Merge branch 'master' into editor-robot-api

Fix merge conflicts.
pioneers · Dec 5, 2024 · 5376ecd · 5376ecd
2 parents fed6cfa + 732b0be
commit 5376ecd
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Showing 12 changed files with 339 additions and 207 deletions.
diff --git a/assets/pie.svg b/assets/pie.svg
diff --git a/src/common/DeviceInfoState.ts b/src/common/DeviceInfoState.ts
@@ -1,7 +1,53 @@
+/**
+ * Numeric device types which appear before the underscore in device ids.
+ */
+export enum DeviceType {
+  /**
+   * Dummy device type.
+   */
+  DUMMY = 0,
+  /**
+   * Limit switch device type.
+   */
+  LIMIT_SWITCH = 1,
+  /**
+   * Line follower device type.
+   */
+  LINE_FOLLOWER = 2,
+  /**
+   * Battery buzzer device type. Not used anymore?
+   */
+  BATTERY_BUZZER = 3,
+  /**
+   * Servo controller device type.
+   */
+  SERVO_CONTROLLER = 4,
+  /**
+   * PolarBear device type. Not distributed with new kits.
+   */
+  POLAR_BEAR = 5,
+  /**
+   * KoalaBear device type.
+   */
+  KOALA_BEAR = 6,
+  /**
+   * Power distribution board device type.
+   */
+  PDB = 7,
+  /**
+   * Distance sensor device type.
+   */
+  DISTANCE_SENSOR = 8,
+  /**
+   * Stopwatch ("custom data" that tracks duration of connection in ms) device type.
+   */
+  STOPWATCH = 32,
+}
+
 /**
  * Maps device types to user-friendly names.
  */
-export const DeviceTypes: { [type: number]: string } = {
+export const DeviceTypeNames: { [type: number]: string } = {
   0: 'Dummy device',
   1: 'Limit switch',
   2: 'Line follower',
@@ -11,6 +57,7 @@ export const DeviceTypes: { [type: number]: string } = {
   6: 'KoalaBear motor controller',
   7: 'Power distribution board',
   8: 'Distance sensor',
+  32: 'Stopwatch',
 };
 
 /**

diff --git a/src/common/IpcEventTypes.ts b/src/common/IpcEventTypes.ts
@@ -38,10 +38,6 @@ export interface RendererInitData {
    * The IP address used to communicate with the robot's runtime, retrieved from persistent config.
    */
   robotIPAddress: string;
-  /**
-   * The IP address used to upload code to the robot, retrieved from persistent config.
-   */
-  robotSSHAddress: string;
   /**
    * The IP address of the field controller, retrieved from persistent config.
    */
@@ -286,10 +282,6 @@ export interface MainQuitData {
    * The IP address used to communicate with the robot's runtime, to be saved to persistent config.
    */
   robotIPAddress: string;
-  /**
-   * The IP address used to upload code to the robot, to be saved to persistent config.
-   */
-  robotSSHAddress: string;
   /**
    * The IP address of the field controller, to be saved to persistent config.
    */

diff --git a/src/main/MainApp.ts b/src/main/MainApp.ts
@@ -3,7 +3,7 @@ import type { BrowserWindow, FileFilter } from 'electron';
 import fs from 'fs';
 import { version as dawnVersion } from '../../package.json';
 import AppConsoleMessage from '../common/AppConsoleMessage';
-import DeviceInfoState from '../common/DeviceInfoState';
+import DeviceInfoState, { DeviceType } from '../common/DeviceInfoState';
 import type {
   RendererChannels,
   RendererInitData,
@@ -39,22 +39,22 @@ const CODE_FILE_FILTERS: FileFilter[] = [
  * Relative path to persistent configuration file.
  */
 const CONFIG_RELPATH = 'dawn-config.json';
-/**
- * Path on robot to upload student code to.
- */
-const REMOTE_CODE_PATH = '/home/pi/runtime/executor/studentcode.py';
 /**
  * Port to use when connecting to robot with SSH.
  */
 const ROBOT_SSH_PORT = 22;
 /**
  * Username to log in as when connecting to robot with SSH.
  */
-const ROBOT_SSH_USER = 'pi';
+const ROBOT_SSH_USER = 'ubuntu';
 /**
  * Password to log in with when connecting to robot with SSH.
  */
-const ROBOT_SSH_PASS = 'raspberry';
+const ROBOT_SSH_PASS = 'potato';
+/**
+ * Path on robot to upload student code to.
+ */
+const REMOTE_CODE_PATH = `/home/${ROBOT_SSH_USER}/runtime/executor/studentcode.py`;
 
 /**
  * Adds a listener for the main-quit IPC event fired by the renderer.
@@ -140,6 +140,12 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
    */
   #preventQuit: boolean;
 
