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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,7 @@ | ||
| resolution: | ||
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| dependency_overrides: | ||
| burt_network: | ||
| git: | ||
| url: https://github.com/BinghamtonRover/Networking | ||
| ref: 2.3.1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,92 +1,148 @@ | ||
| import "dart:io"; | ||
| import "dart:typed_data"; | ||
| import "package:args/args.dart"; | ||
| import "package:collection/collection.dart"; | ||
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| import "package:burt_network/burt_network.dart"; | ||
| import "package:libserialport/libserialport.dart"; | ||
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| typedef ProtoConstructor = Message Function(List<int> data); | ||
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| const constructors = <Device, ProtoConstructor>{ | ||
| Device.DRIVE: DriveData.fromBuffer, | ||
| Device.ARM: ArmData.fromBuffer, | ||
| Device.GRIPPER: GripperData.fromBuffer, | ||
| Device.SCIENCE: GripperData.fromBuffer, | ||
| Device.ANTENNA: AntennaFirmwareData.fromBuffer, | ||
| }; | ||
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| final deviceNames = { | ||
| for (final device in constructors.keys) | ||
| device.name.toLowerCase(): device, | ||
| }; | ||
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| final logger = BurtLogger(); | ||
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| bool ascii = false; | ||
| late bool ascii; | ||
| late bool rawMode; | ||
| ProtoConstructor? constructor; | ||
| String? messageName; | ||
|
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| void handlePacket(Uint8List buffer) { | ||
| try { | ||
| if (rawMode) { | ||
| logger.debug("Got packet: $buffer"); | ||
| } else if (constructor == null) { | ||
| final string = String.fromCharCodes(buffer).trim(); | ||
| logger.debug("Got string: $string"); | ||
| } else { | ||
| final message = constructor!(buffer); | ||
| logger.debug("Got $messageName message: ${message.toProto3Json()}"); | ||
| } | ||
| } catch (error) { | ||
| logger.error("Could not decode packet: $error\n Buffer: $buffer"); | ||
| } | ||
| } | ||
|
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| Future<void> listenToDevice(String port) async { | ||
| Future<void> listenToDevice(String port, int baudRate) async { | ||
| logger.info("Connecting to $port..."); | ||
| final device = SerialDevice( | ||
| portName: port, | ||
| readInterval: const Duration(milliseconds: 100), | ||
| logger: logger, | ||
| baudRate: baudRate, | ||
| ); | ||
| if (!await device.init()) { | ||
| logger.critical("Could not connect to $port"); | ||
| return; | ||
| } | ||
| logger.info("Connected. Listening..."); | ||
| device.stream.listen(processAscii); | ||
| device.stream.listen(handlePacket); | ||
| device.startListening(); | ||
| } | ||
|
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| Future<void> listenToFirmware(String port) async { | ||
| Future<void> listenToFirmware(String port, int baudRate) async { | ||
| logger.info("Connecting to $port..."); | ||
| final device = BurtFirmwareSerial( | ||
| port: port, | ||
| logger: logger, | ||
| baudRate: baudRate, | ||
| ); | ||
| if (!await device.init()) { | ||
| logger.critical("Could not connect to $port"); | ||
| await device.dispose(); | ||
| return; | ||
| } | ||
| logger.info("Connected? ${device.isReady}. Listening..."); | ||
| constructor = getDataConstructor(device.device); | ||
| constructor = constructors[device.device]; | ||
| if (constructor == null) { | ||
| logger.error("Unsupported serial device: ${device.device.name}"); | ||
| await device.dispose(); | ||
| return; | ||
| } | ||
| device.rawStream.listen(processFirmware); | ||
| device.rawStream.listen(handlePacket); | ||
| } | ||
|
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| typedef ProtoConstructor = Message Function(List<int> data); | ||
|
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| ProtoConstructor? getDataConstructor(Device device) => switch (device) { | ||
| Device.DRIVE => DriveData.fromBuffer, | ||
