diff --git a/.eslintrc.js b/.eslintrc.js index d2bcc0df..5e9d6370 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -4,33 +4,33 @@ module.exports = { extends: [ 'eslint:recommended', 'plugin:react/recommended', - 'plugin:@typescript-eslint/recommended', + 'plugin:@typescript-eslint/recommended' ], parserOptions: { ecmaVersion: 2018, - sourceType: 'module', + sourceType: 'module' }, root: true, rules: { // Place to specify ESLint rules. Can be used to overwrite rules specified from the extended configs // e.g. "@typescript-eslint/explicit-function-return-type": "off", - "indent": "off", - "@typescript-eslint/indent": ["error", 2], - "@typescript-eslint/no-use-before-define": "off", - "@typescript-eslint/no-explicit-any": "off", - "@typescript-eslint/explicit-function-return-type": "off", - "@typescript-eslint/no-unused-vars": ["error", { - "argsIgnorePattern": "^_", - "varsIgnorePattern": "^_", - }], + indent: 'off', + '@typescript-eslint/indent': ['error', 2], + '@typescript-eslint/no-use-before-define': 'off', + '@typescript-eslint/no-explicit-any': 'off', + '@typescript-eslint/explicit-function-return-type': 'off', + '@typescript-eslint/no-unused-vars': ['error', { + argsIgnorePattern: '^_', + varsIgnorePattern: '^_' + }] }, settings: { react: { - version: 'detect', - }, + version: 'detect' + } }, ignorePatterns: [ '*.js', - '__tests__', - ], -}; + '__tests__' + ] +} diff --git a/README.md b/README.md index d7b36b12..be3b0db3 100644 --- a/README.md +++ b/README.md @@ -58,10 +58,10 @@ saxi makes use of the low-level `LM` command introduced in EBB firmware version AxiDraw is running an older version of the firmware, saxi will fall back to the less-accurate (but still pretty accurate) `XM` command. -To check what version of the EBB firmware your AxiDraw is running, run `saxi --firmware-version`: +To check what version of the EBB firmware your AxiDraw is running, run `saxi firmware-version`: ``` -$ saxi --firmware-version +$ saxi firmware-version EBBv13_and_above EB Firmware Version 2.5.3 ``` diff --git a/build.mjs b/build.mjs new file mode 100644 index 00000000..61366404 --- /dev/null +++ b/build.mjs @@ -0,0 +1,52 @@ +/* eslint-disable no-undef */ //TODO: Remove by splitting eslintrc like we do for the tsconfig +import { context, build } from 'esbuild' +import inlineWorker from 'esbuild-plugin-inline-worker' +import { htmlPlugin as html } from '@craftamap/esbuild-plugin-html' + +const buildOptions = { + entryPoints: ['src/ui.tsx'], + bundle: true, + platform: 'browser', + target: 'es2020', + sourcemap: true, + metafile: true, + logLevel: 'debug', + minify: true, + outdir: 'dist/ui', + tsconfig: 'tsconfig.web.json', + loader: { '.svg': 'dataurl' }, + define: { + IS_WEB: process.env.IS_WEB ?? '0' + }, + plugins: [inlineWorker(), + html({ + files: [{ + entryPoints: ['src/ui.tsx'], + filename: 'index.html', + htmlTemplate: 'src/index.html', + scriptLoading: 'defer' + }] + }) + ], + resolveExtensions: ['.js', '.ts', '.tsx', '.svg', '.worker.js'] +}; + +(async () => { + try { + if (process.env.BUILD_MODE === 'development') { + // enables live-reloading + const ctx = await context({ + ...buildOptions, + banner: { js: "new EventSource('/esbuild').addEventListener('change', () => location.reload());" } + }) + await ctx.watch() + const { host, port } = await ctx.serve({ servedir: 'dist/ui', port: 9080 }) + console.log(`http://${host}:${port}`) + } else { + await build(buildOptions) + } + } catch (error) { + console.error(error) + process.exit(1) + } +})() diff --git a/index.js b/index.js index 80011b82..c97c9887 100644 --- a/index.js +++ b/index.js @@ -1,3 +1,3 @@ module.exports = { - server: require('./dist/server/server'), + server: require('./dist/server/server') } diff --git a/package-lock.json b/package-lock.json index f1f13f62..01a2d86b 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,7 +1,7 @@ { "name": "saxi", "version": "0.15.0", - "lockfileVersion": 2, + "lockfileVersion": 3, "requires": true, "packages": { "": { @@ -24,6 +24,7 @@ "saxi": "cli.js" }, "devDependencies": { + "@craftamap/esbuild-plugin-html": "^0.6.1", "@rehooks/component-size": "^1.0.2", "@types/cors": "^2.8.4", "@types/express": "^4.16.1", @@ -34,32 +35,29 @@ "@types/serialport": "^8.0.0", "@types/w3c-web-serial": "^1.0.2", "@types/ws": "8.0.0 - 8.5", - "@types/yargs": "^17.0.0", + "@types/yargs": "^17.0.24", "@typescript-eslint/eslint-plugin": "^5.15.0 || ^6.0.0", "@typescript-eslint/parser": "^5.15.0 || ^6.0.0", "color-interpolate": "^1.0.5", "colormap": "^2.3.2", - "css-loader": "^6.0.0", + "esbuild": "^0.19.2", + "esbuild-plugin-inline-worker": "^0.1.1", "eslint": "^8.0.0", "eslint-plugin-react": "^7.12.4", - "file-loader": "^6.0.0", "gh-pages": "^5.0.0 || ^6.0.0", - 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"yocto-queue": { - "version": "0.1.0", - "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz", - "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==", - "dev": true - } } } diff --git a/package.json b/package.json index 3a70ba8b..d411729a 100644 --- a/package.json +++ b/package.json @@ -21,17 +21,22 @@ "scripts": { "prebuild": "npm run lint", "lint": "eslint --cache --ext .ts,.tsx src", - "build": "tsc && webpack --mode=production", + "format": "eslint --fix --cache --ext .ts,.tsx src", + "build": "npm run build:cli && npm run build:server && npm run build:ui", + "build:cli": "tsc --project tsconfig.cli.json", + "build:server": "tsc --project tsconfig.server.json", + "build:ui": "node --experimental-modules build.mjs", "prepare": "rimraf dist && npm run build", "prestart": "npm run build", "start": "node cli.js", - "dev": "tsc && webpack --mode=development -w & node cli.js", - "deploy": "rimraf dist/ui && IS_WEB=1 webpack --mode=production && gh-pages -d dist/ui", + "dev": "BUILD_MODE=development npm run build:ui", + "deploy": "rimraf dist/ui && IS_WEB=1 npm run build:ui && gh-pages --dist dist/ui", "test": "jest" }, "author": "Jeremy Rose ", "license": "AGPL-3.0-only", "devDependencies": { + "@craftamap/esbuild-plugin-html": "^0.6.1", "@rehooks/component-size": "^1.0.2", "@types/cors": "^2.8.4", "@types/express": "^4.16.1", @@ -42,29 +47,23 @@ "@types/serialport": "^8.0.0", "@types/w3c-web-serial": "^1.0.2", "@types/ws": "8.0.0 - 8.5", - "@types/yargs": "^17.0.0", + "@types/yargs": "^17.0.24", "@typescript-eslint/eslint-plugin": "^5.15.0 || ^6.0.0", "@typescript-eslint/parser": "^5.15.0 || ^6.0.0", "color-interpolate": "^1.0.5", "colormap": "^2.3.2", - "css-loader": "^6.0.0", + "esbuild": "^0.19.2", + "esbuild-plugin-inline-worker": "^0.1.1", "eslint": "^8.0.0", "eslint-plugin-react": "^7.12.4", - "file-loader": "^6.0.0", "gh-pages": "^5.0.0 || ^6.0.0", - "html-webpack-plugin": "^5.0.0", "jest": "^29.0.0", "react": "^18.0.0", "react-dom": "^18.0.0", "rimraf": "^5.0.0", "semver": "^7.5.2", - "style-loader": "^3.0.0", "ts-jest": "^29.0.0", - "ts-loader": "^9.0.0", - "typescript": "~5.0 || ~5.2.0", - "webpack": "^5.0.0", - "webpack-cli": "^5.0.0", - "worker-loader": "^3.0.0" + "typescript": "~5.0 || ~5.2.0" }, "dependencies": { "cors": "^2.8.5", @@ -87,5 +86,8 @@ "files": [ "/dist", "cli.js" - ] + ], + "optionalDependencies": { + "@esbuild/linux-arm": "^0.19.2" + } } diff --git a/renovate.json b/renovate.json index ec69fb65..146b0889 100644 --- a/renovate.json +++ b/renovate.json @@ -12,8 +12,8 @@ "automerge": true }, { - "matchPackagePatterns": ["webpack"], - "groupName": "webpack" + "matchPackagePatterns": ["esbuild"], + "groupName": "esbuild" } ] } diff --git a/src/__tests__/planning.test.ts b/src/__tests__/planning.test.ts index 86553df8..39d4f5cf 100644 --- a/src/__tests__/planning.test.ts +++ b/src/__tests__/planning.test.ts @@ -1,9 +1,11 @@ -import {Plan, plan, Device, AxidrawFast, XYMotion, PenMotion} from '../planning'; +import {Plan, plan, AxidrawFast, XYMotion, PenMotion, Device} from '../planning'; import {Vec2} from '../vec'; describe("plan", () => { + const device = Device() + const profile = AxidrawFast it.skip("handles an empty input", () => { - expect(plan([], AxidrawFast)).toEqual(new Plan([])) + expect(plan([], profile)).toEqual(new Plan([], device.penPctToPos(0))) }); function xyMotions(plan: Plan) { @@ -20,22 +22,22 @@ describe("plan", () => { } it("handles a single point input", () => { - const p = plan([[{x: 10, y: 10}]], AxidrawFast); + const p = plan([[{x: 10, y: 10}]], profile); expect(xyMotions(p)).toEqual([ {from: {x: 0, y: 0}, to: {x: 10, y: 10}, penPos: 0}, - {from: {x: 10, y: 10}, to: {x: 10, y: 10}, penPos: AxidrawFast.penDownPos}, - {from: {x: 10, y: 10}, to: {x: 0, y: 0}, penPos: Device.Axidraw.penPctToPos(0)}, + {from: {x: 10, y: 10}, to: {x: 10, y: 10}, penPos: profile.penDownPos}, + {from: {x: 10, y: 10}, to: {x: 0, y: 0}, penPos: device.penPctToPos(0)}, ]); }); it("handles a line", () => { - const p = plan([[{x: 10, y: 10}, {x: 20, y: 10}]], AxidrawFast); + const p = plan([[{x: 10, y: 10}, {x: 20, y: 10}]], profile); expect(xyMotions(p)).toEqual([ {from: {x: 0, y: 0}, to: {x: 10, y: 10}, penPos: 0}, - {from: {x: 10, y: 10}, to: {x: 20, y: 10}, penPos: AxidrawFast.penDownPos}, - {from: {x: 20, y: 10}, to: {x: 0, y: 0}, penPos: Device.Axidraw.penPctToPos(0)}, + {from: {x: 10, y: 10}, to: {x: 20, y: 10}, penPos: profile.penDownPos}, + {from: {x: 20, y: 10}, to: {x: 0, y: 0}, penPos: device.penPctToPos(0)}, ]); }); @@ -43,24 +45,24 @@ describe("plan", () => { const p = plan([ [{x: 10, y: 10}, {x: 20, y: 10}], [{x: 10, y: 20}, {x: 20, y: 20}], - ], AxidrawFast); + ], profile); expect(xyMotions(p)).toEqual([ {from: {x: 0, y: 0}, to: {x: 10, y: 10}, penPos: 0}, - {from: {x: 10, y: 10}, to: {x: 20, y: 10}, penPos: AxidrawFast.penDownPos}, - {from: {x: 20, y: 10}, to: {x: 10, y: 20}, penPos: AxidrawFast.penUpPos}, - {from: {x: 10, y: 20}, to: {x: 20, y: 20}, penPos: AxidrawFast.penDownPos}, - {from: {x: 20, y: 20}, to: {x: 0, y: 0}, penPos: Device.Axidraw.penPctToPos(0)}, + {from: {x: 10, y: 10}, to: {x: 20, y: 10}, penPos: profile.penDownPos}, + {from: {x: 20, y: 10}, to: {x: 10, y: 20}, penPos: profile.penUpPos}, + {from: {x: 10, y: 20}, to: {x: 20, y: 20}, penPos: profile.penDownPos}, + {from: {x: 20, y: 20}, to: {x: 0, y: 0}, penPos: device.penPctToPos(0)}, ]); }); it("shouldn't slow down for a fake point", () => { const p1 = plan([ [{x: 10, y: 10}, {x: 30, y: 10}], - ], AxidrawFast); + ], profile); const p2 = plan([ [{x: 10, y: 10}, {x: 25, y: 10}, {x: 30, y: 10}], - ], AxidrawFast); + ], profile); expect(p1.motions[2].duration()).toEqual(p2.motions[2].duration()); }) diff --git a/src/cli.ts b/src/cli.ts index 52d1c656..6b223bf6 100644 --- a/src/cli.ts +++ b/src/cli.ts @@ -1,259 +1,268 @@ -import yargs from "yargs"; -import {connectEBB, startServer} from "./server"; -import {replan} from "./massager"; -import {Window} from "svgdom"; -import * as fs from "fs"; -import {flattenSVG} from "flatten-svg"; -import { Vec2 } from "./vec"; -import { formatDuration } from "./util"; -import { PlanOptions, defaultPlanOptions } from "./planning"; -import { PaperSize } from "./paper-size"; +import yargs from 'yargs' +import { connectEBB, startServer } from './server' +import { replan } from './massager' +import { Window } from 'svgdom' +import * as fs from 'fs' +import { flattenSVG } from 'flatten-svg' +import { Vec2 } from './vec' +import { formatDuration } from './util' +import { Hardware } from './ebb' +import { PlanOptions, defaultPlanOptions } from './planning' +import { PaperSize } from './paper-size' -function parseSvg(svg: string) { - const window = new Window +function parseSvg (svg: string) { + const window = new Window() window.document.documentElement.innerHTML = svg return window.document.documentElement } -export function cli(argv: string[]): void { - yargs.strict() - .option("device", { - alias: "d", - describe: "device to connect to", - type: "string" +export function cli (argv: string[]): void { + yargs + .strict() + .option('hardware', { + describe: 'select hardware type', + choices: ['v3', 'brushless'] as const, + default: 'v3', + coerce: value => value as Hardware + }) + .option('device', { + alias: 'd', + describe: 'device to connect to', + type: 'string' }) - .command('$0', 'run the saxi web server', - yargs => yargs - .option("port", { - alias: "p", - default: Number(process.env.PORT || 9080), - describe: "TCP port on which to listen", - type: "number" - }) - .option("enable-cors", { - describe: "enable cross-origin resource sharing (CORS)", - type: "boolean" - }) - .option("max-payload-size", { - describe: "maximum payload size to accept", - default: "200 mb", - type: "string" - }) - .option("firmware-version", { - describe: "print the device's firmware version and exit", - type: "boolean" - }), - args => { - if (args["firmware-version"]) { - connectEBB(args.device).then(async (ebb) => { - if (!ebb) { - console.error(`No EBB connected`); - return process.exit(1); - } - const fwv = await ebb.firmwareVersion(); - console.log(fwv); - await ebb.close(); - }); - } else { - startServer(args.port, args.device, args["enable-cors"], args["max-payload-size"]); - } - } - ) .command('plot ', 'plot an svg, then exit', - yargs => yargs - .positional("file", { - type: "string", - description: "File to plot", + args => args + .positional('file', { + type: 'string', + description: 'File to plot' }) - .option("paper-size", { - alias: "s", - describe: "Paper size to use", + .option('paper-size', { + alias: 's', + describe: 'Paper size to use', coerce: (value) => { if (Object.prototype.hasOwnProperty.call(PaperSize.standard, value)) { return PaperSize.standard[value] } else { const m = /^([0-9]*(?:\.[0-9]+)?)\s*x\s*([0-9]*(?:\.[0-9]+)?)\s*(cm|mm|in)$/i.exec(String(value).trim()) if (m) { - return new PaperSize({x: Number(m[1]), y: Number(m[2])}) + return new PaperSize({ x: Number(m[1]), y: Number(m[2]) }) } } - throw new Error(`Paper size should be a standard size (${Object.keys(PaperSize.standard).join(", ")}) or a custom size such as "100x100mm" or "16x10in"`) + throw new Error(`Paper size should be a standard size (${Object.keys(PaperSize.standard).join(', ')}) or a custom size such as "100x100mm" or "16x10in"`) }, required: true }) - .option("landscape", { - type: "boolean", - description: "Place the long side of the paper on the x-axis" + .option('landscape', { + type: 'boolean', + description: 'Place the long side of the paper on the x-axis' }) - .option("portrait", { - type: "boolean", - description: "Place the short side of the paper on the x-axis" + .option('portrait', { + type: 'boolean', + description: 'Place the short side of the paper on the x-axis' }) - .option("margin", { - describe: "Margin (in mm)", - type: "number", + .option('margin', { + describe: 'Margin (in mm)', + type: 'number', default: defaultPlanOptions.marginMm, required: false }) - .option("pen-down-height", { - describe: "Pen down height (%)", - type: "number", + .option('pen-down-height', { + describe: 'Pen down height (%)', + type: 'number', default: defaultPlanOptions.penDownHeight, required: false }) - .option("pen-up-height", { - describe: "Pen up height (%)", - type: "number", + .option('pen-up-height', { + describe: 'Pen up height (%)', + type: 'number', default: defaultPlanOptions.penUpHeight, required: false }) - .option("pen-down-acceleration", { - describe: "Acceleration when the pen is down (in mm/s^2)", - type: "number", + .option('pen-down-acceleration', { + describe: 'Acceleration when the pen is down (in mm/s^2)', + type: 'number', default: defaultPlanOptions.penDownAcceleration, required: false }) - .option("pen-down-max-velocity", { - describe: "Maximum velocity when the pen is down (in mm/s)", - type: "number", + .option('pen-down-max-velocity', { + describe: 'Maximum velocity when the pen is down (in mm/s)', + type: 'number', default: defaultPlanOptions.penDownMaxVelocity, required: false }) - .option("pen-down-cornering-factor", { - describe: "Cornering factor when the pen is down", - type: "number", + .option('pen-down-cornering-factor', { + describe: 'Cornering factor when the pen is down', + type: 'number', default: defaultPlanOptions.penDownCorneringFactor, required: false }) - .option("pen-up-acceleration", { - describe: "Acceleration when the pen is up (in mm/s^2)", - type: "number", + .option('pen-up-acceleration', { + describe: 'Acceleration when the pen is up (in mm/s^2)', + type: 'number', default: defaultPlanOptions.penUpAcceleration, required: false }) - .option("pen-up-max-velocity", { - describe: "Maximum velocity when the pen is up (in mm/s)", - type: "number", + .option('pen-up-max-velocity', { + describe: 'Maximum velocity when the pen is up (in mm/s)', + type: 'number', default: defaultPlanOptions.penUpMaxVelocity, required: false }) - .option("pen-drop-duration", { - describe: "How long the pen takes to drop (in seconds)", - type: "number", + .option('pen-drop-duration', { + describe: 'How long the pen takes to drop (in seconds)', + type: 'number', default: defaultPlanOptions.penDropDuration, required: false }) - .option("pen-lift-duration", { - describe: "How long the pen takes to lift (in seconds)", - type: "number", + .option('pen-lift-duration', { + describe: 'How long the pen takes to lift (in seconds)', + type: 'number', default: defaultPlanOptions.penLiftDuration, required: false }) - .option("sort-paths", { - describe: "Re-order paths to minimize pen-up travel time", - type: "boolean", - default: true, + .option('sort-paths', { + describe: 'Re-order paths to minimize pen-up travel time', + type: 'boolean', + default: true }) - .option("fit-page", { - describe: "Re-scale and position the image to fit on the page", - type: "boolean", - default: true, + .option('fit-page', { + describe: 'Re-scale and position the image to fit on the page', + type: 'boolean', + default: true }) - .option("crop-to-margins", { - describe: "Remove lines that fall outside the margins", - type: "boolean", - default: true, + .option('crop-to-margins', { + describe: 'Remove lines that fall outside the margins', + type: 'boolean', + default: true }) - .option("minimum-path-length", { - describe: "Remove paths that are shorter than this length (in mm)", - type: "number", + .option('minimum-path-length', { + describe: 'Remove paths that are shorter than this length (in mm)', + type: 'number', default: defaultPlanOptions.minimumPathLength }) - .option("point-join-radius", { - describe: "Point-joining radius (in mm)", - type: "number", + .option('point-join-radius', { + describe: 'Point-joining radius (in mm)', + type: 'number', default: defaultPlanOptions.pointJoinRadius }) - .option("path-join-radius", { - describe: "Path-joining radius (in mm)", - type: "number", + .option('path-join-radius', { + describe: 'Path-joining radius (in mm)', + type: 'number', default: defaultPlanOptions.pathJoinRadius }) - .option("rotate-drawing", { - describe: "Rotate drawing (in degrees)", - type: "number", + .option('rotate-drawing', { + describe: 'Rotate drawing (in degrees)', + type: 'number', default: defaultPlanOptions.rotateDrawing }) .check((args) => { if (args.landscape && args.portrait) { - throw new Error("Only one of --portrait and --landscape may be specified") + throw new Error('Only one of --portrait and --landscape may be specified') } return true }), async args => { - console.log("reading svg...") + console.log('reading svg...') const svg = fs.readFileSync(args.file, 'utf8') - console.log("parsing svg...") + console.log('parsing svg...') const parsed = parseSvg(svg) - console.log("flattening svg...") + console.log('flattening svg...') const lines = flattenSVG(parsed, {}) - console.log("generating motion plan...") + console.log('generating motion plan...') const paperSize = - args.landscape ? args['paper-size'].landscape - : args.portrait ? args['paper-size'].portrait + args.landscape + ? args['paper-size'].landscape + : args.portrait + ? args['paper-size'].portrait : args['paper-size'] const planOptions: PlanOptions = { paperSize, marginMm: args.margin, + hardware: args.hardware, selectedGroupLayers: new Set([]), // TODO selectedStrokeLayers: new Set([]), // TODO - layerMode: "all", // TODO + layerMode: 'all', // TODO - penUpHeight: args["pen-up-height"], - penDownHeight: args["pen-down-height"], + penUpHeight: args['pen-up-height'], + penDownHeight: args['pen-down-height'], - penDownAcceleration: args["pen-down-acceleration"], - penDownMaxVelocity: args["pen-down-max-velocity"], - penDownCorneringFactor: args["pen-down-cornering-factor"], - penUpAcceleration: args["pen-up-acceleration"], - penUpMaxVelocity: args["pen-up-max-velocity"], + penDownAcceleration: args['pen-down-acceleration'], + penDownMaxVelocity: args['pen-down-max-velocity'], + penDownCorneringFactor: args['pen-down-cornering-factor'], + penUpAcceleration: args['pen-up-acceleration'], + penUpMaxVelocity: args['pen-up-max-velocity'], - penDropDuration: args["pen-drop-duration"], - penLiftDuration: args["pen-lift-duration"], + penDropDuration: args['pen-drop-duration'], + penLiftDuration: args['pen-lift-duration'], - sortPaths: args["sort-paths"], - fitPage: args["fit-page"], - cropToMargins: args["crop-to-margins"], - rotateDrawing: args["rotate-drawing"], + sortPaths: args['sort-paths'], + fitPage: args['fit-page'], + cropToMargins: args['crop-to-margins'], + rotateDrawing: args['rotate-drawing'], - minimumPathLength: args["minimum-path-length"], - pathJoinRadius: args["path-join-radius"], - pointJoinRadius: args["point-join-radius"], + minimumPathLength: args['minimum-path-length'], + pathJoinRadius: args['path-join-radius'], + pointJoinRadius: args['point-join-radius'] } - const p = replan(linesToVecs(lines), planOptions) - console.log(`${p.motions.length} motions, estimated duration: ${formatDuration(p.duration())}`) - console.log("connecting to plotter...") - const ebb = await connectEBB(args.device) + const plan = replan(linesToVecs(lines), planOptions) + const motions = plan.motions.length + const estimatedDuration = formatDuration(plan.duration()) + console.log(`${motions} motions, estimated duration: ${estimatedDuration}`) + console.log('connecting to plotter...') + const ebb = await connectEBB(args.hardware, args.device) if (!ebb) { console.error("Couldn't connect to device!") process.exit(1) } - console.log("plotting...") - const startTime = +new Date - await ebb.executePlan(p) - console.log(`done! took ${formatDuration((+new Date - startTime) / 1000)}`) + console.log('plotting...') + const startTime = +new Date() + await ebb.executePlan(plan) + const duration = formatDuration((+new Date() - startTime) / 1000) + console.log(`done! took ${duration}`) await ebb.close() } ) - .parse(argv); + .command('firmware-version', 'print the device firmware version', args => args, + async args => { + const ebb = await connectEBB(args.hardware, args.device) + if (!ebb) { + console.error(`No EBB connected`) + return process.exit(1) + } + const firmwareVersion = await ebb.firmwareVersion() + console.log(firmwareVersion) + await ebb.close() + }) + .command('$0', 'run the saxi web server', + args => args + .option('port', { + alias: 'p', + describe: 'TCP port on which to listen', + default: 9080, + type: 'number', + }) + .option('enable-cors', { + describe: 'enable cross-origin resource sharing (CORS)', + default: false, + type: 'boolean', + }) + .option('max-payload-size', { + describe: 'maximum payload size to accept', + default: '200mb', + }), + args => { + startServer(args.hardware, args.device, args.port, args['enable-cors'], args['max-payload-size']) + } + ) + .parse(argv) } -function linesToVecs(lines: any[]): Vec2[][] { +function linesToVecs (lines: any[]): Vec2[][] { return lines.map((line) => { - const a = line.points.map(([x, y]: [number, number]) => ({x, y})); - (a as any).stroke = line.stroke; - (a as any).groupId = line.groupId; - return a; - }); + const a = line.points.map(([x, y]: [number, number]) => ({ x, y })); + (a).stroke = line.stroke; + (a).groupId = line.groupId + return a + }) } diff --git a/src/ebb.ts b/src/ebb.ts index 7f12aeaa..f53d7774 100644 --- a/src/ebb.ts +++ b/src/ebb.ts @@ -1,145 +1,148 @@ -import {Block, Motion, PenMotion, Plan, XYMotion} from "./planning"; -import { RegexParser } from "./regex-transform-stream"; -import {Vec2, vsub} from "./vec"; +import { Block, Motion, PenMotion, Plan, XYMotion } from './planning' +import { RegexParser } from './regex-transform-stream' +import { Vec2, vsub } from './vec' /** Split d into its fractional and integral parts */ -function modf(d: number): [number, number] { - const intPart = Math.floor(d); - const fracPart = d - intPart; - return [fracPart, intPart]; +function modf (d: number): [number, number] { + const intPart = Math.floor(d) + const fracPart = d - intPart + return [fracPart, intPart] } +export type Hardware = 'v3' | 'brushless' + export class EBB { - public port: SerialPort; - private commandQueue: Iterator[]; - private writer: WritableStreamDefaultWriter; - private readableClosed: Promise + public port: SerialPort + public hardware: Hardware + private readonly commandQueue: Array> + private readonly writer: WritableStreamDefaultWriter + private readonly readableClosed: Promise - private microsteppingMode = 0; + private microsteppingMode = 0 /** Accumulated XY error, used to correct for movements with sub-step resolution */ - private error: Vec2 = {x: 0, y: 0}; + private readonly error: Vec2 = { x: 0, y: 0 } - private cachedFirmwareVersion: [number, number, number] | undefined = undefined; + private cachedFirmwareVersion: [number, number, number] | undefined = undefined - public constructor(port: SerialPort) { - this.port = port; + public constructor (port: SerialPort, hardware: Hardware = 'v3') { + this.hardware = hardware + this.port = port this.writer = this.port.writable.getWriter() - this.commandQueue = []; + this.commandQueue = [] this.readableClosed = port.readable .pipeThrough(new RegexParser({ regex: /[\r\n]+/ })) .pipeTo(new WritableStream({ write: (chunk) => { if (/^[\r\n]*$/.test(chunk)) return - if (this.commandQueue.length) { - if (chunk[0] === "!".charCodeAt(0)) { - (this.commandQueue.shift() as any).reject(new Error(chunk.toString("ascii"))); - return; + if (this.commandQueue.length > 0) { + if (chunk[0] === '!'.charCodeAt(0)) { + (this.commandQueue.shift() as any).reject(new Error(chunk.toString('ascii'))) + return } try { - const d = this.commandQueue[0].next(chunk); + const d = this.commandQueue[0].next(chunk) if (d.done) { - (this.commandQueue.shift() as any).resolve(d.value); - return; + (this.commandQueue.shift() as any).resolve(d.value) } } catch (e) { - (this.commandQueue.shift() as any).reject(e); - return; + (this.commandQueue.shift() as any).reject(e) } } else { - console.log(`unexpected data: ${chunk}`); + console.log(`unexpected data: ${chunk}`) } } })) } - private get stepMultiplier() { + private get stepMultiplier () { switch (this.microsteppingMode) { - case 5: return 1; - case 4: return 2; - case 3: return 4; - case 2: return 8; - case 1: return 16; + case 5: return 1 + case 4: return 2 + case 3: return 4 + case 2: return 8 + case 1: return 16 default: - throw new Error(`Invalid microstepping mode: ${this.microsteppingMode}`); + throw new Error(`Invalid microstepping mode: ${this.microsteppingMode}`) } } - public async close(): Promise { - throw new Error("TODO") + public async close (): Promise { + console.log('unimplemented') + // this.port.close() + return } - private write(str: string): Promise { + private async write (str: string): Promise { if (process.env.DEBUG_SAXI_COMMANDS) { console.log(`writing: ${str}`) } const encoder = new TextEncoder() - return this.writer.write(encoder.encode(str)) + return await this.writer.write(encoder.encode(str)) } /** Send a raw command to the EBB and expect a single line in return, without an "OK" line to terminate. */ - public async query(cmd: string): Promise { + public async query (cmd: string): Promise { try { - return await this.run(function* (): Iterator { - this.write(`${cmd}\r`); - const result = (yield).toString("ascii"); - return result; - }); + return await this.run(function * (): Iterator { + this.write(`${cmd}\r`) + const result = (yield).toString('ascii') + return result + }) } catch (err) { - throw new Error(`Error in response to query '${cmd}': ${err.message}`); + throw new Error(`Error in response to query '${cmd}': ${err.message}`) } } /** Send a raw command to the EBB and expect multiple lines in return, with an "OK" line to terminate. */ - public async queryM(cmd: string): Promise { + public async queryM (cmd: string): Promise { try { - return await this.run(function*(): Iterator { - this.write(`${cmd}\r`); - const result: string[] = []; + return await this.run(function * (): Iterator { + this.write(`${cmd}\r`) + const result: string[] = [] while (true) { - const line = (yield).toString("ascii"); - if (line === "OK") { break; } - result.push(line); + const line = (yield).toString('ascii') + if (line === 'OK') { break } + result.push(line) } - return result; - }); - } catch (err) { - throw new Error(`Error in response to queryM '${cmd}': ${err.message}`); + return result + }) + } catch (err: any) { + throw new Error(`Error in response to queryM '${cmd}': ${err?.message}`) } } /** Send a raw command to the EBB and expect a single "OK" line in return. */ - public async command(cmd: string): Promise { + public async command (cmd: string): Promise { try { - return await this.run(function*(): Iterator { - this.write(`${cmd}\r`); - const ok = (yield).toString("ascii"); - if (ok !== "OK") { - throw new Error(`Expected OK, got ${ok}`); + return await this.run(function * (): Iterator { + this.write(`${cmd}\r`) + const ok = (yield).toString('ascii') + if (ok !== 'OK') { + throw new Error(`Expected OK, got ${ok}`) } - }); + }) } catch (err) { - throw new Error(`Error in response to command '${cmd}': ${err.message}`); + throw new Error(`Error in response to command '${cmd}': ${err.message}`) } } - public async enableMotors(microsteppingMode: number): Promise { - if (!(1 <= microsteppingMode && microsteppingMode <= 5)) { - throw new Error(`Microstepping mode must be between 1 and 5, but was ${microsteppingMode}`); + public async enableMotors (microsteppingMode: number): Promise { + if (!(microsteppingMode >= 1 && microsteppingMode <= 5)) { + throw new Error(`Microstepping mode must be between 1 and 5, but was ${microsteppingMode}`) } - this.microsteppingMode = microsteppingMode; - await this.command(`EM,${microsteppingMode},${microsteppingMode}`); + this.microsteppingMode = microsteppingMode + await this.command(`EM,${microsteppingMode},${microsteppingMode}`) // if the board supports SR, we should also enable the servo motors. - if (await this.supportsSR()) - await this.setServoPowerTimeout(0, true); + if (await this.supportsSR()) { await this.setServoPowerTimeout(0, true) } } - public async disableMotors(): Promise { - await this.command("EM,0,0"); + public async disableMotors (): Promise { + await this.command('EM,0,0') // if the board supports SR, we should also disable the servo motors. if (await this.supportsSR()) - // 60 seconds is the default boot-time servo power timeout. - await this.setServoPowerTimeout(60000, false); + // 60 seconds is the default boot-time servo power timeout. + { await this.setServoPowerTimeout(60000, false) } } /** @@ -151,15 +154,17 @@ export class EBB { * NB. this command is only avaliable on firmware v2.6.0 and hardware of at * least version 2.5.0. */ - public async setServoPowerTimeout(timeout: number, power?: boolean) { + public async setServoPowerTimeout (timeout: number, power?: boolean) { await this.command(`SR,${(timeout * 1000) | 0}${power != null ? `,${power ? 1 : 0}` : ''}`) } - public setPenHeight(height: number, rate: number, delay = 0): Promise { - return this.command(`S2,${height},4,${rate},${delay}`); + // https://evil-mad.github.io/EggBot/ebb.html#S2 General RC Servo Output + public async setPenHeight (height: number, rate: number, delay = 0): Promise { + const output_pin = this.hardware === 'v3' ? 4 : 5 + return await this.command(`S2,${height},${output_pin},${rate},${delay}`) } - public lowlevelMove( + public async lowlevelMove ( stepsAxis1: number, initialStepsPerSecAxis1: number, finalStepsPerSecAxis1: number, @@ -167,9 +172,9 @@ export class EBB { initialStepsPerSecAxis2: number, finalStepsPerSecAxis2: number ): Promise { - const [initialRate1, deltaR1] = this.axisRate(stepsAxis1, initialStepsPerSecAxis1, finalStepsPerSecAxis1); - const [initialRate2, deltaR2] = this.axisRate(stepsAxis2, initialStepsPerSecAxis2, finalStepsPerSecAxis2); - return this.command(`LM,${initialRate1},${stepsAxis1},${deltaR1},${initialRate2},${stepsAxis2},${deltaR2}`); + const [initialRate1, deltaR1] = this.axisRate(stepsAxis1, initialStepsPerSecAxis1, finalStepsPerSecAxis1) + const [initialRate2, deltaR2] = this.axisRate(stepsAxis2, initialStepsPerSecAxis2, finalStepsPerSecAxis2) + return await this.command(`LM,${initialRate1},${stepsAxis1},${deltaR1},${initialRate2},${stepsAxis2},${deltaR2}`) } /** @@ -182,31 +187,31 @@ export class EBB { * @param initialRate Initial step rate, in steps per second * @param finalRate Final step rate, in steps per second */ - public moveWithAcceleration(xSteps: number, ySteps: number, initialRate: number, finalRate: number): Promise { + public async moveWithAcceleration (xSteps: number, ySteps: number, initialRate: number, finalRate: number): Promise { if (!(xSteps !== 0 || ySteps !== 0)) { - throw new Error("Must move on at least one axis"); + throw new Error('Must move on at least one axis') } if (!(initialRate >= 0 && finalRate >= 0)) { - throw new Error(`Rates must be positive, were ${initialRate},${finalRate}`); + throw new Error(`Rates must be positive, were ${initialRate},${finalRate}`) } if (!