusStr = "";
  let pixIdx = 0;
  for (let pixInfo of innerStatus.pixRGBT) {
    statusStr += pixInfoFormat(pixIdx, pixInfo);
    pixIdx++;
  }
  statusStr += `<div class="flag-info">${innerStatus.isMoving ? "Moving" : "Stopped"}</div>`;
  statusStr += `<div class="flag-info">${innerStatus.isPaused ? "Paused" : "Running"}</div>`;
  statusStr += `<div class="flag-info">${innerStatus.isFwUpdating ? "FW Update" : "No FW Update"}</div>`;
  statusStr += `<div class="flag-line-sep"></div>`;
  statusStr += `<div class="flag-info">HeapFree ${innerStatus.heapFree}</div>`;
  statusStr += `<div class="flag-info">HeapMin ${innerStatus.heapMin}</div>`;
  statusStr += `<div class="flag-info">LoopAvg ${innerStatus.loopMsAvg}ms</div>`;
  statusStr += `<div class="flag-info">LoopMax ${innerStatus.loopMsMax}ms</div>`;
  statusStr += `<div class="flag-info">BLERSSI ${innerStatus.bleRSSI}dBm</div>`;
  statusStr += `<div class="flag-info">WiFiRSSI ${innerStatus.wifiRSSI}dBm</div>`;

  return statusStr;
}

export function powerStatusFormat(name:string, powerStatus:ROSSerialPowerStatus): string {
  if (!checkNewData(name, powerStatus)) {
    return "";
  }
  return tableFormat(name, powerStatus.powerStatus, {
    "battRemainCapacityPercent": "Remain%",
    "battTempDegC": "TempDegC",
    "battRemainCapacityMAH": "RemainMAH",
    "battFullCapacityMAH": "FullMAH",
    "battCurrentMA": "CurrMA",
    "power5VOnTimeSecs": "5vOnSecs",
    "power5VIsOn": "5vOn",
    "powerUSBIsConnected": "USB",
    "battInfoValid": "BattValid",
    "powerUSBIsValid": "USBValid",
    "powerFlags": "Flags",
  });
}

const tohex = (d:number) => Number(d).toString(16).padStart(2, '0');

function pixInfoFormat(idx: number, pixInfo: ROSSerialRGBT): string {
  let colourStr = `#${tohex(pixInfo.r)}${tohex(pixInfo.g)}${tohex(pixInfo.b)}`;
  return pixGetColourStr(idx, colourStr);
}

export function pixGetColourStr(idx:number, colourStr: string) {
  // Convert any single colour to bright version of that colour and any white to solid white
  if (colourStr.slice(1,3) !== "00") {
    if (colourStr.slice(3,7) === "0000") {
      colourStr = "#ff0000";
    } else {
      colourStr = "#ffffff";
    }
  } else if (colourStr.slice(3,5) !== "00") {
    if (colourStr.slice(5,7) === "00") {
      colourStr = "#00ff00";
    }
  } else if (colourStr.slice(5,7) !== "00") {
    colourStr = "#0000ff";
  }

  // Other conversions
  const colourMappings: Dictionary<string> = {
    "#101010": "#c0c0c0",
    "#000040": "#0000ff",
    "#002000": "#00ff00",
    "#100000": "#ff0000",
  };
  // const colourStr = tohex(Math.min(pixInfo.r * 4, 0xff)) + tohex(Math.min(pixInfo.g * 4, 0xff)) + tohex(Math.min(pixInfo.b * 4, 0xff));
  if (colourStr in colourMappings) {
    colourStr = colourMappings[colourStr];
  }
  return `<div class="pix-info"><div class="pix-info-idx">LED ${idx}</div><div class="pix-info-rgb" style="background-color:${colourStr}"></div></div>`;
}

export function imuStatusFormat(name:string, imuStatus:ROSSerialIMU): string {

  const innerStatus = imuStatus.accel;
  let statusStr = "";
  statusStr += `<div class="flag-info">X ${innerStatus.x.toFixed(2)}</div>`;
  statusStr += `<div class="flag-info">Y ${innerStatus.y.toFixed(2)}</div>`;
  statusStr += `<div class="flag-info">Z ${innerStatus.z.toFixed(2)}ms</div>`;

  return statusStr;
}

export function magnetoStatusFormat(name:string, magnetoStatus:ROSSerialMagneto): string {
  
    const innerStatus = magnetoStatus.magneto;
    let statusStr = "";
    statusStr += `<div class="flag-info">X ${innerStatus.x.toFixed(2)}</div>`;
    statusStr += `<div class="flag-info">Y ${innerStatus.y.toFixed(2)}</div>`;
    statusStr += `<div class="flag-info">Z ${innerStatus.z.toFixed(2)}ms</div>`;
  
    return statusStr;
  }

export function servoStatusFormat(name:string, servoStatus:ROSSerialSmartServos): string {
  if (!checkNewData(name, servoStatus)) {
    return "";
  }  
  const servoNames = ["LeftHip","LeftTwist","LeftKnee","RightHip","RightTwist","RightKnee","LeftArm","RightArm","Eyes"];