| Device.ARM => ArmData.fromBuffer, | ||
| Device.GRIPPER => GripperData.fromBuffer, | ||
| Device.SCIENCE => GripperData.fromBuffer, | ||
| _ => null, | ||
| }; | ||
| void printUsage(ArgParser parser) => | ||
| // ignore: avoid_print | ||
| print("\nUsage: dart run :serial [-h] [-f] [-r | -d <device>] [-b <baud>] <port>\n${parser.usage}"); | ||
|
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| ProtoConstructor? constructor; | ||
| ArgParser buildParser() => ArgParser() | ||
| ..addFlag("help", abbr: "h", negatable: false, help: "Show this help message") | ||
| ..addFlag("firmware", abbr: "f", negatable: false, help: "Whether to perform the standard firmware handshake") | ||
| ..addFlag("raw", abbr: "r", negatable: false, help: "Whether to print incoming packets as raw bytes") | ||
| ..addOption("baud", abbr: "b", defaultsTo: "9600", help: "The baud rate to listen with") | ||
| ..addOption( | ||
| "device", abbr: "d", | ||
| allowed: deviceNames.keys, | ||
| help: "The device being read. This will attempt to parse data as messages from that device\n" | ||
| " Note: If -f is passed, this will be ignored and the firmware will identify itself", | ||
| ); | ||
|
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| void main(List<String> args) async { | ||
| if (args.isEmpty) { | ||
| logger.info("Ports: ${SerialPort.availablePorts}"); | ||
| return; | ||
| } else if (args.contains("-h") || args.contains("--help")) { | ||
| logger.info("Usage: dart run -r :serial [-a | --ascii] [port]"); | ||
| Future<void> main(List<String> args) async { | ||
| // Basic arg parsing | ||
| final parser = buildParser(); | ||
| final ArgResults results; | ||
| try { | ||
| results = buildParser().parse(args); | ||
| } on FormatException catch (error) { | ||
| logger.error(error.message); | ||
| printUsage(parser); | ||
| return; | ||
| } | ||
| var port = args.first; | ||
| if (!Platform.isWindows && !port.startsWith("/dev")) port = "/dev/$port"; | ||
| if (args.contains("-a") || args.contains("--ascii")) { | ||
| logger.info("Running in ASCII mode"); | ||
| ascii = true; | ||
| } | ||
| if (args.contains("-f") || args.contains("--firmware")) { | ||
| await listenToFirmware(port); | ||
| } else { | ||
| await listenToDevice(port); | ||
| final isFirmware = results.flag("firmware"); | ||
| final showHelp = results.flag("help"); | ||
| final deviceName = results.option("device"); | ||
| final baudRateString = results.option("baud")!; | ||
| final baudRate = int.tryParse(baudRateString); | ||
| rawMode = results.flag("raw"); | ||
| var port = results.rest.firstOrNull; | ||
| if (showHelp) { | ||
| printUsage(parser); | ||
| return; | ||
| } else if (port == null) { | ||
| logger.info("Ports: ${SerialDevice.allPorts}"); | ||
| return; | ||
| } else if (baudRate == null) { | ||
| logger.critical("Could not parse baud rate as an integer: $baudRateString"); | ||
| exit(1); | ||
| } else if (rawMode && deviceName != null) { | ||
| logger.critical("Cannot specify both --raw and --device"); | ||
| exit(2); | ||
| } | ||
| } | ||
|
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| void processFirmware(Uint8List buffer) { | ||
| try { | ||
| final data = constructor!(buffer); | ||
| logger.debug("Got data: ${data.toProto3Json()}"); | ||
| } catch (error) { | ||
| logger.error("Could not decode DriveData: $error\n Buffer: $buffer"); | ||
| // Try to identify a device, if passed. | ||
| final device = deviceNames[deviceName]; | ||
| constructor = constructors[device]; | ||
| if (constructor != null) { | ||
| final buffer = Uint8List(0); | ||
| messageName = constructor!(buffer).messageName; | ||
| logger.info("Parsing all data as $messageName messages"); | ||
| } | ||
| } | ||
|
|
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| void processAscii(Uint8List buffer) { | ||
| final s = String.fromCharCodes(buffer).trim(); | ||
| logger.debug("Got string: $s"); | ||
| if (!Platform.isWindows && !port.startsWith("/dev")) port = "/dev/$port"; | ||
| if (isFirmware) { | ||
| await listenToFirmware(port, baudRate); | ||
| } else { | ||
| await listenToDevice(port, baudRate); | ||
| } | ||
| } |
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