(initialRate > 0 || finalRate > 0)) { - throw new Error("Must have non-zero velocity during motion"); + throw new Error('Must have non-zero velocity during motion') } - const stepsAxis1 = xSteps + ySteps; - const stepsAxis2 = xSteps - ySteps; - const norm = Math.sqrt(Math.pow(xSteps, 2) + Math.pow(ySteps, 2)); - const normX = xSteps / norm; - const normY = ySteps / norm; - const initialRateX = initialRate * normX; - const initialRateY = initialRate * normY; - const finalRateX = finalRate * normX; - const finalRateY = finalRate * normY; - const initialRateAxis1 = Math.abs(initialRateX + initialRateY); - const initialRateAxis2 = Math.abs(initialRateX - initialRateY); - const finalRateAxis1 = Math.abs(finalRateX + finalRateY); - const finalRateAxis2 = Math.abs(finalRateX - finalRateY); - return this.lowlevelMove( - stepsAxis1, initialRateAxis1, finalRateAxis1, stepsAxis2, initialRateAxis2, finalRateAxis2); + const stepsAxis1 = xSteps + ySteps + const stepsAxis2 = xSteps - ySteps + const norm = Math.sqrt(Math.pow(xSteps, 2) + Math.pow(ySteps, 2)) + const normX = xSteps / norm + const normY = ySteps / norm + const initialRateX = initialRate * normX + const initialRateY = initialRate * normY + const finalRateX = finalRate * normX + const finalRateY = finalRate * normY + const initialRateAxis1 = Math.abs(initialRateX + initialRateY) + const initialRateAxis2 = Math.abs(initialRateX - initialRateY) + const finalRateAxis1 = Math.abs(finalRateX + finalRateY) + const finalRateAxis2 = Math.abs(finalRateX - finalRateY) + return await this.lowlevelMove( + stepsAxis1, initialRateAxis1, finalRateAxis1, stepsAxis2, initialRateAxis2, finalRateAxis2) } /** @@ -216,42 +221,43 @@ export class EBB { * @param x Number of microsteps to move in the X direction * @param y Number of microsteps to move in the Y direction */ - public moveAtConstantRate(duration: number, x: number, y: number): Promise { - return this.command(`XM,${Math.floor(duration * 1000)},${x},${y}`); + public async moveAtConstantRate (duration: number, x: number, y: number): Promise { + return await this.command(`XM,${Math.floor(duration * 1000)},${x},${y}`) } - public async waitUntilMotorsIdle(): Promise { + public async waitUntilMotorsIdle (): Promise { // eslint-disable-next-line no-constant-condition while (true) { - const [, commandStatus, _motor1Status, _motor2Status, fifoStatus] = (await this.query("QM")).split(","); - if (commandStatus === "0" && fifoStatus === "0") { - break; + const [, commandStatus, _motor1Status, _motor2Status, fifoStatus] = (await this.query('QM')).split(',') + if (commandStatus === '0' && fifoStatus === '0') { + break } } } - public async executeBlockWithLM(block: Block): Promise { - const [errX, stepsX] = modf((block.p2.x - block.p1.x) * this.stepMultiplier + this.error.x); - const [errY, stepsY] = modf((block.p2.y - block.p1.y) * this.stepMultiplier + this.error.y); - this.error.x = errX; - this.error.y = errY; + public async executeBlockWithLM (block: Block): Promise { + const [errX, stepsX] = modf((block.p2.x - block.p1.x) * this.stepMultiplier + this.error.x) + const [errY, stepsY] = modf((block.p2.y - block.p1.y) * this.stepMultiplier + this.error.y) + this.error.x = errX + this.error.y = errY if (stepsX !== 0 || stepsY !== 0) { await this.moveWithAcceleration( stepsX, stepsY, block.vInitial * this.stepMultiplier, block.vFinal * this.stepMultiplier - ); + ) } } + /** * Execute a constant-acceleration motion plan using the low-level LM command. * * Note that the LM command is only available starting from EBB firmware version 2.5.3. */ - public async executeXYMotionWithLM(plan: XYMotion): Promise { + public async executeXYMotionWithLM (plan: XYMotion): Promise { for (const block of plan.blocks) { - await this.executeBlockWithLM(block); + await this.executeBlockWithLM(block) } } @@ -261,32 +267,32 @@ export class EBB { * This is less accurate than using LM, since acceleration will only be adjusted every timestepMs milliseconds, * where LM can adjust the acceleration at a much higher rate, as it executes on-board the EBB. */ - public async executeXYMotionWithXM(plan: XYMotion, timestepMs = 15): Promise { - const timestepSec = timestepMs / 1000; - let t = 0; + public async executeXYMotionWithXM (plan: XYMotion, timestepMs = 15): Promise { + const timestepSec = timestepMs / 1000 + let t = 0 while (t < plan.duration()) { - const i1 = plan.instant(t); - const i2 = plan.instant(t + timestepSec); - const d = vsub(i2.p, i1.p); - const [ex, sx] = modf(d.x * this.stepMultiplier + this.error.x); - const [ey, sy] = modf(d.y * this.stepMultiplier + this.error.y); - this.error.x = ex; - this.error.y = ey; - await this.moveAtConstantRate(timestepSec, sx, sy); - t += timestepSec; + const i1 = plan.instant(t) + const i2 = plan.instant(t + timestepSec) + const d = vsub(i2.p, i1.p) + const [ex, sx] = modf(d.x * this.stepMultiplier + this.error.x) + const [ey, sy] = modf(d.y * this.stepMultiplier + this.error.y) + this.error.x = ex + this.error.y = ey + await this.moveAtConstantRate(timestepSec, sx, sy) + t += timestepSec } } /** Execute a constant-acceleration motion plan, starting and ending with zero velocity. */ - public async executeXYMotion(plan: XYMotion): Promise { + public async executeXYMotion (plan: XYMotion): Promise { if (await this.supportsLM()) { - await this.executeXYMotionWithLM(plan); + await this.executeXYMotionWithLM(plan) } else { - await this.executeXYMotionWithXM(plan); + await this.executeXYMotionWithXM(plan) } } - public executePenMotion(pm: PenMotion): Promise { + public async executePenMotion (pm: PenMotion): Promise { // rate is in units of clocks per 24ms. // so to fit the entire motion in |pm.duration|, // dur = diff / rate @@ -298,28 +304,28 @@ export class EBB { // dur is in [sec] // but rate needs to be in [clocks] / [24ms] // duration in units of 24ms is duration * [24ms] / [1s] - return this.setPenHeight(pm.finalPos, 0, Math.round(pm.duration() * 1000 + 0)); + return await this.setPenHeight(pm.finalPos, 0, Math.round(pm.duration() * 1000 + 0)) } - public executeMotion(m: Motion): Promise { + public async executeMotion (m: Motion): Promise { if (m instanceof XYMotion) { - return this.executeXYMotion(m); + return await this.executeXYMotion(m) } else if (m instanceof PenMotion) { - return this.executePenMotion(m); + return await this.executePenMotion(m) } else { - throw new Error(`Unknown motion type: ${m.constructor.name}`); + throw new Error(`Unknown motion type: ${m.constructor.name}`) } } - public async executePlan(plan: Plan, microsteppingMode = 2): Promise { - await this.enableMotors(microsteppingMode); + public async executePlan (plan: Plan, microsteppingMode = 2): Promise { + await this.enableMotors(microsteppingMode) for (const m of plan.motions) { - await this.executeMotion(m); + await this.executeMotion(m) } - await this.waitUntilMotorsIdle(); - await this.disableMotors(); + await this.waitUntilMotorsIdle() + await this.disableMotors() } /** @@ -327,13 +333,13 @@ export class EBB { * * @return Tuple of (RA0_VOLTAGE, V+_VOLTAGE, VIN_VOLTAGE) */ - public async queryVoltages(): Promise<[number, number, number]> { - const [ra0Voltage, vPlusVoltage] = (await this.queryM("QC"))[0].split(/,/).map(Number); + public async queryVoltages (): Promise<[number, number, number]> { + const [ra0Voltage, vPlusVoltage] = (await this.queryM('QC'))[0].split(/,/).map(Number) return [ ra0Voltage / 1023.0 * 3.3, vPlusVoltage / 1023.0 * 3.3, vPlusVoltage / 1023.0 * 3.3 * 9.2 + 0.3 - ]; + ] } /** @@ -341,21 +347,21 @@ export class EBB { * * @return The version string, e.g. "EBBv13_and_above EB Firmware Version 2.5.3" */ - public async firmwareVersion(): Promise { - return await this.query("V"); + public async firmwareVersion (): Promise { + return await this.query('V') } /** * @return The firmware version as a parsed version triple, e.g. [2, 5, 3] */ - public async firmwareVersionNumber(): Promise<[number, number, number]> { + public async firmwareVersionNumber (): Promise<[number, number, number]> { if (this.cachedFirmwareVersion === undefined) { - const versionString = await this.firmwareVersion(); - const versionWords = versionString.split(" "); - const [major, minor, patch] = versionWords[versionWords.length - 1].split(".").map(Number); - this.cachedFirmwareVersion = [major, minor, patch]; + const versionString = await this.firmwareVersion() + const versionWords = versionString.split(' ') + const [major, minor, patch] = versionWords[versionWords.length - 1].split('.').map(Number) + this.cachedFirmwareVersion = [major, minor, patch] } - return this.cachedFirmwareVersion; + return this.cachedFirmwareVersion } /** @@ -364,38 +370,38 @@ export class EBB { * @return -1 if the firmware is older than the given version, 0 if it's * identical, and 1 if it's newer. */ - public async firmwareVersionCompare(major: number, minor: number, patch: number): Promise { - const [fwMajor, fwMinor, fwPatch] = await this.firmwareVersionNumber(); - if (fwMajor < major) return -1; - if (fwMajor > major) return 1; - if (fwMinor < minor) return -1; - if (fwMinor > minor) return 1; - if (fwPatch < patch) return -1; - if (fwPatch > patch) return 1; - return 0; + public async firmwareVersionCompare (major: number, minor: number, patch: number): Promise { + const [fwMajor, fwMinor, fwPatch] = await this.firmwareVersionNumber() + if (fwMajor < major) return -1 + if (fwMajor > major) return 1 + if (fwMinor < minor) return -1 + if (fwMinor > minor) return 1 + if (fwPatch < patch) return -1 + if (fwPatch > patch) return 1 + return 0 } - public async areSteppersPowered(): Promise { - const [, , vInVoltage] = await this.queryVoltages(); - return vInVoltage > 6; + public async areSteppersPowered (): Promise { + const [, , vInVoltage] = await this.queryVoltages() + return vInVoltage > 6 } - public async queryButton(): Promise { - return (await this.queryM("QB"))[0] === "1"; + public async queryButton (): Promise { + return (await this.queryM('QB'))[0] === '1' } /** * @return true iff the EBB firmware supports the LM command. */ - public async supportsLM(): Promise { - return (await this.firmwareVersionCompare(2, 5, 3)) >= 0; + public async supportsLM (): Promise { + return (await this.firmwareVersionCompare(2, 5, 3)) >= 0 } /** * @return true iff the EBB firmware supports the SR command. */ - public async supportsSR(): Promise { - return (await this.firmwareVersionCompare(2, 6, 0)) >= 0; + public async supportsSR (): Promise { + return (await this.firmwareVersionCompare(2, 6, 0)) >= 0 } /** @@ -408,23 +414,23 @@ export class EBB { * @param finalStepsPerSec Final movement rate, in steps per second * @return A tuple of (initialAxisRate, deltaR) that can be passed to the LM command */ - private axisRate(steps: number, initialStepsPerSec: number, finalStepsPerSec: number): [number, number] { + private axisRate (steps: number, initialStepsPerSec: number, finalStepsPerSec: number): [number, number] { if (steps === 0) return [0, 0] - const initialRate = Math.round(initialStepsPerSec * (0x80000000 / 25000)); - const finalRate = Math.round(finalStepsPerSec * (0x80000000 / 25000)); - const moveTime = 2 * Math.abs(steps) / (initialStepsPerSec + finalStepsPerSec); - const deltaR = Math.round((finalRate - initialRate) / (moveTime * 25000)); - return [initialRate, deltaR]; - } - - private run(g: (this: EBB) => Iterator): Promise { - const cmd = g.call(this); - const d = cmd.next(); - if (d.done) { return Promise.resolve(d.value); } - this.commandQueue.push(cmd); - return new Promise((resolve, reject) => { - cmd.resolve = resolve; - cmd.reject = reject; - }); + const initialRate = Math.round(initialStepsPerSec * (0x80000000 / 25000)) + const finalRate = Math.round(finalStepsPerSec * (0x80000000 / 25000)) + const moveTime = 2 * Math.abs(steps) / (initialStepsPerSec + finalStepsPerSec) + const deltaR = Math.round((finalRate - initialRate) / (moveTime * 25000)) + return [initialRate, deltaR] + } + + private async run(g: (this: EBB) => Iterator): Promise { + const cmd = g.call(this) + const d = cmd.next() + if (d.done) { return await Promise.resolve(d.value) } + this.commandQueue.push(cmd) + return await new Promise((resolve, reject) => { + cmd.resolve = resolve + cmd.reject = reject + }) } } diff --git a/src/global.d.ts b/src/global.d.ts index 768c4278..fd3ac4bc 100644 --- a/src/global.d.ts +++ b/src/global.d.ts @@ -2,6 +2,12 @@ declare module '*.svg' { const content: string; export default content; } + +declare module '*.worker' { + const content: string; + export default content; +} + declare module 'svgdom'; declare module 'wake-lock'; declare module '@serialport/binding-mock'; @@ -9,26 +15,26 @@ declare module 'color-interpolate'; declare module 'colormap'; declare module 'flatten-svg/index' { - export { flattenSVG } from "flatten-svg/svg-to-paths"; + export { flattenSVG } from 'flatten-svg/svg-to-paths' } declare module 'flatten-svg/svg-to-paths' { interface Options { - maxError: number; + maxError: number } - type Point = [number, number]; + type Point = [number, number] interface Line { - points: Point[]; - stroke?: string; - groupId?: string; + points: Point[] + stroke?: string + groupId?: string } - export function flattenSVG(svg: SVGElement, options?: Partial): Line[]; - export {}; + export function flattenSVG (svg: SVGElement, options?: Partial): Line[] + export {} } declare module 'flatten-svg' { - import main = require('flatten-svg/index'); - export = main; + import main = require('flatten-svg/index') + export = main } declare const IS_WEB: boolean diff --git a/src/massager.ts b/src/massager.ts index 3cb5f727..82e7bc5a 100644 --- a/src/massager.ts +++ b/src/massager.ts @@ -1,8 +1,7 @@ -import * as Optimization from "optimize-paths"; -import * as Planning from "./planning"; -import {Device, Plan, PlanOptions} from "./planning"; -import {dedupPoints, scaleToPaper, cropToMargins} from "./util"; -import {Vec2, vmul, vrot} from "./vec"; +import * as Optimization from 'optimize-paths' +import { Device, Plan, PlanOptions, plan } from './planning' +import { dedupPoints, scaleToPaper, cropToMargins } from './util' +import { Vec2, vmul, vrot } from './vec' // CSS, and thus SVG, defines 1px = 1/96th of 1in // https://www.w3.org/TR/css-values-4/#absolute-lengths @@ -10,25 +9,26 @@ const svgUnitsPerInch = 96 const mmPerInch = 25.4 const mmPerSvgUnit = mmPerInch / svgUnitsPerInch -export function replan(inPaths: Vec2[][], planOptions: PlanOptions): Plan { - let paths = inPaths; +export function replan (inPaths: Vec2[][], planOptions: PlanOptions): Plan { + let paths = inPaths + const device = Device(planOptions.hardware) // Rotate drawing around center of paper to handle plotting portrait drawings // along y-axis of plotter // Rotate around the center of the page, but in SvgUnits (not mm) if (planOptions.rotateDrawing !== 0) { - console.time("rotating paths"); + console.time('rotating paths') paths = paths.map((pl) => pl.map((p) => vrot(p, - vmul({x:planOptions.paperSize.size.x/2, y: planOptions.paperSize.size.y/2}, 1/mmPerSvgUnit), + vmul({ x: planOptions.paperSize.size.x / 2, y: planOptions.paperSize.size.y / 2 }, 1 / mmPerSvgUnit), planOptions.rotateDrawing) - )); - console.timeEnd("rotating paths"); + )) + console.timeEnd('rotating paths') } // Compute scaling using _all_ the paths, so it's the same no matter what // layers are selected. if (planOptions.fitPage) { - paths = scaleToPaper(paths, planOptions.paperSize, planOptions.marginMm); + paths = scaleToPaper(paths, planOptions.paperSize, planOptions.marginMm) } else { paths = paths.map(ps => ps.map(p => vmul(p, mmPerSvgUnit))) if (planOptions.cropToMargins) { @@ -40,58 +40,58 @@ export function replan(inPaths: Vec2[][], planOptions: PlanOptions): Plan { // filter based on the stroke. Rescaling doesn't change the number or order // of the paths. if (planOptions.layerMode === 'group') { - paths = paths.filter((path, i) => planOptions.selectedGroupLayers.has((inPaths[i] as any).groupId)); + paths = paths.filter((_, i) => planOptions.selectedGroupLayers.has((inPaths[i] as any).groupId)) } else if (planOptions.layerMode === 'stroke') { - paths = paths.filter((path, i) => planOptions.selectedStrokeLayers.has((inPaths[i] as any).stroke)); + paths = paths.filter((_, i) => planOptions.selectedStrokeLayers.has((inPaths[i] as any).stroke)) } if (planOptions.pointJoinRadius > 0) { - paths = paths.map((p) => dedupPoints(p, planOptions.pointJoinRadius)); + paths = paths.map((p) => dedupPoints(p, planOptions.pointJoinRadius)) } if (planOptions.sortPaths) { - console.time("sorting paths"); - paths = Optimization.reorder(paths); - console.timeEnd("sorting paths"); + console.time('sorting paths') + paths = Optimization.reorder(paths) + console.timeEnd('sorting paths') } if (planOptions.minimumPathLength > 0) { - console.time("eliding short paths"); - paths = Optimization.elideShorterThan(paths, planOptions.minimumPathLength); - console.timeEnd("eliding short paths"); + console.time('eliding short paths') + paths = Optimization.elideShorterThan(paths, planOptions.minimumPathLength) + console.timeEnd('eliding short paths') } if (planOptions.pathJoinRadius > 0) { - console.time("joining nearby paths"); + console.time('joining nearby paths') paths = Optimization.merge( paths, planOptions.pathJoinRadius - ); - console.timeEnd("joining nearby paths"); + ) + console.timeEnd('joining nearby paths') } // Convert the paths to units of "steps". - paths = paths.map((ps) => ps.map((p) => vmul(p, Device.Axidraw.stepsPerMm))); + paths = paths.map((ps) => ps.map((p) => vmul(p, device.stepsPerMm))) // And finally, motion planning. - console.time("planning pen motions"); - const plan = Planning.plan(paths, { - penUpPos: Device.Axidraw.penPctToPos(planOptions.penUpHeight), - penDownPos: Device.Axidraw.penPctToPos(planOptions.penDownHeight), + console.time('planning pen motions') + const theplan = plan(paths, { + penUpPos: device.penPctToPos(planOptions.penUpHeight), + penDownPos: device.penPctToPos(planOptions.penDownHeight), penDownProfile: { - acceleration: planOptions.penDownAcceleration * Device.Axidraw.stepsPerMm, - maximumVelocity: planOptions.penDownMaxVelocity * Device.Axidraw.stepsPerMm, - corneringFactor: planOptions.penDownCorneringFactor * Device.Axidraw.stepsPerMm, + acceleration: planOptions.penDownAcceleration * device.stepsPerMm, + maximumVelocity: planOptions.penDownMaxVelocity * device.stepsPerMm, + corneringFactor: planOptions.penDownCorneringFactor * device.stepsPerMm }, penUpProfile: { - acceleration: planOptions.penUpAcceleration * Device.Axidraw.stepsPerMm, - maximumVelocity: planOptions.penUpMaxVelocity * Device.Axidraw.stepsPerMm, - corneringFactor: 0, + acceleration: planOptions.penUpAcceleration * device.stepsPerMm, + maximumVelocity: planOptions.penUpMaxVelocity * device.stepsPerMm, + corneringFactor: 0 }, penDropDuration: planOptions.penDropDuration, - penLiftDuration: planOptions.penLiftDuration, - }); - console.timeEnd("planning pen motions"); + penLiftDuration: planOptions.penLiftDuration + }) + console.timeEnd('planning pen motions') - return plan; + return theplan } diff --git a/src/paper-size.ts b/src/paper-size.ts index 432e7e69..55069a3e 100644 --- a/src/paper-size.ts +++ b/src/paper-size.ts @@ -1,43 +1,43 @@ -import {Vec2, vmul} from "./vec"; +import { Vec2, vmul } from './vec' -function vround(v: Vec2, digits = 2): Vec2 { - return { x: Number(v.x.toFixed(digits)), y: Number(v.y.toFixed(digits)) }; +function vround (v: Vec2, digits = 2): Vec2 { + return { x: Number(v.x.toFixed(digits)), y: Number(v.y.toFixed(digits)) } } export class PaperSize { - - public get landscape(): PaperSize { + public get landscape (): PaperSize { return new PaperSize({ x: Math.max(this.size.x, this.size.y), - y: Math.min(this.size.x, this.size.y), - }); + y: Math.min(this.size.x, this.size.y) + }) } - public get portrait(): PaperSize { + public get portrait (): PaperSize { return new PaperSize({ x: Math.min(this.size.x, this.size.y), - y: Math.max(this.size.x, this.size.y), - }); + y: Math.max(this.size.x, this.size.y) + }) + } + + public get isLandscape (): boolean { + return this.size.x === Math.max(this.size.x, this.size.y) } - public get isLandscape(): boolean { - return this.size.x === Math.max(this.size.x, this.size.y); + public static standard: { [name: string]: PaperSize } = { + USLetter: new PaperSize(vround(vmul({ x: 8.5, y: 11 }, 25.4))), + USLegal: new PaperSize(vround(vmul({ x: 8.5, y: 14 }, 25.4))), + ArchA: new PaperSize(vround(vmul({ x: 9, y: 12 }, 25.4))), + A3: new PaperSize({ x: 297, y: 420 }), + A4: new PaperSize({ x: 210, y: 297 }), + A5: new PaperSize({ x: 148, y: 210 }), + A6: new PaperSize({ x: 105, y: 148 }), + '6x8': new PaperSize(vround(vmul({ x: 6, y: 8 }, 25.4))), + '5x7': new PaperSize(vround(vmul({ x: 5, y: 7 }, 25.4))), + '11x14': new PaperSize(vround(vmul({ x: 11, y: 14 }, 25.4))) } - public static standard: {[name: string]: PaperSize} = { - "USLetter": new PaperSize(vround(vmul({x: 8.5, y: 11}, 25.4))), - "USLegal": new PaperSize(vround(vmul({x: 8.5, y: 14}, 25.4))), - "ArchA": new PaperSize(vround(vmul({x: 9, y: 12}, 25.4))), - "A3": new PaperSize({x: 297, y: 420}), - "A4": new PaperSize({x: 210, y: 297}), - "A5": new PaperSize({x: 148, y: 210}), - "A6": new PaperSize({x: 105, y: 148}), - "6x8": new PaperSize(vround(vmul({x: 6, y: 8}, 25.4))), - "5x7": new PaperSize(vround(vmul({x: 5, y: 7}, 25.4))), - "11x14": new PaperSize(vround(vmul({x: 11, y: 14}, 25.4))), - }; - public size: Vec2; - public constructor(size: Vec2) { - this.size = size; + public size: Vec2 + public constructor (size: Vec2) { + this.size = size } } diff --git a/src/plan.worker.js b/src/plan.worker.js index 718e688d..ecd5481e 100644 --- a/src/plan.worker.js +++ b/src/plan.worker.js @@ -1 +1 @@ -require("./background-planner"); +require('./background-planner') diff --git a/src/planning.ts b/src/planning.ts index 47cdfbc9..7c9c3876 100644 --- a/src/planning.ts +++ b/src/planning.ts @@ -1,38 +1,39 @@ -/** - * Cribbed from https://github.com/fogleman/axi/blob/master/axi/planner.py - */ -const epsilon = 1e-9; -import {PaperSize} from "./paper-size"; -import {vadd, vdot, Vec2, vlen, vmul, vnorm, vsub} from "./vec"; +// Cribbed from https://github.com/fogleman/axi/blob/master/axi/planner.py +import { Hardware } from './ebb' +import { PaperSize } from './paper-size' +import { vadd, vdot, Vec2, vlen, vmul, vnorm, vsub } from './vec' +const epsilon = 1e-9 export interface PlanOptions { - paperSize: PaperSize; - marginMm: number; - selectedStrokeLayers: Set; - selectedGroupLayers: Set; - layerMode: 'group' | 'stroke' | 'all'; + paperSize: PaperSize + marginMm: number + selectedStrokeLayers: Set + selectedGroupLayers: Set + layerMode: 'group' | 'stroke' | 'all' + + penUpHeight: number + penDownHeight: number + pointJoinRadius: number + pathJoinRadius: number - penUpHeight: number; - penDownHeight: number; - pointJoinRadius: number; - pathJoinRadius: number; + penDownAcceleration: number + penDownMaxVelocity: number + penDownCorneringFactor: number - penDownAcceleration: number; - penDownMaxVelocity: number; - penDownCorneringFactor: number; + penUpAcceleration: number + penUpMaxVelocity: number - penUpAcceleration: number; - penUpMaxVelocity: number; + penDropDuration: number + penLiftDuration: number - penDropDuration: number; - penLiftDuration: number; + sortPaths: boolean + rotateDrawing: number + fitPage: boolean + cropToMargins: boolean - sortPaths: boolean; - rotateDrawing: number; - fitPage: boolean; - cropToMargins: boolean; + minimumPathLength: number - minimumPathLength: number; + hardware: Hardware } export const defaultPlanOptions: PlanOptions = { @@ -62,284 +63,334 @@ export const defaultPlanOptions: PlanOptions = { cropToMargins: true, minimumPathLength: 0, -}; + + hardware: 'v3' +} interface Instant { - t: number; - p: Vec2; - s: number; - v: number; - a: number; + t: number + p: Vec2 + s: number + v: number + a: number } interface AccelerationProfile { - acceleration: number; - maximumVelocity: number; - corneringFactor: number; + acceleration: number + maximumVelocity: number + corneringFactor: number } interface ToolingProfile { - penDownProfile: AccelerationProfile; - penUpProfile: AccelerationProfile; - penDownPos: number; // int - penUpPos: number; // int - penLiftDuration: number; - penDropDuration: number; + penDownProfile: AccelerationProfile + penUpProfile: AccelerationProfile + penDownPos: number // int + penUpPos: number // int + penLiftDuration: number + penDropDuration: number } -export const Device = { - Axidraw: { - stepsPerMm: 5, +export const Device = (hardware = 'v3'): Device => { + if (hardware === 'brushless') return AxidrawBrushless + return Axidraw +} - // Practical min/max that you might ever want the pen servo to go on the AxiDraw (v2) - // Units: 83ns resolution pwm output. - // Defaults: penup at 12000 (1ms), pendown at 16000 (1.33ms). - penServoMin: 7500, // pen down - penServoMax: 28000, // pen up +export interface Device { + stepsPerMm: number + // Practical min/max that you might ever want the pen servo to go on the AxiDraw + // Units: 83ns resolution pwm output. + penServoMin: number // pen down + penServoMax: number // pen up + penPctToPos: (pct: number) => number +} - penPctToPos(pct: number): number { - const t = pct / 100.0; - return Math.round(this.penServoMin * t + this.penServoMax * (1 - t)); - } +// Defaults: penup at 12000 (1ms), pendown at 16000 (1.33ms). +const Axidraw: Device = { + stepsPerMm: 5, + + penServoMin: 7500, // pen down + penServoMax: 28000, // pen up + + penPctToPos (pct: number): number { + const t = pct / 100.0 + return Math.round(this.penServoMin * t + this.penServoMax * (1 - t)) } -}; +} + +// brushless servo (https://shop.evilmadscientist.com/productsmenu/else?id=56) +const AxidrawBrushless: Device = { + stepsPerMm: 5, + + penServoMin: 5400, // pen down + penServoMax: 12600, // pen up + + penPctToPos (pct: number): number { + const t = pct / 100.0 + return Math.round(this.penServoMin * t + this.penServoMax * (1 - t)) + } +} export const AxidrawFast: ToolingProfile = { penDownProfile: { - acceleration: 200 * Device.Axidraw.stepsPerMm, - maximumVelocity: 50 * Device.Axidraw.stepsPerMm, - corneringFactor: 0.127 * Device.Axidraw.stepsPerMm + acceleration: 200 * Axidraw.stepsPerMm, + maximumVelocity: 50 * Axidraw.stepsPerMm, + corneringFactor: 0.127 * Axidraw.stepsPerMm }, penUpProfile: { - acceleration: 400 * Device.Axidraw.stepsPerMm, - maximumVelocity: 200 * Device.Axidraw.stepsPerMm, + acceleration: 400 * Axidraw.stepsPerMm, + maximumVelocity: 200 * Axidraw.stepsPerMm, corneringFactor: 0 }, - penUpPos: Device.Axidraw.penPctToPos(50), - penDownPos: Device.Axidraw.penPctToPos(60), + penUpPos: Axidraw.penPctToPos(50), + penDownPos: Axidraw.penPctToPos(60), penDropDuration: 0.12, - penLiftDuration: 0.12, -}; + penLiftDuration: 0.12 +} + +export const AxidrawBrushlessFast: ToolingProfile = { + penDownProfile: { + acceleration: 200 * AxidrawBrushless.stepsPerMm, + maximumVelocity: 50 * AxidrawBrushless.stepsPerMm, + corneringFactor: 0.127 * AxidrawBrushless.stepsPerMm + }, + penUpProfile: { + acceleration: 400 * AxidrawBrushless.stepsPerMm, + maximumVelocity: 200 * AxidrawBrushless.stepsPerMm, + corneringFactor: 0 + }, + penUpPos: AxidrawBrushless.penPctToPos(50), + penDownPos: AxidrawBrushless.penPctToPos(60), + penDropDuration: 0.08, + penLiftDuration: 0.08 +} export class Block { - public static deserialize(o: any): Block { - return new Block(o.accel, o.duration, o.vInitial, o.p1, o.p2); + public static deserialize (o: any): Block { + return new Block(o.accel, o.duration, o.vInitial, o.p1, o.p2) } - public accel: number; - public duration: number; - public vInitial: number; - public p1: Vec2; - public p2: Vec2; + public accel: number + public duration: number + public vInitial: number + public p1: Vec2 + public p2: Vec2 - public distance: number; + public distance: number - public constructor(accel: number, duration: number, vInitial: number, p1: Vec2, p2: Vec2) { + public constructor (accel: number, duration: number, vInitial: number, p1: Vec2, p2: Vec2) { if (!(vInitial >= 0)) { - throw new Error(`vInitial must be >= 0, but was ${vInitial}`); + throw new Error(`vInitial must be >= 0, but was ${vInitial}`) } if (!(vInitial + accel * duration >= -epsilon)) { - throw new Error(`vFinal must be >= 0, but vInitial=${vInitial}, duration=${duration}, accel=${accel}`); + throw new Error(`vFinal must be >= 0, but vInitial=${vInitial}, duration=${duration}, accel=${accel}`) } - this.accel = accel; - this.duration = duration; - this.vInitial = vInitial; - this.p1 = p1; - this.p2 = p2; - this.distance = vlen(vsub(p1, p2)); + this.accel = accel + this.duration = duration + this.vInitial = vInitial + this.p1 = p1 + this.p2 = p2 + this.distance = vlen(vsub(p1, p2)) } - public get vFinal(): number { return Math.max(0, this.vInitial + this.accel * this.duration); } + public get vFinal (): number { return Math.max(0, this.vInitial + this.accel * this.duration) } - public instant(tU: number, dt= 0, ds= 0): Instant { - const t = Math.max(0, Math.min(this.duration, tU)); - const a = this.accel; - const v = this.vInitial + this.accel * t; - const s = Math.max(0, Math.min(this.distance, this.vInitial * t + a * t * t / 2)); - const p = vadd(this.p1, vmul(vnorm(vsub(this.p2, this.p1)), s)); - return {t: t + dt, p, s: s + ds, v, a}; + public instant (tU: number, dt = 0, ds = 0): Instant { + const t = Math.max(0, Math.min(this.duration, tU)) + const a = this.accel + const v = this.vInitial + this.accel * t + const s = Math.max(0, Math.min(this.distance, this.vInitial * t + a * t * t / 2)) + const p = vadd(this.p1, vmul(vnorm(vsub(this.p2, this.p1)), s)) + return { t: t + dt, p, s: s + ds, v, a } } - public serialize(): any { + public serialize (): any { return { accel: this.accel, duration: this.duration, vInitial: this.vInitial, p1: this.p1, - p2: this.p2, - }; + p2: this.p2 + } } } export interface Motion { - duration(): number; - serialize(): any; + duration: () => number + serialize: () => any } export class PenMotion implements Motion { - public static deserialize(o: any): PenMotion { - return new PenMotion(o.initialPos, o.finalPos, o.duration); + public static deserialize (o: any): PenMotion { + return new PenMotion(o.initialPos, o.finalPos, o.duration) } - public initialPos: number; - public finalPos: number; - public pDuration: number; + public initialPos: number + public finalPos: number + public pDuration: number - public constructor(initialPos: number, finalPos: number, duration: number) { - this.initialPos = initialPos; - this.finalPos = finalPos; - this.pDuration = duration; + public constructor (initialPos: number, finalPos: number, duration: number) { + this.initialPos = initialPos + this.finalPos = finalPos + this.pDuration = duration } - public duration(): number { - return this.pDuration; + public duration (): number { + return this.pDuration } - public serialize(): any { + public serialize (): any { return { - t: "PenMotion", + t: 'PenMotion', initialPos: this.initialPos, finalPos: this.finalPos, - duration: this.pDuration, - }; + duration: this.pDuration + } } } -function scanLeft(a: A[], z: B, op: (b: B, a: A) => B): B[] { - const b: B[] = []; - let acc = z; - b.push(acc); - for (const x of a) { acc = op(acc, x); b.push(acc); } - return b; +function scanLeft (a: A[], z: B, op: (b: B, a: A) => B): B[] { + const b: B[] = [] + let acc = z + b.push(acc) + for (const x of a) { acc = op(acc, x); b.push(acc) } + return b } -function sortedIndex(array: T[], obj: T) { - let low = 0; - let high = array.length; +function sortedIndex (array: T[], obj: T) { + let low = 0 + let high = array.length while (low < high) { - const mid = Math.floor((low + high) / 2); - if (array[mid] < obj) { low = mid + 1; } else { high = mid; } + const mid = Math.floor((low + high) / 2) + if (array[mid] < obj) { low = mid + 1 } else { high = mid } } - return low; + return low } export class XYMotion implements Motion { - public static deserialize(o: any): XYMotion { - return new XYMotion(o.blocks.map(Block.deserialize)); + public static deserialize (o: any): XYMotion { + return new XYMotion(o.blocks.map(Block.deserialize)) } - public blocks: Block[]; - private ts: number[]; - private ss: number[]; + public blocks: Block[] + + private readonly ts: number[] + private readonly ss: number[] - public constructor(blocks: Block[]) { - this.blocks = blocks; - this.ts = scanLeft(blocks.map((b) => b.duration), 0, (a, b) => a + b).slice(0, -1); - this.ss = scanLeft(blocks.map((b) => b.distance), 0, (a, b) => a + b).slice(0, -1); + public constructor (blocks: Block[]) { + this.blocks = blocks + this.ts = scanLeft(blocks.map((b) => b.duration), 0, (a, b) => a + b).slice(0, -1) + this.ss = scanLeft(blocks.map((b) => b.distance), 0, (a, b) => a + b).slice(0, -1) } - public get p1(): Vec2 { - return this.blocks[0].p1; + public get p1 (): Vec2 { + return this.blocks[0].p1 } - public get p2(): Vec2 { - return this.blocks[this.blocks.length - 1].p2; + + public get p2 (): Vec2 { + return this.blocks[this.blocks.length - 1].p2 } - public duration(): number { - return this.blocks.map((b) => b.duration).reduce((a, b) => a + b, 0); + public duration (): number { + return this.blocks.map((b) => b.duration).reduce((a, b) => a + b, 0) } - public instant(t: number): Instant { - const idx = sortedIndex(this.ts, t); - const blockIdx = this.ts[idx] === t ? idx : idx - 1; - const block = this.blocks[blockIdx]; - return block.instant(t - this.ts[blockIdx], this.ts[blockIdx], this.ss[blockIdx]); + public instant (t: number): Instant { + const idx = sortedIndex(this.ts, t) + const blockIdx = this.ts[idx] === t ? idx : idx - 1 + const block = this.blocks[blockIdx] + return block.instant(t - this.ts[blockIdx], this.ts[blockIdx], this.ss[blockIdx]) } - public serialize(): any { + public serialize (): any { return { - t: "XYMotion", + t: 'XYMotion', blocks: this.blocks.map((b) => b.serialize()) - }; + } } } export class Plan { - public static deserialize(o: any): Plan { + public static deserialize (o: any): Plan { return new Plan(o.motions.map((m: any) => { switch (m.t) { - case "XYMotion": return XYMotion.deserialize(m); - case "PenMotion": return PenMotion.deserialize(m); + case 'XYMotion': return XYMotion.deserialize(m) + case 'PenMotion': return PenMotion.deserialize(m) } - })); + }), o.minPenPosition) } - public motions: Motion[]; - public constructor(motions: Motion[]) { - this.motions = motions; + + private readonly minPenPosition: number + public motions: Motion[] + public constructor (motions: Motion[], minPenPosition: number) { + this.motions = motions + this.minPenPosition = minPenPosition } - public duration(start = 0): number { - return this.motions.slice(start).map((m) => m.duration()).reduce((a, b) => a + b, 0); + + public duration (start = 0): number { + return this.motions.slice(start).map((m) => m.duration()).reduce((a, b) => a + b, 0) } - public motion(i: number) { return this.motions[i]; } - public withPenHeights(penUpHeight: number, penDownHeight: number): Plan { - let penMotionIndex = 0; + public motion (i: number) { return this.motions[i] } + + public withPenHeights (penUpHeight: number, penDownHeight: number): Plan { + let penMotionIndex = 0 return new Plan(this.motions.map((motion, j) => { if (motion instanceof XYMotion) { - return motion; + return motion } else if (motion instanceof