  // servoStatus = JSON.parse(`{"smartServos":[{"id":0,"pos":0,"current":0,"status":0},{"id":1,"pos":0,"current":0,"status":0},{"id":2,"pos":0,"current":0,"status":0},{"id":3,"pos":0,"current":0,"status":0},{"id":4,"pos":0,"current":0,"status":0},{"id":5,"pos":0,"current":0,"status":0},{"id":6,"pos":54,"current":0,"status":0},{"id":7,"pos":45,"current":0,"status":0},{"id":8,"pos":1,"current":0,"status":0}]}`);

  let statusStr = "";
  for (let i = 0; i < servoStatus.smartServos.length; i++) {
    const servo = servoStatus.smartServos[i];
    statusStr += `<div class="progress-line"><span class="field-name">${servoNames[i]} ${servo.pos} current ${servo.current} status ${servo.status.toString(16)}</span><meter class="flag-info progress" min="-300" max="300" value="${servo.pos}"><span class="value" style="width:50%;"></span></meter></div>`;
  }

  return statusStr;
}

export function addonListFormat(name:string, addons:Array<RICHWElem>): string {
  if (!checkNewData(name, addons)) {
    return "";
  }  
  let statusStr = "";
  // addons = JSON.parse('[{"name":"LeftHip","type":"SmartServo","busName":"I2CA","addr":"0x10","addrValid":1,"IDNo":0,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"LeftTwist","type":"SmartServo","busName":"I2CA","addr":"0x11","addrValid":1,"IDNo":1,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"LeftKnee","type":"SmartServo","busName":"I2CA","addr":"0x12","addrValid":1,"IDNo":2,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"RightHip","type":"SmartServo","busName":"I2CA","addr":"0x13","addrValid":1,"IDNo":3,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"RightTwist","type":"SmartServo","busName":"I2CA","addr":"0x14","addrValid":1,"IDNo":4,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"RightKnee","type":"SmartServo","busName":"I2CA","addr":"0x15","addrValid":1,"IDNo":5,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"LeftArm","type":"SmartServo","busName":"I2CA","addr":"0x16","addrValid":1,"IDNo":6,"whoAmI":"LArmMotor","whoAmITypeCode":"00000081","SN":"9c13e2a90bcb92ec","versionStr":"1.0.0","commsOk":"N"},{"name":"RightArm","type":"SmartServo","busName":"I2CA","addr":"0x17","addrValid":1,"IDNo":7,"whoAmI":"RArmMotor","whoAmITypeCode":"00000081","SN":"9c13e2a90bcb92ec","versionStr":"1.0.0","commsOk":"N"},{"name":"Eyes","type":"SmartServo","busName":"I2CA","addr":"0x18","addrValid":1,"IDNo":8,"whoAmI":"EyeMotor","whoAmITypeCode":"00000082","SN":"9c13e2a90bcb92ec","versionStr":"1.0.0","commsOk":"N"},{"name":"IMU0","type":"IMU","busName":"I2CA","addr":"0x1d","addrValid":1,"IDNo":19,"whoAmI":"MMA8452Q","whoAmITypeCode":"10018452","SN":"","versionStr":"0.0.0","commsOk":"Y"},{"name":"AudioOut","type":"I2SOut","busName":"","addr":"0x00","addrValid":0,"IDNo":40,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"Y"},{"name":"BusPixels0","type":"BusPixels","busName":"","addr":"0x00","addrValid":0,"IDNo":39,"whoAmI":"BusPix19","whoAmITypeCode":"10020013","SN":"","versionStr":"0.0.0","commsOk":"Y"},{"name":"RicButton0","type":"GPIO","busName":"","addr":"0x00","addrValid":0,"IDNo":38,"whoAmI":"GPIO5","whoAmITypeCode":"10040005","SN":"","versionStr":"0.0.0","commsOk":"Y"},{"name":"FuelGauge0","type":"FuelGauge","busName":"I2CA","addr":"0x55","addrValid":1,"IDNo":37,"whoAmI":"","whoAmITypeCode":"ffffffff","SN":"","versionStr":"0.0.0","commsOk":"N"},{"name":"PowerCtrl","type":"PowerCtrl","busName":"","addr":"0x00","addrValid":0,"IDNo":36,"whoAmI":"RICPower","whoAmITypeCode":"10030000","SN":"","versionStr":"0.0.0","commsOk":"Y"}]');
  if (addons.length > 0) {
   statusStr += `<div class="table-head">HWElems</div>`;
  }
  statusStr += "<table class='table table-striped table-bordered'>";
  for (let i = 0; i < addons.length; i++) {
    const addon = addons[i];
    if (i === 0) {
      statusStr += "<tr>";
      for (const [key, value] of Object.entries(addon)) {
        statusStr += `<th>${key}</th>`;
      }
      statusStr += "</tr>";
    }
    statusStr += "<tr>";
    for (const [key, value] of Object.entries(addon)) {
      statusStr += `<td>${value}</td>`;
    }
    statusStr += "</tr>";
  }
  statusStr += "</tr></table>";
  return statusStr;
}
export function addonValListFormat(name:string, addons:ROSSerialAddOnStatus[]): string {
  if (!checkNewData(name, addons)) {
    return "";
  }  
  let statusStr = "";
  if (addons.length > 0) {
   statusStr += `<div class="table-head">HWElems Values</div>`;
  }
  statusStr += "<table class='table table-striped table-bordered'>";
  for (let i = 0; i < addons.length; i++) {
    const addon = addons[i];
    for (const valKey in addon.vals) {
      if (typeof addon.vals[valKey] === "number") addon.vals[valKey] = Math.round(+addon.vals[valKey]);
    }
    // @ts-ignore
    addon.vals = JSON.stringify(addon.vals).replaceAll(addon.name, "");
    if (i === 0) {
      statusStr += "<tr>";
      for (const [key, value] of Object.entries(addon)) {
        statusStr += `<th>${key}</th>`;
      }
      statusStr += "</tr>";
    }
    statusStr += "<tr>";
    for (const [key, value] of Object.entries(addon)) {
      statusStr += `<td>${value}</td>`;
    }
    statusStr += "</tr>";
  }
  statusStr += "</tr></table>";
  return statusStr;
}