+  /**
+   * Whether error messages relating to connectivity will be suppressed. Used so disconnects only
+   * generate one log message and possibly (hopefully?) the causing error.
+   */
+  #suppressNetworkErrors: boolean;
+
   /**
    * Persistent configuration loaded when MainApp is constructed and saved when the main window is
    * closed.
@@ -165,6 +171,7 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
     this.#watcher = null;
     this.#watchDebounce = true;
     this.#preventQuit = true;
+    this.#suppressNetworkErrors = false;
     this.#codeTransfer = new CodeTransfer(
       REMOTE_CODE_PATH,
       ROBOT_SSH_PORT,
@@ -196,7 +203,6 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
     addRendererListener('main-quit', (data) => {
       // Save config that may have been changed while the program was running
       this.#config.robotIPAddress = data.robotIPAddress;
-      this.#config.robotSSHAddress = data.robotSSHAddress;
       this.#config.fieldIPAddress = data.fieldIPAddress;
       this.#config.fieldStationNumber = data.fieldStationNumber;
       this.#config.showDirtyUploadWarning = data.showDirtyUploadWarning;
@@ -246,7 +252,6 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
     this.#sendToRenderer('renderer-init', {
       dawnVersion,
       robotIPAddress: this.#config.robotIPAddress,
-      robotSSHAddress: this.#config.robotSSHAddress,
       fieldIPAddress: this.#config.fieldIPAddress,
       fieldStationNumber: this.#config.fieldStationNumber,
       showDirtyUploadWarning: this.#config.showDirtyUploadWarning,
@@ -268,43 +273,66 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
 
   onReceiveDevices(deviceInfoState: DeviceInfoState[]) {
     this.#sendToRenderer('renderer-devices-update', deviceInfoState);
-  }
-
-  onRuntimeTcpError(err: Error) {
-    this.#sendToRenderer(
-      'renderer-post-console',
-      new AppConsoleMessage(
-        'dawn-err',
-        `Encountered TCP error when communicating with Runtime. ${err.toString()}`,
-      ),
+    const pdbs = deviceInfoState.filter(
+      (state) => state.id.split('_')[0] === DeviceType.PDB.toString(),
     );
+    if (pdbs.length !== 1) {
+      this.#sendToRenderer(
+        'renderer-post-console',
+        new AppConsoleMessage(
+          'dawn-err',
+          'Cannot read battery voltage. Not exactly one PDB is connected to the robot.',
+        ),
+      );
+    } else if (!('v_batt' in pdbs[0]) || Number.isNaN(Number(pdbs[0].v_batt))) {
+      this.#sendToRenderer(
+        'renderer-post-console',
+        new AppConsoleMessage(
+          'dawn-err',
+          'PDB does not have v_batt property or it is not a number.',
+        ),
+      );
+    } else {
+      this.#sendToRenderer('renderer-battery-update', Number(pdbs[0].v_batt));
+    }
   }
 
-  onRuntimeUdpError(err: Error) {
-    this.#sendToRenderer(
-      'renderer-post-console',
-      new AppConsoleMessage(
-        'dawn-err',
-        `Encountered UDP error when communicating with Runtime. ${err.toString()}`,
-      ),
-    );
+  onRuntimeTcpError(err: Error) {
+    if (!this.#suppressNetworkErrors) {
+      this.#sendToRenderer(
+        'renderer-post-console',
+        new AppConsoleMessage(
+          'dawn-err',
+          `Encountered TCP error when communicating with Runtime. ${err.toString()}`,
+        ),
+      );
+    }
   }
 
   onRuntimeError(err: Error) {
-    this.#sendToRenderer(
-      'renderer-post-console',
-      new AppConsoleMessage(
-        'dawn-err',
-        `Encountered error when communicating with Runtime. ${err.toString()}`,
-      ),
-    );
+    if (!this.#suppressNetworkErrors) {
+      this.#sendToRenderer(
+        'renderer-post-console',
+        new AppConsoleMessage(
+          'dawn-err',
+          `Encountered error when communicating with Runtime. ${err.toString()}`,
+        ),
+      );
+    }
   }
 
   onRuntimeDisconnect() {
-    this.#sendToRenderer(
-      'renderer-post-console',
-      new AppConsoleMessage('dawn-info', 'Disconnected from robot.'),
-    );
+    if (!this.#suppressNetworkErrors) {
+      this.#sendToRenderer(
+        'renderer-post-console',
+        new AppConsoleMessage('dawn-info', 'Disconnected from robot.'),
+      );
+      this.#suppressNetworkErrors = true;
+    }
+  }
+
+  onRuntimeConnect() {
+    this.#suppressNetworkErrors = false;
   }
 
   /**
@@ -393,7 +421,7 @@ export default class MainApp implements MenuHandler, RuntimeCommsListener {
   }
 
   /**
-   * Tries to load code from a file into the editor. Fails is the user does not choose a path.
+   * Tries to load code from a file into the editor. Fails if the user does not choose a path.
    */
   #openCodeFile() {
     const success = this.#showCodePathDialog('load');

diff --git a/src/main/network/PacketStream.ts b/src/main/network/PacketStream.ts
@@ -62,7 +62,7 @@ export default class PacketStream extends Transform {
     while (this.#tryReadPacket(shouldConcatHeader)) {
       shouldConcatHeader = false;
     }
-    callback(null, chunk);
+    callback();
   }
 
   /**