PenMotion) { - // Uuuugh this is really hacky. We should instead store the - // pen-up/pen-down heights in a single place and reference them from - // the PenMotions. Then we can change them in just one place. - if (j === this.motions.length - 3) { - return new PenMotion(penDownHeight, Device.Axidraw.penPctToPos(0), motion.duration()); - } else if (j === this.motions.length - 1) { - return new PenMotion(Device.Axidraw.penPctToPos(0), penUpHeight, motion.duration()); + // TODO: Remove this hack by storing the pen-up/pen-down heights + // in a single place, and reference them from the PenMotions. + if (j === this.motions.length - 1) { + return new PenMotion(this.minPenPosition, penUpHeight, motion.duration()) } + return (penMotionIndex++ % 2 === 0 ? new PenMotion(penUpHeight, penDownHeight, motion.duration()) - : new PenMotion(penDownHeight, penUpHeight, motion.duration())); + : new PenMotion(penDownHeight, penUpHeight, motion.duration())) } - })); + // TODO: CHECK THAT Plan() doesn't overwrite the above motions with this.minPenPosition + }), this.minPenPosition) } - public serialize(): any { + public serialize (): any { return { - motions: this.motions.map((m) => m.serialize()) - }; + motions: this.motions.map((m) => m.serialize()), + minPenPosition: this.minPenPosition + } } } class Segment { - public p1: Vec2; - public p2: Vec2; - public maxEntryVelocity = 0; - public entryVelocity = 0; - public blocks: Block[]; - - public constructor(p1: Vec2, p2: Vec2) { - this.p1 = p1; - this.p2 = p2; - this.blocks = []; + public p1: Vec2 + public p2: Vec2 + public maxEntryVelocity = 0 + public entryVelocity = 0 + public blocks: Block[] + + public constructor (p1: Vec2, p2: Vec2) { + this.p1 = p1 + this.p2 = p2 + this.blocks = [] } - public length(): number { return vlen(vsub(this.p2, this.p1)); } - public direction(): Vec2 { return vnorm(vsub(this.p2, this.p1)); } + + public length (): number { return vlen(vsub(this.p2, this.p1)) } + public direction (): Vec2 { return vnorm(vsub(this.p2, this.p1)) } } -function cornerVelocity(seg1: Segment, seg2: Segment, vMax: number, accel: number, cornerFactor: number): number { +function cornerVelocity (seg1: Segment, seg2: Segment, vMax: number, accel: number, cornerFactor: number): number { // https://onehossshay.wordpress.com/2011/09/24/improving_grbl_cornering_algorithm/ - const cosine = -vdot(seg1.direction(), seg2.direction()); + const cosine = -vdot(seg1.direction(), seg2.direction()) // assert(!cosine.isNaN, s"cosine was NaN: $seg1, $seg2, ${seg1.direction}, ${seg2.direction}") if (Math.abs(cosine - 1) < epsilon) { - return 0; + return 0 } - const sine = Math.sqrt((1 - cosine) / 2); + const sine = Math.sqrt((1 - cosine) / 2) if (Math.abs(sine - 1) < epsilon) { - return vMax; + return vMax } - const v = Math.sqrt((accel * cornerFactor * sine) / (1 - sine)); + const v = Math.sqrt((accel * cornerFactor * sine) / (1 - sine)) // assert(!v.isNaN, s"v was NaN: $accel, $cornerFactor, $sine") - return Math.min(v, vMax); + return Math.min(v, vMax) } /** Represents a triangular velocity profile for moving in a straight line. @@ -368,10 +419,10 @@ function cornerVelocity(seg1: Segment, seg2: Segment, vMax: number, accel: numbe * @param p3 the final position */ interface Triangle { - s1: number; s2: number; - t1: number; t2: number; - vMax: number; - p1: Vec2; p2: Vec2; p3: Vec2; + s1: number; s2: number + t1: number; t2: number + vMax: number + p1: Vec2; p2: Vec2; p3: Vec2 } /** Compute a triangular velocity profile with piecewise constant acceleration. * @@ -385,7 +436,7 @@ interface Triangle { * @param p3 Ending point. * @return */ -function computeTriangle( +function computeTriangle ( distance: number, initialVel: number, finalVel: number, @@ -393,13 +444,13 @@ function computeTriangle( p1: Vec2, p3: Vec2 ): Triangle { - const acceleratingDistance = (2 * accel * distance + finalVel * finalVel - initialVel * initialVel) / (4 * accel); - const deceleratingDistance = distance - acceleratingDistance; - const vMax = Math.sqrt(initialVel * initialVel + 2 * accel * acceleratingDistance); - const t1 = (vMax - initialVel) / accel; - const t2 = (finalVel - vMax) / -accel; - const p2 = vadd(p1, vmul(vnorm(vsub(p3, p1)), acceleratingDistance)); - return {s1: acceleratingDistance, s2: deceleratingDistance, t1, t2, vMax, p1, p2, p3}; + const acceleratingDistance = (2 * accel * distance + finalVel * finalVel - initialVel * initialVel) / (4 * accel) + const deceleratingDistance = distance - acceleratingDistance + const vMax = Math.sqrt(initialVel * initialVel + 2 * accel * acceleratingDistance) + const t1 = (vMax - initialVel) / accel + const t2 = (finalVel - vMax) / -accel + const p2 = vadd(p1, vmul(vnorm(vsub(p3, p1)), acceleratingDistance)) + return { s1: acceleratingDistance, s2: deceleratingDistance, t1, t2, vMax, p1, p2, p3 } } /** Represents a trapezoidal velocity profile for moving in a straight line. @@ -430,11 +481,11 @@ function computeTriangle( * @param p4 the final position. */ interface Trapezoid { - s1: number; s2: number; s3: number; - t1: number; t2: number; t3: number; - p1: Vec2; p2: Vec2; p3: Vec2; p4: Vec2; + s1: number; s2: number; s3: number + t1: number; t2: number; t3: number + p1: Vec2; p2: Vec2; p3: Vec2; p4: Vec2 } -function computeTrapezoid( +function computeTrapezoid ( distance: number, initialVel: number, maxVel: number, @@ -443,28 +494,28 @@ function computeTrapezoid( p1: Vec2, p4: Vec2 ): Trapezoid { - const t1 = (maxVel - initialVel) / accel; - const s1 = (maxVel + initialVel) / 2 * t1; - const t3 = (finalVel - maxVel) / -accel; - const s3 = (finalVel + maxVel) / 2 * t3; - const s2 = distance - s1 - s3; - const t2 = s2 / maxVel; - const dir = vnorm(vsub(p4, p1)); - const p2 = vadd(p1, vmul(dir, s1)); - const p3 = vadd(p1, vmul(dir, (distance - s3))); - return {s1, s2, s3, t1, t2, t3, p1, p2, p3, p4}; + const t1 = (maxVel - initialVel) / accel + const s1 = (maxVel + initialVel) / 2 * t1 + const t3 = (finalVel - maxVel) / -accel + const s3 = (finalVel + maxVel) / 2 * t3 + const s2 = distance - s1 - s3 + const t2 = s2 / maxVel + const dir = vnorm(vsub(p4, p1)) + const p2 = vadd(p1, vmul(dir, s1)) + const p3 = vadd(p1, vmul(dir, (distance - s3))) + return { s1, s2, s3, t1, t2, t3, p1, p2, p3, p4 } } -function dedupPoints(points: Vec2[], epsilon: number): Vec2[] { - if (epsilon === 0) { return points; } - const dedupedPoints: Vec2[] = []; - dedupedPoints.push(points[0]); +function dedupPoints (points: Vec2[], epsilon: number): Vec2[] { + if (epsilon === 0) { return points } + const dedupedPoints: Vec2[] = [] + dedupedPoints.push(points[0]) for (const p of points.slice(1)) { if (vlen(vsub(p, dedupedPoints[dedupedPoints.length - 1])) > epsilon) { - dedupedPoints.push(p); + dedupedPoints.push(p) } } - return dedupedPoints; + return dedupedPoints } /** @@ -476,109 +527,115 @@ function dedupPoints(points: Vec2[], epsilon: number): Vec2[] { * @param profile Tooling profile to use * @return A plan of action */ -function constantAccelerationPlan(points: Vec2[], profile: AccelerationProfile): XYMotion { - const dedupedPoints = dedupPoints(points, epsilon); +function constantAccelerationPlan (points: Vec2[], profile: AccelerationProfile): XYMotion { + const dedupedPoints = dedupPoints(points, epsilon) if (dedupedPoints.length === 1) { - return new XYMotion([new Block(0, 0, 0, dedupedPoints[0], dedupedPoints[0])]); + return new XYMotion([new Block(0, 0, 0, dedupedPoints[0], dedupedPoints[0])]) } - const segments = dedupedPoints.slice(1).map((a, i) => new Segment(dedupedPoints[i], a)); + const segments = dedupedPoints.slice(1).map((a, i) => new Segment(dedupedPoints[i], a)) - const accel = profile.acceleration; - const vMax = profile.maximumVelocity; - const cornerFactor = profile.corneringFactor; + const accel = profile.acceleration + const vMax = profile.maximumVelocity + const cornerFactor = profile.corneringFactor // Calculate the maximum entry velocity for each segment based on the angle between it // and the previous segment. segments.slice(1).forEach((seg2, i) => { - const seg1 = segments[i]; - seg2.maxEntryVelocity = cornerVelocity(seg1, seg2, vMax, accel, cornerFactor); - }); + const seg1 = segments[i] + seg2.maxEntryVelocity = cornerVelocity(seg1, seg2, vMax, accel, cornerFactor) + }) // This is to force the velocity to zero at the end of the path. - const lastPoint = dedupedPoints[dedupedPoints.length - 1]; - segments.push(new Segment(lastPoint, lastPoint)); + const lastPoint = dedupedPoints[dedupedPoints.length - 1] + segments.push(new Segment(lastPoint, lastPoint)) - let i = 0; + let i = 0 while (i < segments.length - 1) { - const segment = segments[i]; - const nextSegment = segments[i + 1]; - const distance = segment.length(); - const vInitial = segment.entryVelocity; - const vExit = nextSegment.maxEntryVelocity; - const p1 = segment.p1; - const p2 = segment.p2; - - const m = computeTriangle(distance, vInitial, vExit, accel, p1, p2); + const segment = segments[i] + const nextSegment = segments[i + 1] + const distance = segment.length() + const vInitial = segment.entryVelocity + const vExit = nextSegment.maxEntryVelocity + const p1 = segment.p1 + const p2 = segment.p2 + + const m = computeTriangle(distance, vInitial, vExit, accel, p1, p2) if (m.s1 < -epsilon) { // We'd have to start decelerating _before we started on this segment_. backtrack. // In order enter this segment slow enough to be leaving it at vExit, we need to // compute a maximum entry velocity s.t. we can slow down in the distance we have. // TODO: verify this equation. - segment.maxEntryVelocity = Math.sqrt(vExit * vExit + 2 * accel * distance); - i -= 1; + segment.maxEntryVelocity = Math.sqrt(vExit * vExit + 2 * accel * distance) + i -= 1 } else if (m.s2 <= 0) { // No deceleration. // TODO: shouldn't we check vMax here and maybe do trapezoid? should the next case below come first? - const vFinal = Math.sqrt(vInitial * vInitial + 2 * accel * distance); - const t = (vFinal - vInitial) / accel; + const vFinal = Math.sqrt(vInitial * vInitial + 2 * accel * distance) + const t = (vFinal - vInitial) / accel segment.blocks = [ new Block(accel, t, vInitial, p1, p2) - ]; - nextSegment.entryVelocity = vFinal; - i += 1; + ] + nextSegment.entryVelocity = vFinal + i += 1 } else if (m.vMax > vMax) { // Triangle profile would exceed maximum velocity, so top out at vMax. - const z = computeTrapezoid(distance, vInitial, vMax, vExit, accel, p1, p2); + const z = computeTrapezoid(distance, vInitial, vMax, vExit, accel, p1, p2) segment.blocks = [ new Block(accel, z.t1, vInitial, z.p1, z.p2), new Block(0, z.t2, vMax, z.p2, z.p3), new Block(-accel, z.t3, vMax, z.p3, z.p4) - ]; - nextSegment.entryVelocity = vExit; - i += 1; + ] + nextSegment.entryVelocity = vExit + i += 1 } else { // Accelerate, then decelerate. segment.blocks = [ new Block(accel, m.t1, vInitial, m.p1, m.p2), new Block(-accel, m.t2, m.vMax, m.p2, m.p3) - ]; - nextSegment.entryVelocity = vExit; - i += 1; + ] + nextSegment.entryVelocity = vExit + i += 1 } } - const blocks: Block[] = []; + const blocks: Block[] = [] segments.forEach((s) => { s.blocks.forEach((b) => { if (b.duration > epsilon) { - blocks.push(b); + blocks.push(b) } - }); - }); - return new XYMotion(blocks); + }) + }) + return new XYMotion(blocks) } -export function plan( +export function plan ( paths: Vec2[][], profile: ToolingProfile ): Plan { - const motions: Motion[] = []; - let curPos = { x: 0, y: 0 }; - const penMaxUpPos = profile.penUpPos < profile.penDownPos ? 100 : 0 - // for each path: move to the initial point, put the pen down, draw the path, - // then pick the pen up. - paths.forEach((p, i) => { - const m = constantAccelerationPlan(p, profile.penDownProfile); - const penUpPos = i === paths.length - 1 ? Device.Axidraw.penPctToPos(penMaxUpPos) : profile.penUpPos; - motions.push( - constantAccelerationPlan([curPos, m.p1], profile.penUpProfile), - new PenMotion(profile.penUpPos, profile.penDownPos, profile.penDropDuration), - m, - new PenMotion(profile.penDownPos, penUpPos, profile.penLiftDuration) - ); - curPos = m.p2; - }); - // finally, move back to (0, 0). - motions.push(constantAccelerationPlan([curPos, {x: 0, y: 0}], profile.penUpProfile)); - motions.push(new PenMotion(Device.Axidraw.penPctToPos(penMaxUpPos), profile.penUpPos, profile.penDropDuration)); - return new Plan(motions); + const motions: Motion[] = [] + let curPos = { x: 0, y: 0 } + + const penMotions = { + up: new PenMotion(profile.penDownPos, profile.penUpPos, profile.penLiftDuration), + down: new PenMotion(profile.penUpPos, profile.penDownPos, profile.penDropDuration) + } + + // For each path - move to the initial position, put the pen down, draw the path, bring pen up + paths.forEach(path => { + const motion = constantAccelerationPlan(path, profile.penDownProfile) + const position = constantAccelerationPlan([curPos, motion.p1], profile.penUpProfile) + + motions.push(position, penMotions.down, motion, penMotions.up) + curPos = motion.p2 + }) + + // Move to {x: 0, y: 0} + motions.push(constantAccelerationPlan([curPos, { x: 0, y: 0 }], profile.penUpProfile)) + // TODO: should minPenPosition be + // a) profile.penUpPosition? + // b) profile.penDownPosition? + // c) device.penPctToPos(0) + // d) device.penPctToPos(100) + // e) device.penPctToPos(profile.penUpPos < profile.penDownPos ? 100: 0) + return new Plan(motions, profile.penDownPos) } diff --git a/src/regex-transform-stream.ts b/src/regex-transform-stream.ts index 663b9dbd..43c6b1d7 100644 --- a/src/regex-transform-stream.ts +++ b/src/regex-transform-stream.ts @@ -1,6 +1,6 @@ -import "web-streams-polyfill/es2018" +import 'web-streams-polyfill/es2018' export class RegexParser extends TransformStream { - public constructor(opts: { regex: RegExp }) { + public constructor (opts: { regex: RegExp }) { if (opts.regex === undefined) { throw new TypeError('"options.regex" must be a regular expression pattern or object') } @@ -13,7 +13,7 @@ export class RegexParser extends TransformStream { let data = '' const decoder = new TextDecoder() super({ - transform(chunk, controller) { + transform (chunk, controller) { const newData = data + decoder.decode(chunk) const parts = newData.split(regex) data = parts.pop() @@ -21,7 +21,7 @@ export class RegexParser extends TransformStream { controller.enqueue(part) }) }, - flush(controller) { + flush (controller) { controller.enqueue(data) data = '' } diff --git a/src/serialport-serialport.ts b/src/serialport-serialport.ts index 19100e17..92020036 100644 --- a/src/serialport-serialport.ts +++ b/src/serialport-serialport.ts @@ -1,54 +1,55 @@ -import { EventEmitter } from "events"; -import { default as NodeSerialPort } from "serialport"; +import { EventEmitter } from 'events' +import { default as NodeSerialPort } from 'serialport' -function readableStreamFromAsyncIterable(iterable: AsyncIterable) { - const it = iterable[Symbol.asyncIterator](); +function readableStreamFromAsyncIterable (iterable: AsyncIterable) { + const it = iterable[Symbol.asyncIterator]() return new ReadableStream({ - async pull(controller) { - const { done, value } = await it.next(); + async pull (controller) { + const { done, value } = await it.next() if (done) { - controller.close(); + controller.close() } else { - controller.enqueue(value); + controller.enqueue(value) } }, - async cancel(reason) { - await it.throw(reason); + async cancel (reason) { + await it.throw(reason) } - }, { highWaterMark: 0 }); + }, { highWaterMark: 0 }) } export class SerialPortSerialPort extends EventEmitter implements SerialPort { - private _path: string; + private readonly _path: string private _port: NodeSerialPort - public constructor(path: string) { + public constructor (path: string) { super() this._path = path } - public onconnect: (this: this, ev: Event) => any; - public ondisconnect: (this: this, ev: Event) => any; - public readable: ReadableStream; - public writable: WritableStream; + public onconnect: (this: this, ev: Event) => any + public ondisconnect: (this: this, ev: Event) => any + public readable: ReadableStream + public writable: WritableStream - public open(options: SerialOptions): Promise { + public async forget (): Promise { + return await Promise.resolve() + } + + public async open (options: SerialOptions): Promise { const opts: NodeSerialPort.OpenOptions = { - baudRate: options.baudRate, + baudRate: options.baudRate } - if (options.dataBits != null) - opts.dataBits = options.dataBits as any - if (options.stopBits != null) - opts.stopBits = options.stopBits as any - if (options.parity != null) - opts.parity = options.parity + if (options.dataBits != null) { opts.dataBits = options.dataBits as any } + if (options.stopBits != null) { opts.stopBits = options.stopBits as any } + if (options.parity != null) { opts.parity = options.parity } /* TODO: bufferSize?: number | undefined; flowControl?: FlowControlType | undefined; */ - return new Promise((resolve, reject) => { + return await new Promise((resolve, reject) => { this._port = new NodeSerialPort(this._path, opts, (err) => { this._port.once('close', () => this.emit('disconnect')) if (err) reject(err) @@ -60,8 +61,8 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { }) this.readable = readableStreamFromAsyncIterable(this._port) this.writable = new WritableStream({ - write: (chunk) => { - return