export function tableFormat(infoStr:string, infoObj:object, headings:Dictionary<string> | undefined = undefined): string {
  let statusStr = "";
  if (infoStr.length > 0) {
    statusStr += `<div class="table-head">${infoStr}</div>`;
  }
  statusStr += "<table class='table table-striped table-bordered'>";
  statusStr += "<tr>";
  for (const [key, value] of Object.entries(infoObj)) {
    if (headings) {
      statusStr += `<th>${headings[key]}</th>`;
    } else {
      statusStr += `<td>${key}</td>`;
    }
  }
  statusStr += "</tr>";
  statusStr += "<tr>";
  for (const [key, value] of Object.entries(infoObj)) {
    statusStr += `<td>${value}</td>`;
  }
  statusStr += "</tr>";
  statusStr += "</table>";
  return statusStr;
}

export function commsStatusFormat(name:string, commsStats:RICCommsStats): string {
  if (!checkNewData(name, commsStats)) {
    return "";
  }

  commsStats.getMsgRxRate();
  commsStats.getMsgTxRate();

  commsStats.getSmartServosRate();
  commsStats.getAddOnPubRate();
  commsStats.getIMURate();
  commsStats.getMagnetoRate();
  commsStats.getPowerStatusRate();
  commsStats.getRobotStatusRate();

  const rxTxStats = {
    "RxCount": commsStats._msgRxCount,
    "RxRate": commsStats._msgRxRate.toFixed(2),
    "TxCount": commsStats._msgTxCount,
    "TxRate": commsStats._msgTxRate.toFixed(2),
    "MsgNumColl": commsStats._msgNumCollisions,
    "TooShort": commsStats._msgTooShort,
    "Unmatched": commsStats._msgNumUnmatched,
    "Timeout": commsStats._msgTimeout,
    "Retry": commsStats._msgRetry,
    "RTWorstMs": commsStats._msgRoundtripWorstMs,
    "RTBestMs": commsStats._msgRoundtripBestMs,
    "NoConn": commsStats._msgNoConnection,
  };

  const pubStats = {
    "SmartServos": commsStats._msgSmartServos,
    "SmartServosRate": commsStats._msgSmartServosPS.toFixed(2),
    "IMU": commsStats._msgIMU,
    "IMURate": commsStats._msgIMUPS.toFixed(2),
    "Magneto": commsStats._msgMagneto,
    "MagnetoRate": commsStats._msgMagnetoPS.toFixed(2),
    "PowerStatus": commsStats._msgPowerStatus,
    "PowerStatusRate": commsStats._msgPowerStatusPS.toFixed(2), 
    "AddOnPub": commsStats._msgAddOnPub,
    "AddonOnPubRate": commsStats._msgAddOnPubPS.toFixed(2),
    "RobotStatus": commsStats._msgRobotStatus,
    "RobotStatusRate": commsStats._msgRobotStatusPS.toFixed(2),
    "OtherTopic": commsStats._msgOtherTopic,
    "StreamBytes": commsStats._streamBytes,
  };

  return tableFormat(name, rxTxStats) + tableFormat("", pubStats);
}