new Promise((resolve, reject) => { + write: async (chunk) => { + return await new Promise((resolve, reject) => { this._port.write(Buffer.from(chunk), (err, _bytesWritten) => { if (err) reject(err) else resolve() @@ -72,8 +73,9 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { }) }) } - public setSignals(signals: SerialOutputSignals): Promise { - return new Promise((resolve, reject) => { + + public async setSignals (signals: SerialOutputSignals): Promise { + return await new Promise((resolve, reject) => { this._port.set({ dtr: signals.dataTerminalReady, rts: signals.requestToSend, @@ -84,14 +86,17 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { }) }) } - public getSignals(): Promise { - throw new Error("Method not implemented."); + + public async getSignals (): Promise { + throw new Error('Method not implemented.') } - public getInfo(): SerialPortInfo { - throw new Error("Method not implemented."); + + public getInfo (): SerialPortInfo { + throw new Error('Method not implemented.') } - public close(): Promise { - return new Promise((resolve, reject) => { + + public async close (): Promise { + return await new Promise((resolve, reject) => { this._port.close((err) => { if (err) reject(err) else resolve() @@ -99,9 +104,9 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { }) } - public addEventListener(type: "connect" | "disconnect", listener: (this: this, ev: Event) => any, useCapture?: boolean): void; - public addEventListener(type: string, listener: EventListenerOrEventListenerObject, options?: boolean | AddEventListenerOptions): void; - public addEventListener(type: any, listener: any, options?: any): void { + public addEventListener (type: 'connect' | 'disconnect', listener: (this: this, ev: Event) => any, useCapture?: boolean): void + public addEventListener (type: string, listener: EventListenerOrEventListenerObject, options?: boolean | AddEventListenerOptions): void + public addEventListener (type: any, listener: any, options?: any): void { if (typeof options === 'object' && options.once) { this.once(type, listener) } else { @@ -109,9 +114,9 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { } } - public removeEventListener(type: "connect" | "disconnect", callback: (this: this, ev: Event) => any, useCapture?: boolean): void; - public removeEventListener(type: string, callback: EventListenerOrEventListenerObject, options?: boolean | EventListenerOptions): void; - public removeEventListener(type: any, callback: any, options?: any): void { + public removeEventListener (type: 'connect' | 'disconnect', callback: (this: this, ev: Event) => any, useCapture?: boolean): void + public removeEventListener (type: string, callback: EventListenerOrEventListenerObject, options?: boolean | EventListenerOptions): void + public removeEventListener (type: any, callback: any, options?: any): void { if (typeof options === 'object' && options.once) { this.off(type, callback) } else { @@ -119,7 +124,7 @@ export class SerialPortSerialPort extends EventEmitter implements SerialPort { } } - public dispatchEvent(event: Event): boolean { + public dispatchEvent (event: Event): boolean { return this.emit(event.type) } } diff --git a/src/server.ts b/src/server.ts index a5f82475..44ce45b8 100644 --- a/src/server.ts +++ b/src/server.ts @@ -1,300 +1,305 @@ -import cors from "cors"; -import "web-streams-polyfill/es2018" -import express from "express"; -import http from "http"; -import path from "path"; -import { default as NodeSerialPort } from "serialport"; -import { WakeLock } from "wake-lock"; -import WebSocket from "ws"; -import { SerialPortSerialPort } from "./serialport-serialport"; -import { EBB } from "./ebb"; -import { Device, PenMotion, Motion, Plan } from "./planning"; -import { formatDuration } from "./util"; - -export function startServer(port: number, device: string | null = null, enableCors = false, maxPayloadSize = "200mb") { - const app = express(); - - app.use("/", express.static(path.join(__dirname, "..", "ui"))); - app.use(express.json({limit: maxPayloadSize})); +import cors from 'cors' +import 'web-streams-polyfill/es2018' +import express from 'express' +import http from 'http' +import path from 'path' +import { default as NodeSerialPort } from 'serialport' +import { WakeLock } from 'wake-lock' +import WebSocket from 'ws' +import { SerialPortSerialPort } from './serialport-serialport' +import { EBB, Hardware } from './ebb' +import { Device, PenMotion, Motion, Plan } from './planning' +import { formatDuration } from './util' + +type Com = string + +const getDeviceInfo = (ebb: EBB | null, com: Com) => { + return { com: ebb ? com : null, hardware: ebb?.hardware } +} + +export async function startServer (hardware: Hardware, com: Com, port: number, enableCors = false, maxPayloadSize = '200mb') { + const app = express() + app.use('/', express.static(path.join(__dirname, '..', 'ui'))) + app.use(express.json({ limit: maxPayloadSize })) if (enableCors) { - app.use(cors()); + app.use(cors()) } - const server = http.createServer(app); - const wss = new WebSocket.Server({ server }); + const server = http.createServer(app) + const wss = new WebSocket.Server({ server }) - let ebb: EBB | null; - let clients: WebSocket[] = []; - let cancelRequested = false; - let unpaused: Promise | null = null; - let signalUnpause: () => void | null = null; - let motionIdx: number | null = null; - let currentPlan: Plan | null = null; + let ebb: EBB | null + let clients: WebSocket[] = [] + let cancelRequested = false + let unpaused: Promise | null = null + let signalUnpause: () => void | null = null + let motionIdx: number | null = null + let currentPlan: Plan | null = null let plotting = false - wss.on("connection", (ws) => { - clients.push(ws); - ws.on("message", (message) => { - const msg = JSON.parse(message.toString()); + wss.on('connection', (ws) => { + clients.push(ws) + ws.on('message', (message) => { + const msg = JSON.parse(message.toString()) switch (msg.c) { - case "ping": - ws.send(JSON.stringify({c: "pong"})); - break; - case "limp": - if (ebb) { ebb.disableMotors(); } - break; - case "setPenHeight": + case 'ping': + ws.send(JSON.stringify({ c: 'pong' })) + break + case 'limp': + if (ebb) { ebb.disableMotors() } + break + case 'setPenHeight': if (ebb) { (async () => { if (await ebb.supportsSR()) { await ebb.setServoPowerTimeout(10000, true) } - await ebb.setPenHeight(msg.p.height, msg.p.rate); - })(); + await ebb.setPenHeight(msg.p.height, msg.p.rate) + })() } - break; + break } - }); + }) + + ws.send(JSON.stringify({ c: 'dev', p: getDeviceInfo(ebb, com) })) - ws.send(JSON.stringify({c: "dev", p: {path: ebb ? /*ebb.port.path*/"/dev/XXX" : null}})); - ws.send(JSON.stringify({c: "pause", p: {paused: !!unpaused}})); + ws.send(JSON.stringify({ c: 'pause', p: { paused: !!unpaused } })) if (motionIdx != null) { - ws.send(JSON.stringify({c: "progress", p: {motionIdx}})); + ws.send(JSON.stringify({ c: 'progress', p: { motionIdx } })) } if (currentPlan != null) { - ws.send(JSON.stringify({c: "plan", p: {plan: currentPlan}})); + ws.send(JSON.stringify({ c: 'plan', p: { plan: currentPlan } })) } - ws.on("close", () => { - clients = clients.filter((w) => w !== ws); - }); - }); + ws.on('close', () => { + clients = clients.filter((websocket) => websocket !== ws) + }) + }) - app.post("/plot", async (req, res) => { + app.post('/plot', async (req, res) => { if (plotting) { - console.log("Received plot request, but a plot is already in progress!") + console.log('Received plot request, but a plot is already in progress!') return res.status(400).end('Plot in progress') } plotting = true try { - const plan = Plan.deserialize(req.body); - currentPlan = req.body; - console.log(`Received plan of estimated duration ${formatDuration(plan.duration())}`); - console.log(ebb != null ? "Beginning plot..." : "Simulating plot..."); - res.status(200).end(); - - const begin = Date.now(); - let wakeLock: any; + const plan = Plan.deserialize(req.body) + currentPlan = req.body + console.log(`Received plan of estimated duration ${formatDuration(plan.duration())}`) + console.log(ebb != null ? 'Beginning plot...' : 'Simulating plot...') + res.status(200).end() + + const begin = Date.now() + let wakeLock: any try { - wakeLock = new WakeLock("saxi plotting"); + wakeLock = new WakeLock('saxi plotting') } catch (e) { - console.warn("Couldn't acquire wake lock. Ensure your machine does not sleep during plotting"); + console.warn("Couldn't acquire wake lock. Ensure your machine does not sleep during plotting") } try { - await doPlot(ebb != null ? realPlotter : simPlotter, plan); - const end = Date.now(); - console.log(`Plot took ${formatDuration((end - begin) / 1000)}`); + const plotter = ebb != null ? realPlotter : simPlotter + await doPlot(plotter, plan) + const end = Date.now() + console.log(`Plot took ${formatDuration((end - begin) / 1000)}`) } finally { if (wakeLock) { - wakeLock.release(); + wakeLock.release() } } } finally { plotting = false } - }); + }) - app.post("/cancel", (req, res) => { - cancelRequested = true; + app.post('/cancel', (req, res) => { + cancelRequested = true if (unpaused) { - signalUnpause(); + signalUnpause() } - unpaused = signalUnpause = null; - res.status(200).end(); - }); + unpaused = signalUnpause = null + res.status(200).end() + }) - app.post("/pause", (req, res) => { + app.post('/pause', (req, res) => { if (!unpaused) { unpaused = new Promise(resolve => { - signalUnpause = resolve; - }); - broadcast({c: "pause", p: {paused: true}}); + signalUnpause = resolve + }) + broadcast({ c: 'pause', p: { paused: true } }) } - res.status(200).end(); - }); + res.status(200).end() + }) - app.post("/resume", (req, res) => { + app.post('/resume', (req, res) => { if (signalUnpause) { - signalUnpause(); - signalUnpause = unpaused = null; + signalUnpause() + signalUnpause = unpaused = null } - res.status(200).end(); + res.status(200).end() }) - function broadcast(msg: any) { + function broadcast (msg: any) { clients.forEach((ws) => { try { - ws.send(JSON.stringify(msg)); + ws.send(JSON.stringify(msg)) } catch (e) { - console.warn(e); + console.warn(e) } - }); + }) } interface Plotter { - prePlot: (initialPenHeight: number) => Promise; - executeMotion: (m: Motion, progress: [number, number]) => Promise; - postCancel: () => Promise; - postPlot: () => Promise; + prePlot: (initialPenHeight: number) => Promise + executeMotion: (m: Motion, progress: [number, number]) => Promise + postCancel: () => Promise + postPlot: () => Promise } const realPlotter: Plotter = { - async prePlot(initialPenHeight: number): Promise { - await ebb.enableMotors(2); - await ebb.setPenHeight(initialPenHeight, 1000, 1000); - }, - async executeMotion(motion: Motion, _progress: [number, number]): Promise { - await ebb.executeMotion(motion); + async prePlot (initialPenHeight: number): Promise { + await ebb.enableMotors(2) + await ebb.setPenHeight(initialPenHeight, 1000, 1000) }, - async postCancel(): Promise { - await ebb.setPenHeight(Device.Axidraw.penPctToPos(0), 1000); + async executeMotion (motion: Motion, _progress: [number, number]): Promise { + await ebb.executeMotion(motion) }, - async postPlot(): Promise { - await ebb.waitUntilMotorsIdle(); - await ebb.disableMotors(); + async postCancel (): Promise { + const device = Device(ebb.hardware) + await ebb.setPenHeight(device.penPctToPos(0), 1000) }, - }; + async postPlot (): Promise { + await ebb.waitUntilMotorsIdle() + await ebb.disableMotors() + } + } const simPlotter: Plotter = { // eslint-disable-next-line @typescript-eslint/no-empty-function - async prePlot(_initialPenHeight: number): Promise { + async prePlot (_initialPenHeight: number): Promise { }, - async executeMotion(motion: Motion, progress: [number, number]): Promise { - console.log(`Motion ${progress[0] + 1}/${progress[1]}`); - await new Promise((resolve) => setTimeout(resolve, motion.duration() * 1000)); + async executeMotion (motion: Motion, progress: [number, number]): Promise { + console.log(`Motion ${progress[0] + 1}/${progress[1]}`) + await new Promise((resolve) => setTimeout(resolve, motion.duration() * 1000)) }, - async postCancel(): Promise { - console.log("Plot cancelled"); + async postCancel (): Promise { + console.log('Plot cancelled') }, // eslint-disable-next-line @typescript-eslint/no-empty-function - async postPlot(): Promise { - }, - }; + async postPlot (): Promise { + } + } - async function doPlot(plotter: Plotter, plan: Plan): Promise { - cancelRequested = false; - unpaused = null; - signalUnpause = null; - motionIdx = 0; + async function doPlot (plotter: Plotter, plan: Plan): Promise { + cancelRequested = false + unpaused = null + signalUnpause = null + motionIdx = 0 - const firstPenMotion = (plan.motions.find((x) => x instanceof PenMotion) as PenMotion); - await plotter.prePlot(firstPenMotion.initialPos); + const firstPenMotion = (plan.motions.find((x) => x instanceof PenMotion) as PenMotion) + await plotter.prePlot(firstPenMotion.initialPos) - let penIsUp = true; + let penIsUp = true for (const motion of plan.motions) { - broadcast({c: "progress", p: {motionIdx}}); - await plotter.executeMotion(motion, [motionIdx, plan.motions.length]); + broadcast({ c: 'progress', p: { motionIdx } }) + await plotter.executeMotion(motion, [motionIdx, plan.motions.length]) if (motion instanceof PenMotion) { - penIsUp = motion.initialPos < motion.finalPos; + penIsUp = motion.initialPos < motion.finalPos } if (unpaused && penIsUp) { - await unpaused; - broadcast({c: "pause", p: {paused: false}}); + await unpaused + broadcast({ c: 'pause', p: { paused: false } }) } - if (cancelRequested) { break; } - motionIdx += 1; + if (cancelRequested) { break } + motionIdx += 1 } - motionIdx = null; - currentPlan = null; + motionIdx = null + currentPlan = null if (cancelRequested) { - await plotter.postCancel(); - broadcast({c: "cancelled"}); - cancelRequested = false; + await plotter.postCancel() + broadcast({ c: 'cancelled' }) + cancelRequested = false } else { - broadcast({c: "finished"}); + broadcast({ c: 'finished' }) } - await plotter.postPlot(); + await plotter.postPlot() } - return new Promise((resolve) => { + return await new Promise((resolve) => { server.listen(port, () => { - async function connect() { - for await (const d of ebbs(device)) { - ebb = d; - broadcast({c: "dev", p: {path: ebb ? /*ebb.port.path*/"/dev/XXX" : null}}); + async function connect () { + const devices = ebbs(com, hardware) + for await (const device of devices) { + ebb = device + broadcast({ c: 'dev', p: getDeviceInfo(ebb, com) }) } } - connect(); - const {family, address, port} = server.address() as any; - const addr = `${family === "IPv6" ? `[${address}]` : address}:${port}`; - console.log(`Server listening on http://${addr}`); - resolve(server); - }); - }); + connect() + const { family, address, port } = server.address() as any + const addr = `${family === 'IPv6' ? `[${address}]` : address}:${port}` + console.log(`Server listening on http://${addr}`) + resolve(server) + }) + }) } -async function tryOpen(path: string): Promise { - const port = new SerialPortSerialPort(path); - await port.open({baudRate: 9600}) +async function tryOpen (com: Com) { + const port = new SerialPortSerialPort(com) + await port.open({ baudRate: 9600 }) return port } -function sleep(ms: number) { - return new Promise((resolve) => setTimeout(resolve, ms)); +async function sleep (ms: number) { + return await new Promise((resolve) => setTimeout(resolve, ms)) } -function isEBB(p: NodeSerialPort.PortInfo): boolean { - return p.manufacturer === "SchmalzHaus" || p.manufacturer === "SchmalzHaus LLC" || (p.vendorId == "04D8" && p.productId == "FD92"); +function isEBB (p: NodeSerialPort.PortInfo): boolean { + return p.manufacturer === 'SchmalzHaus' || p.manufacturer === 'SchmalzHaus LLC' || (p.vendorId == '04D8' && p.productId == 'FD92') } -async function listEBBs() { - const ports = await NodeSerialPort.list(); - return ports.filter(isEBB).map((p) => p.path); +async function listEBBs (): Promise { + const ports = await NodeSerialPort.list() + return ports.filter(isEBB).map(port => port.path) } -async function waitForEbb() { +async function waitForEbb (): Promise { // eslint-disable-next-line no-constant-condition while (true) { - const ebbs = await listEBBs(); - if (ebbs.length) { - return ebbs[0]; - } - await sleep(5000); + const ebbs = await listEBBs() + if (ebbs.length > 0) return ebbs[0] + await sleep(5000) } } -async function* ebbs(path?: string) { +async function * ebbs (path?: string, hardware: Hardware = 'v3') { while (true) { try { - const com = path || (await waitForEbb()); - console.log(`Found EBB at ${com}`); - const port = await tryOpen(com); + const com: Com = path || (await waitForEbb()) + console.log(`Found EBB at ${com}`) + const port = await tryOpen(com) const closed = new Promise((resolve) => { port.addEventListener('disconnect', resolve, { once: true }) - }); - yield new EBB(port); - await closed; - yield null; - console.error(`Lost connection to EBB, reconnecting...`); + }) + yield new EBB(port, hardware) + await closed + yield null + console.error('Lost connection to EBB, reconnecting...') } catch (e) { - console.error(`Error connecting to EBB: ${e.message}`); - console.error(`Retrying in 5 seconds...`); - await sleep(5000); + console.error(`Error connecting to EBB: ${e.message}`) + console.error('Retrying in 5 seconds...') + await sleep(5000) } } } -export async function connectEBB(path: string | undefined): Promise { - if (path) { - return new EBB(new SerialPortSerialPort(path)); - } else { - const ebbs = await listEBBs(); - if (ebbs.length) { - return new EBB(new SerialPortSerialPort(ebbs[0])); - } else { - return null; - } +export async function connectEBB (hardware: Hardware = 'v3', device: string | undefined): Promise { + if (!device) { + const ebbs = await listEBBs() + if (ebbs.length === 0) return null + device = ebbs[0] } + + const port = await tryOpen(device) + return new EBB(port, hardware) } diff --git a/src/ui.tsx b/src/ui.tsx index 2eb20a40..751d680f 100644 --- a/src/ui.tsx +++ b/src/ui.tsx @@ -4,20 +4,21 @@ import { createRoot } from 'react-dom/client'; import interpolator from "color-interpolate" import colormap from "colormap" -import {flattenSVG} from "flatten-svg"; -import {PaperSize} from "./paper-size"; -import {Device, Plan, PlanOptions, defaultPlanOptions, XYMotion, PenMotion} from "./planning"; -import {formatDuration} from "./util"; -import {Vec2} from "./vec"; +import { flattenSVG } from "flatten-svg"; +import { PaperSize } from "./paper-size"; +import { Plan, PlanOptions, defaultPlanOptions, XYMotion, PenMotion, Device } from "./planning"; +import { formatDuration } from "./util"; +import { Vec2 } from "./vec"; + +import pathJoinRadiusIcon from "./icons/path-joining radius.svg" +import pointJoinRadiusIcon from "./icons/point-joining radius.svg" +import rotateDrawingIcon from "./icons/rotate-drawing.svg" import PlanWorker from "./plan.worker"; import "./style.css"; -import pathJoinRadiusIcon from "./icons/path-joining radius.svg"; -import pointJoinRadiusIcon from "./icons/point-joining radius.svg"; -import rotateDrawingIcon from "./icons/rotate-drawing.svg"; -import { EBB } from "./ebb"; +import { EBB, Hardware } from "./ebb"; const defaultVisualizationOptions = { penStrokeWidth: 0.5, @@ -48,32 +49,35 @@ const initialState = { }; // Update the initial state with previously persisted settings (if present) -const persistedPlanOptions = JSON.parse(window.localStorage.getItem("planOptions")) || {}; -initialState.planOptions = {...initialState.planOptions, ...persistedPlanOptions}; + +const persistedPlanOptions = JSON.parse(window.localStorage.getItem("planOptions") ?? "{}"); +initialState.planOptions = { ...initialState.planOptions, ...persistedPlanOptions }; initialState.planOptions.paperSize = new PaperSize(initialState.planOptions.paperSize.size); type State = typeof initialState; -const DispatchContext = React.createContext(null); +type Dispatcher = React.Dispatch<{ type: string; value: Record }>; +const nullDispatch: Dispatcher = () => null; +const DispatchContext = React.createContext(nullDispatch); function reducer(state: State, action: any): State { switch (action.type) { case "SET_PLAN_OPTION": - return {...state, planOptions: {...state.planOptions, ...action.value}}; + return { ...state, planOptions: { ...state.planOptions, ...action.value } }; case "SET_VISUALIZATION_OPTION": - return {...state, visualizationOptions: {...state.visualizationOptions, ...action.value}}; + return { ...state, visualizationOptions: { ...state.visualizationOptions, ...action.value } }; case "SET_DEVICE_INFO": - return {...state, deviceInfo: action.value}; + return { ...state, deviceInfo: action.value }; case "SET_PAUSED": - return {...state, paused: action.value}; + return { ...state, paused: action.value }; case "SET_PATHS": // eslint-disable-next-line no-case-declarations - const {paths, strokeLayers, selectedStrokeLayers, groupLayers, selectedGroupLayers, layerMode} = action; - return {...state, paths, groupLayers, strokeLayers, planOptions: {...state.planOptions, selectedStrokeLayers, selectedGroupLayers, layerMode}}; + const { paths, strokeLayers, selectedStrokeLayers, groupLayers, selectedGroupLayers, layerMode } = action; + return { ...state, paths, groupLayers, strokeLayers, planOptions: { ...state.planOptions, selectedStrokeLayers, selectedGroupLayers, layerMode } }; case "SET_PROGRESS": - return {...state, progress: action.motionIdx}; + return { ...state, progress: action.motionIdx }; case "SET_CONNECTED": - return {...state, connected: action.connected}; + return { ...state, connected: action.connected }; default: console.warn(`Unrecognized action type '${action.type}'`); return state; @@ -82,6 +86,7 @@ function reducer(state: State, action: any): State { interface DeviceInfo { path: string; + hardware: Hardware; } interface Driver { @@ -112,13 +117,13 @@ class WebSerialDriver implements Driver { public ondevinfo: (devInfo: DeviceInfo) => void; public onpause: (paused: boolean) => void; public onconnectionchange: (connected: boolean) => void; - public onplan: (plan: Plan) => void; + public onplan: (plan: Plan) => void | null; - private _unpaused: Promise = null; - private _signalUnpause: () => void = null; + private _unpaused: Promise | null = null; + private _signalUnpause: () => void = () => null; private _cancelRequested = false; - public static async connect(port?: SerialPort) { + public static async connect(port?: SerialPort, hardware: Hardware = 'v3') { if (!port) port = await navigator.serial.requestPort({ filters: [{ usbVendorId: 0x04D8, usbProductId: 0xFD92 }] }) // baudRate ref: https://github.com/evil-mad/plotink/blob/a45739b7d41b74d35c1e933c18949ed44c72de0e/plotink/ebb_serial.py#L281 @@ -127,7 +132,13 @@ class WebSerialDriver implements Driver { // (pyserial defaults to 9600) await port.open({ baudRate: 9600 }) const { usbVendorId, usbProductId } = port.getInfo() - return new WebSerialDriver(new EBB(port), `${usbVendorId.toString(16).padStart(4, '0')}:${usbProductId.toString(16).padStart(4, '0')}`) + const ebb = new EBB(port, hardware) + + const vendorId = usbVendorId?.toString(16).padStart(4, '0') + const productId = usbProductId?.toString(16).padStart(4, '0') + const name = `${vendorId}:${productId}` + + return new WebSerialDriver(ebb, name) } private _name: string @@ -168,7 +179,8 @@ class WebSerialDriver implements Driver { } if (this._cancelRequested) { - await this.ebb.setPenHeight(Device.Axidraw.penPctToPos(0), 1000); + const device = Device(this.ebb.hardware); + await this.ebb.setPenHeight(device.penPctToPos(0), 1000); if (this.oncancelled) this.oncancelled() } else { if (this.onfinished) this.onfinished() @@ -192,7 +204,7 @@ class WebSerialDriver implements Driver { public resume(): void { const signal = this._signalUnpause this._unpaused = null - this._signalUnpause = null + this._signalUnpause = () => void signal() } @@ -210,9 +222,9 @@ class WebSerialDriver implements Driver { class SaxiDriver implements Driver { public static connect(): Driver { - const d = new SaxiDriver(); - d.connect(); - return d; + const driver = new SaxiDriver(); + driver.connect(); + return driver; } public onprogress: (motionIdx: number) => void | null; @@ -223,24 +235,23 @@ class SaxiDriver implements Driver { public onconnectionchange: (connected: boolean) => void | null; public onplan: (plan: Plan) => void | null; - private socket: WebSocket; + private socket: WebSocket | null; private connected: boolean; - private pingInterval: number; + private pingInterval: number | null; public name() { return 'Saxi Server' } public close() { - this.socket.close() + this.socket?.close() return Promise.resolve() } public connect() { - const websocketProtocol = document.location.protocol === "https:" ? "wss" : "ws"; this.socket = new WebSocket(`${websocketProtocol}://${document.location.host}/chat`); - + this.socket.addEventListener("open", () => { console.log(`Connected to EBB server.`); this.connected = true; @@ -256,34 +267,22 @@ class SaxiDriver implements Driver { // nothing } break; case "progress": { - if (this.onprogress != null) { - this.onprogress(msg.p.motionIdx); - } + this.onprogress?.(msg.p.motionIdx); } break; case "cancelled": { - if (this.oncancelled != null) { - this.oncancelled(); - } + this.oncancelled?.(); } break; case "finished": { - if (this.onfinished != null) { - this.onfinished(); - } + this.onfinished?.(); } break; case "dev": { - if (this.ondevinfo != null) { - this.ondevinfo(msg.p); - } + this.ondevinfo?.(msg.p); } break; case "pause": { - if (this.onpause != null) { - this.onpause(msg.p.paused) - } + this.onpause?.(msg.p.paused) } break; case "plan": { - if (this.onplan != null) { - this.onplan(Plan.deserialize(msg.p.plan)) - } + this.onplan?.(Plan.deserialize(msg.p.plan)) } break; default: { console.log("Unknown message from server:", msg); @@ -295,11 +294,11 @@ class SaxiDriver implements Driver { }); this.socket.addEventListener("close", () => { console.log(`Disconnected from EBB server, reconnecting in 5 seconds.`); - window.clearInterval(this.pingInterval); + if (this.pingInterval) window.clearInterval(this.pingInterval); this.pingInterval = null; this.connected = false; if (this.onconnectionchange) { this.onconnectionchange(false); } - this.socket = null; + if (this.socket) this.socket = null; setTimeout(() => this.connect(), 5000); }); } @@ -308,7 +307,7 @@ class SaxiDriver implements Driver { fetch("/plot", { method: "POST", headers: { "Content-Type": "application/json" }, - body: new Blob([ JSON.stringify(plan.serialize()) ], { type: 'application/json' }) + body: new Blob([JSON.stringify(plan.serialize())], { type: 'application/json' }) }); } @@ -328,11 +327,11 @@ class SaxiDriver implements Driver { if (!this.connected) { throw new Error(`Can't send message: not connected`); } - this.socket.send(JSON.stringify(msg)); + this.socket?.send(JSON.stringify(msg)); } public setPenHeight(height: number, rate: number) { - this.send({ c: "setPenHeight", p: {height, rate} }); + this.send({ c: "setPenHeight", p: { height, rate } }); } public limp() { this.send({ c: "limp" }); } @@ -341,10 +340,10 @@ class SaxiDriver implements Driver { const usePlan = (paths: Vec2[][] | null, planOptions: PlanOptions) => { const [isPlanning, setIsPlanning] = useState(false); - const [latestPlan, setPlan] = useState(null); + const [latestPlan, setPlan] = useState(null); function serialize(po: PlanOptions): string { - return JSON.stringify(po, (k, v) => v instanceof Set ? [...v] : v); + return JSON.stringify(po, (_, v) => v instanceof Set ? [...v] : v); } function attemptRejigger(previousOptions: PlanOptions, newOptions: PlanOptions, previousPlan: Plan) { @@ -354,24 +353,24 @@ const usePlan = (paths: Vec2[][] | null, planOptions: PlanOptions) => { penDownHeight: previousOptions.penDownHeight, }; if (serialize(previousOptions) === serialize(newOptionsWithOldPenHeights)) { + const device = Device(newOptions.hardware); // The existing plan should be the same except for penup/pendown heights. return previousPlan.withPenHeights( - Device.Axidraw.penPctToPos(newOptions.penUpHeight), - Device.Axidraw.penPctToPos(newOptions.penDownHeight) + device.penPctToPos(newOptions.penUpHeight), + device.penPctToPos(newOptions.penDownHeight) ); } } - const lastPaths = useRef(null); - const lastPlan = useRef(null); - const lastPlanOptions = useRef(null); + const lastPaths = useRef(); + const lastPlan = useRef(); + const lastPlanOptions = useRef(); useEffect(() => { - if (!paths) { - return; - } + if (!paths) return; + if (lastPlan.current != null && lastPaths.current === paths) { - const rejiggered = attemptRejigger(lastPlanOptions.current, planOptions, lastPlan.current); + const rejiggered = attemptRejigger(lastPlanOptions.current ?? defaultPlanOptions, planOptions, lastPlan.current); if (rejiggered) { setPlan(rejiggered); lastPlan.current = rejiggered; @@ -383,7 +382,7 @@ const usePlan = (paths: Vec2[][] | null, planOptions: PlanOptions) => { const worker = new (PlanWorker as any)(); setIsPlanning(true); console.time("posting to worker"); - worker.postMessage({paths, planOptions}); + worker.postMessage({ paths, planOptions }); console.timeEnd("posting to worker"); const listener = (m: any) => { console.time("deserializing"); @@ -402,7 +401,7 @@ const usePlan = (paths: Vec2[][] | null, planOptions: PlanOptions) => { }; }, [paths, serialize(planOptions)]); - return [isPlanning, latestPlan, setPlan]; + return { isPlanning, plan: latestPlan, setPlan }; }; const setPaths = (paths: Vec2[][]) => { @@ -415,20 +414,22 @@ const setPaths = (paths: Vec2[][]) => { const layerMode = groups.size > 1 ? 'group' : 'stroke' const groupLayers = Array.from(groups).sort() const strokeLayers = Array.from(strokes).sort() - return {type: "SET_PATHS", paths, groupLayers, strokeLayers, selectedGroupLayers: new Set(groupLayers), selectedStrokeLayers: new Set(strokeLayers), layerMode}; + return { type: "SET_PATHS", paths, groupLayers, strokeLayers, selectedGroupLayers: new Set(groupLayers), selectedStrokeLayers: new Set(strokeLayers), layerMode }; }; -function PenHeight({state, driver}: {state: State; driver: Driver}) { - const {penUpHeight, penDownHeight} = state.planOptions; +function PenHeight({ state, driver }: { state: State; driver: Driver }) { + const { penUpHeight, penDownHeight, hardware } = state.planOptions; const dispatch = useContext(DispatchContext); - const setPenUpHeight = (x: number) => dispatch({type: "SET_PLAN_OPTION", value: {penUpHeight: x}}); - const setPenDownHeight = (x: number) => dispatch({type: "SET_PLAN_OPTION", value: {penDownHeight: x}}); + const setPenUpHeight = (x: number) => dispatch({ type: "SET_PLAN_OPTION", value: { penUpHeight: x } }); + const setPenDownHeight = (x: number) => dispatch({ type: "SET_PLAN_OPTION", value: { penDownHeight: x } }); + const device = Device(hardware); + const penUp = () => { - const height = Device.Axidraw.penPctToPos(penUpHeight); + const height = device.penPctToPos(penUpHeight); driver.setPenHeight(height, 1000); }; const penDown = () => { - const height = Device.Axidraw.penPctToPos(penDownHeight); + const height = device.penPctToPos(penDownHeight); driver.setPenHeight(height, 1000); }; return @@ -455,7 +456,25 @@ function PenHeight({state, driver}: {state: State; driver: Driver}) { ; } -function VisualizationOptions({state}: {state: State}) { +function HardwareOptions({ state }: { state: State }) { + const dispatch = useContext(DispatchContext); + const setHardware = (hardware: string) => dispatch({ + type: "SET_PLAN_OPTION", + value: { hardware } + }); + return
+ +
; +} + +function VisualizationOptions({ state }: { state: State }) { const dispatch = useContext(DispatchContext); return <> @@ -467,14 +486,14 @@ function VisualizationOptions({state}: {state: State}) { min="0" max="10" step="0.1" - onChange={(e) => dispatch({type: "SET_VISUALIZATION_OPTION", value: {penStrokeWidth: Number(e.target.value)}})} + onChange={(e) => dispatch({ type: "SET_VISUALIZATION_OPTION", value: { penStrokeWidth: Number(e.target.value) } })} /> @@ -497,20 +516,20 @@ function SwapPaperSizesButton({ onClick }: { onClick: () => void }) { ; } -function PaperConfig({state}: {state: State}) { +function PaperConfig({ state }: { state: State }) { const dispatch = useContext(DispatchContext); const landscape = state.planOptions.paperSize.isLandscape; function setPaperSize(e: ChangeEvent) { const name = (e.target as HTMLInputElement).value; if (name !== "Custom") { - const ps = PaperSize.standard[name][landscape ? "landscape" : "portrait"]; - dispatch({type: "SET_PLAN_OPTION", value: {paperSize: ps}}); + const paperSize = PaperSize.standard[name][landscape ? "landscape" : "portrait"]; + dispatch({ type: "SET_PLAN_OPTION", value: { paperSize } }); } } function setCustomPaperSize(x: number, y: number) { - dispatch({type: "SET_PLAN_OPTION", value: {paperSize: new PaperSize({x, y})}}); + dispatch({ type: "SET_PLAN_OPTION", value: { paperSize: new PaperSize({ x, y }) } }); } - const {paperSize} = state.planOptions; + const { paperSize } = state.planOptions; const paperSizeName = Object.keys(PaperSize.standard).find((psName) => { const ps = PaperSize.standard[psName].size; return (ps.x === paperSize.size.x && ps.y === paperSize.size.y) @@ -536,9 +555,10 @@ function PaperConfig({state}: {state: State}) { /> { + if (!dispatch) return dispatch({ type: "SET_PLAN_OPTION", - value: {paperSize: paperSize.isLandscape ? paperSize.portrait : paperSize.landscape} + value: { paperSize: paperSize.isLandscape ? paperSize.portrait : paperSize.landscape } }); }} /> ; } -function MotorControl({driver}: {driver: Driver}) { +function MotorControl({ driver }: { driver: Driver }) { return
; } -function PlanStatistics({plan}: {plan: Plan}) { +function PlanStatistics({ plan }: { plan: Plan }) { return
Duration
{plan && plan.duration ? formatDuration(plan.duration()) : "-"}
; } -function TimeLeft({plan, progress, currentMotionStartedTime, paused}: { +function TimeLeft({ plan, progress, currentMotionStartedTime, paused }: { plan: Plan; - progress: number | null; + progress: number | null; currentMotionStartedTime: Date | null; paused: boolean; }) { @@ -611,9 +631,8 @@ function TimeLeft({plan, progress, currentMotionStartedTime, paused}: { } }, [setTime]) - if (!plan || !plan.duration || progress === null || paused) { - return null; - } + if (!plan || !plan.duration || progress === null || paused) return <>; + if (!currentMotionStartedTime) return <> const currentMotionTimeSpent = (new Date().getTime() - currentMotionStartedTime.getTime()) / 1000; const duration = plan.duration(progress); @@ -625,31 +644,32 @@ function TimeLeft({plan, progress, currentMotionStartedTime, paused}: { } function PlanPreview( - {state, previewSize, plan}: { + { state, previewSize, plan }: { state: State; - previewSize: {width: number; height: number}; + previewSize: { width: number; height: number }; plan: Plan | null; } ) { const ps = state.planOptions.paperSize; - const strokeWidth = state.visualizationOptions.penStrokeWidth * Device.Axidraw.stepsPerMm + const device = Device(state.planOptions.hardware); + const strokeWidth = state.visualizationOptions.penStrokeWidth * device.stepsPerMm const colorPathsByStrokeOrder = state.visualizationOptions.colorPathsByStrokeOrder const memoizedPlanPreview = useMemo(() => { if (plan) { const palette = colorPathsByStrokeOrder - ? interpolator(colormap({colormap: 'spring'})) + ? interpolator(colormap({ colormap: 'spring' })) : () => 'rgba(0, 0, 0, 0.8)' const lines = plan.motions.map((m) => { if (m instanceof XYMotion) { return m.blocks.map((b) => b.p1).concat([m.p2]); } else { return []; } }).filter((m) => m.length); - return + return {lines.map((line, i) => m + `${j === 0 ? "M" : "L"}${x} ${y}`, "")} - style={i % 2 === 0 ? {stroke: "rgba(0, 0, 0, 0.3)", strokeWidth: 0.5} : { stroke: palette(1 - i / lines.length), strokeWidth }} + d={line.reduce((m, { x, y }, j) => m + `${j === 0 ? "M" : "L"}${x} ${y}`, "")} + style={i % 2 === 0 ? { stroke: "rgba(0, 0, 0, 0.3)", strokeWidth: 0.5 } : { stroke: palette(1 - i / lines.length), strokeWidth }} /> )} ; @@ -659,13 +679,13 @@ function PlanPreview( // w/h of svg. // first try scaling so that h = area.h. if w < area.w, then ok. // otherwise, scale so that w = area.w. - const {width, height} = ps.size.x / ps.size.y * previewSize.height <= previewSize.width - ? {width: ps.size.x / ps.size.y * previewSize.height, height: previewSize.height} - : {height: ps.size.y / ps.size.x * previewSize.width, width: previewSize.width}; + const { width, height } = ps.size.x / ps.size.y * previewSize.height <= previewSize.width + ? { width: ps.size.x / ps.size.y * previewSize.height, height: previewSize.height } + : { height: ps.size.y / ps.size.x * previewSize.width, width: previewSize.width }; const [microprogress, setMicroprogress] = useState(0); useLayoutEffect(() => { - let rafHandle: number = null; + let rafHandle: number | null = null; let cancelled = false; if (state.progress != null) { const startingTime = Date.now(); @@ -686,15 +706,14 @@ function PlanPreview( }; }, [state.progress]); - let progressIndicator = null; + let progressIndicator = <>; if (state.progress != null && plan != null) { const motion = plan.motion(state.progress); const pos = motion instanceof XYMotion ? motion.instant(Math.min(microprogress / 1000, motion.duration())).p : (plan.motion(state.progress - 1) as XYMotion).p2; - const {stepsPerMm} = Device.Axidraw; - const posXMm = pos.x / stepsPerMm; - const posYMm = pos.y / stepsPerMm; + const posXMm = pos.x / device.stepsPerMm; + const posYMm = pos.y / device.stepsPerMm; progressIndicator = ; @@ -744,7 +763,7 @@ function PlanPreview( } function PlanLoader( - {isLoadingFile, isPlanning}: { + { isLoadingFile, isPlanning }: { isLoadingFile: boolean; isPlanning: boolean; } @@ -758,7 +777,7 @@ function PlanLoader( return null; } -function LayerSelector({state}: {state: State}) { +function LayerSelector({ state }: { state: State }) { const dispatch = useContext(DispatchContext); const layers = state.planOptions.layerMode === 'group' ? state.groupLayers : state.strokeLayers const selectedLayers = state.planOptions.layerMode === 'group' ? state.planOptions.selectedGroupLayers : state.planOptions.selectedStrokeLayers @@ -766,11 +785,11 @@ function LayerSelector({state}: {state: State}) { const layersChanged = state.planOptions.layerMode === 'group' ? (e: ChangeEvent) => { const selectedLayers = new Set([...(e.target as HTMLSelectElement).selectedOptions].map((o) => o.value)); - dispatch({type: "SET_PLAN_OPTION", value: {selectedGroupLayers: selectedLayers}}); + dispatch({ type: "SET_PLAN_OPTION", value: { selectedGroupLayers: selectedLayers } }); } : (e: ChangeEvent) => { const selectedLayers = new Set([...(e.target as HTMLSelectElement).selectedOptions].map((o) => o.value)); - dispatch({type: "SET_PLAN_OPTION", value: {selectedStrokeLayers: selectedLayers}}); + dispatch({ type: "SET_PLAN_OPTION", value: { selectedStrokeLayers: selectedLayers } }); }; return
@@ -930,7 +949,7 @@ function PlanOptions({state}: {state: State}) { value={state.planOptions.penDownAcceleration} step="0.1" min="0" - onChange={(e) => dispatch({type: "SET_PLAN_OPTION", value: {penDownAcceleration: Number(e.target.value)}})} + onChange={(e) => dispatch({ type: "SET_PLAN_OPTION", value: { penDownAcceleration: Number(e.target.value) } })} />
@@ -951,7 +970,7 @@ function PlanOptions({state}: {state: State}) { value={state.planOptions.penDownCorneringFactor} step="0.01" min="0" - onChange={(e) => dispatch({type: "SET_PLAN_OPTION", value: {penDownCorneringFactor: Number(e.target.value)}})} + onChange={(e) => dispatch({ type: "SET_PLAN_OPTION", value: { penDownCorneringFactor: Number(e.target.value) } })} />
@@ -962,7 +981,7 @@ function PlanOptions({state}: {state: State}) { value={state.planOptions.penUpAcceleration} step="0.1" min="0" - onChange={(e) => dispatch({type: "SET_PLAN_OPTION", value: {penUpAcceleration: Number(e.target.value)}})} + onChange={(e) => dispatch({ type: "SET_PLAN_OPTION", value: { penUpAcceleration: Number(e.target.value) } })} />
@@ -984,7 +1003,7 @@ function PlanOptions({state}: {state: State}) { value={state.planOptions.penLiftDuration} step="0.01" min="0" - onChange={(e) => dispatch({type: "SET_PLAN_OPTION", value: {penLiftDuration: Number(e.target.value)}})} + onChange={(e) => dispatch({ type: "SET_PLAN_OPTION", value: { penLiftDuration: Number(e.target.value) } })} />
@@ -1002,22 +1021,30 @@ function PlanOptions({state}: {state: State}) { ; } -function PortSelector({driver, setDriver}: {driver: Driver; setDriver: (d: Driver) => void}) { +type PortSelectorProps = { + driver: Driver | null; + setDriver: (driver: Driver) => void; + hardware: Hardware; +} + +function PortSelector({ driver, setDriver, hardware }: PortSelectorProps) { const [initializing, setInitializing] = useState(false) useEffect(() => { (async () => { try { const ports = await navigator.serial.getPorts() - if (ports.length > 0) { - console.log('connecting to', ports[0]) + const port = ports[0] + if (port) { + console.log('connecting to', port) // get the first - setDriver(await WebSerialDriver.connect(ports[0])) + setDriver(await WebSerialDriver.connect(port, hardware)) } } finally { setInitializing(false) } })() }, []) + return <> {driver ? `Connected: ${driver.name()}` : null} {!driver ? @@ -1026,9 +1053,9 @@ function PortSelector({driver, setDriver}: {driver: Driver; setDriver: (d: Drive onClick={async () => { try { const port = await navigator.serial.requestPort({ filters: [{ usbVendorId: 0x04D8, usbProductId: 0xFD92 }] }) - if (driver) - await driver.close() - setDriver(await WebSerialDriver.connect(port)) + // TODO: describe why we close if we already checked that driver is null + // await driver?.close() + setDriver(await WebSerialDriver.connect(port, hardware)) } catch (e) { alert(`Failed to connect to serial device: ${e.message}`) console.error(e) @@ -1047,7 +1074,7 @@ function Root() { IS_WEB ? null as Driver | null : SaxiDriver.connect() ) const [state, dispatch] = useReducer(reducer, initialState); - const [isPlanning, plan, setPlan] = usePlan(state.paths, state.planOptions); + const { isPlanning, plan, setPlan } = usePlan(state.paths, state.planOptions); const [isLoadingFile, setIsLoadingFile] = useState(false); useEffect(() => { @@ -1057,29 +1084,31 @@ function Root() { useEffect(() => { if (driver == null) return; driver.onprogress = (motionIdx: number) => { - dispatch({type: "SET_PROGRESS", motionIdx}); + dispatch({ type: "SET_PROGRESS", motionIdx }); }; driver.oncancelled = driver.onfinished = () => { - dispatch({type: "SET_PROGRESS", motionIdx: null}); + dispatch({ type: "SET_PROGRESS", motionIdx: null }); }; driver.onconnectionchange = (connected: boolean) => { - dispatch({type: "SET_CONNECTED", connected}); + dispatch({ type: "SET_CONNECTED", connected }); }; driver.ondevinfo = (devInfo: DeviceInfo) => { - dispatch({type: "SET_DEVICE_INFO", value: devInfo}); + dispatch({ type: "SET_DEVICE_INFO", value: devInfo }); }; driver.onpause = (paused: boolean) => { - dispatch({type: "SET_PAUSED", value: paused}); + dispatch({ type: "SET_PAUSED", value: paused }); }; driver.onplan = (plan: Plan) => { - setPlan(plan); + setPlan?.(plan); }; }, [driver]) useEffect(() => { const ondrop = (e: DragEvent) => { e.preventDefault(); - const item = e.dataTransfer.items[0]; + const item = e.dataTransfer?.items[0]; + if (item == null) return + if (item.kind !== "file") return const file = item.getAsFile(); const reader = new FileReader(); setIsLoadingFile(true); @@ -1092,6 +1121,7 @@ function Root() { reader.onerror = () => { setIsLoadingFile(false); }; + if (!file) return reader.readAsText(file); }; const ondragover = (e: DragEvent) => { @@ -1103,7 +1133,7 @@ function Root() { document.body.classList.remove("dragover"); }; const onpaste = (e: ClipboardEvent) => { - e.clipboardData.items[0].getAsString((s) => { + e.clipboardData?.items[0].getAsString((s) => { dispatch(setPaths(readSvg(s))); }); }; @@ -1131,17 +1161,20 @@ function Root() { return
-
+
saxi
- {IS_WEB ? : null} + {IS_WEB ? : null} {!state.connected ?
disconnected
: null}
pen
-
- - - -
+ {driver && ( +
+ + + + +
+ )}
paper
@@ -1158,25 +1191,29 @@ function Root() {
plot
- - - + {plan && ( + <> + + + + )} + {driver && ()}
- {showDragTarget ? : null} + {showDragTarget ? : null}
; @@ -1208,10 +1245,11 @@ function withSVG(svgString: string, fn: (svg: SVGSVGElement) => T): T { } function readSvg(svgString: string): Vec2[][] { - return withSVG(svgString, flattenSVG).map((line) => { - const a = line.points.map(([x, y]: [number, number]) => ({x, y})); - (a as any).stroke = line.stroke; - (a as any).groupId = line.groupId; - return a; - }); + return withSVG(svgString, flattenSVG) + .map((line: { points: [number, number][]; stroke: any; groupId: any; }) => { + const a = line.points.map(([x, y]: [number, number]) => ({ x, y })); + (a as any).stroke = line.stroke; + (a as any).groupId = line.groupId; + return a; + }); } diff --git a/src/util.ts b/src/util.ts index 05733929..fbeb9c39 100644 --- a/src/util.ts +++ b/src/util.ts @@ -1,34 +1,34 @@ -import {PaperSize} from "./paper-size"; -import {vadd, Vec2, vlen2, vmul, vsub} from "./vec"; +import { PaperSize } from './paper-size' +import { vadd, Vec2, vlen2, vmul, vsub } from './vec' /** Format a smallish duration in 2h30m15s form */ -export function formatDuration(seconds: number): string { - const hours = Math.floor(seconds / 60 / 60); - const mins = Math.floor((seconds - hours * 60 * 60) / 60); - const secs = Math.floor(seconds - hours * 60 * 60 - mins * 60); +export function formatDuration (seconds: number): string { + const hours = Math.floor(seconds / 60 / 60) + const mins = Math.floor((seconds - hours * 60 * 60) / 60) + const secs = Math.floor(seconds - hours * 60 * 60 - mins * 60) const parts = [ - [hours, "h"], - [mins, "m"], - [secs, "s"] - ]; - return parts.slice(parts.findIndex((x) => x[0] !== 0)).map(([v, u]) => `${v}${u}`).join(""); + [hours, 'h'], + [mins, 'm'], + [secs, 's'] + ] + return parts.slice(parts.findIndex((x) => x[0] !== 0)).map(([v, u]) => `${v}${u}`).join('') } /** Return the top-left and bottom-right corners of the bounding box containing all points in pointLists */ -function extent(pointLists: Vec2[][]): [Vec2, Vec2] { - let maxX = -Infinity; - let maxY = -Infinity; - let minX = Infinity; - let minY = Infinity; +function extent (pointLists: Vec2[][]): [Vec2, Vec2] { + let maxX = -Infinity + let maxY = -Infinity + let minX = Infinity + let minY = Infinity for (const pl of pointLists) { for (const p of pl) { - if (p.x > maxX) { maxX = p.x; } - if (p.y > maxY) { maxY = p.y; } - if (p.x < minX) { minX = p.x; } - if (p.y < minY) { minY = p.y; } + if (p.x > maxX) { maxX = p.x } + if (p.y > maxY) { maxY = p.y } + if (p.x < minX) { minX = p.x } + if (p.y < minY) { minY = p.y } } } - return [{x: minX, y: minY}, {x: maxX, y: maxY}]; + return [{ x: minX, y: minY }, { x: maxX, y: maxY }] } /** @@ -38,32 +38,32 @@ function extent(pointLists: Vec2[][]): [Vec2, Vec2] { * * Also centers the paths within the box. */ -function scaleToFit(pointLists: Vec2[][], targetMin: Vec2, targetMax: Vec2): Vec2[][] { - const [min, max] = extent(pointLists); - const availWidthMm = targetMax.x - targetMin.x; - const availHeightMm = targetMax.y - targetMin.y; - const scaleFitX = availWidthMm / (max.x - min.x); - const scaleFitY = availHeightMm / (max.y - min.y); - const scale = Math.min(scaleFitX, scaleFitY); - const targetCenter = vadd(targetMin, vmul(vsub(targetMax, targetMin), 0.5)); - const offset = vsub(targetCenter, vmul(vsub(max, min), scale * 0.5)); - return pointLists.map((pl) => pl.map((p) => vadd(vmul(vsub(p, min), scale), offset))); +function scaleToFit (pointLists: Vec2[][], targetMin: Vec2, targetMax: Vec2): Vec2[][] { + const [min, max] = extent(pointLists) + const availWidthMm = targetMax.x - targetMin.x + const availHeightMm = targetMax.y - targetMin.y + const scaleFitX = availWidthMm / (max.x - min.x) + const scaleFitY = availHeightMm / (max.y - min.y) + const scale = Math.min(scaleFitX, scaleFitY) + const targetCenter = vadd(targetMin, vmul(vsub(targetMax, targetMin), 0.5)) + const offset = vsub(targetCenter, vmul(vsub(max, min), scale * 0.5)) + return pointLists.map((pl) => pl.map((p) => vadd(vmul(vsub(p, min), scale), offset))) } /** Scale a drawing to fill a piece of paper, with the given size and margins. */ -export function scaleToPaper(pointLists: Vec2[][], paperSize: PaperSize, marginMm: number): Vec2[][] { +export function scaleToPaper (pointLists: Vec2[][], paperSize: PaperSize, marginMm: number): Vec2[][] { return scaleToFit( pointLists, - {x: marginMm, y: marginMm}, - vsub(paperSize.size, {x: marginMm, y: marginMm}) - ); + { x: marginMm, y: marginMm }, + vsub(paperSize.size, { x: marginMm, y: marginMm }) + ) } /** * Liang-Barsky algorithm for computing segment-AABB intersection. * https://gist.github.com/ChickenProp/3194723 */ -function liangBarsky(aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): Vec2 | null { +function liangBarsky (aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): Vec2 | null { const [lower, upper] = aabb const [a, b] = seg const delta = vsub(b, a) @@ -74,19 +74,14 @@ function liangBarsky(aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): Vec2 | null { for (let i = 0; i < 4; i++) { if (p[i] == 0) { - if (q[i] < 0) - return null + if (q[i] < 0) { return null } } else { const t = q[i] / p[i] - if (p[i] < 0 && u1 < t) - u1 = t - else if (p[i] > 0 && u2 > t) - u2 = t + if (p[i] < 0 && u1 < t) { u1 = t } else if (p[i] > 0 && u2 > t) { u2 = t } } } - if (u1 > u2 || u1 > 1 || u1 < 0) - return null + if (u1 > u2 || u1 > 1 || u1 < 0) { return null } return vadd(a, vmul(delta, u1)) } @@ -94,7 +89,7 @@ function liangBarsky(aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): Vec2 | null { /** * Returns true if aabb contains point (edge-inclusive). */ -function contains(aabb: [Vec2, Vec2], point: Vec2): boolean { +function contains (aabb: [Vec2, Vec2], point: Vec2): boolean { const [lower, upper] = aabb return point.x >= lower.x && point.x <= upper.x && point.y >= lower.y && point.y <= upper.y } @@ -103,7 +98,7 @@ function contains(aabb: [Vec2, Vec2], point: Vec2): boolean { * Returns a segment that is the subset of seg which is completely contained * within aabb, or null if seg is outside aabb. */ -function truncate(aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): [Vec2, Vec2] | null { +function truncate (aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): [Vec2, Vec2] | null { const [a, b] = seg const containsA = contains(aabb, a) const containsB = contains(aabb, b) @@ -119,11 +114,11 @@ function truncate(aabb: [Vec2, Vec2], seg: [Vec2, Vec2]): [Vec2, Vec2] | null { * Given a polyline, returns a list of polylines that form a subset of the * input polyline that is completely within aabb. */ -function cropLineToAabb(pointList: Vec2[], aabb: [Vec2, Vec2]): Vec2[][] { +function cropLineToAabb (pointList: Vec2[], aabb: [Vec2, Vec2]): Vec2[][] { const truncatedPointLists: Vec2[][] = [] let currentPointList: Vec2[] | null = null for (let i = 1; i < pointList.length; i++) { - const [a, b] = [pointList[i-1], pointList[i]] + const [a, b] = [pointList[i - 1], pointList[i]] const truncated = truncate(aabb, [a, b]) if (truncated) { if (!currentPointList) { @@ -146,9 +141,9 @@ function cropLineToAabb(pointList: Vec2[], aabb: [Vec2, Vec2]): Vec2[][] { /** * Crops a drawing so it is kept entirely within the given margin. */ -export function cropToMargins(pointLists: Vec2[][], paperSize: PaperSize, marginMm: number): Vec2[][] { - const pageAabb: [Vec2, Vec2] = [{x: 0, y: 0}, paperSize.size] - const margin = {x: marginMm, y: marginMm} +export function cropToMargins (pointLists: Vec2[][], paperSize: PaperSize, marginMm: number): Vec2[][] { + const pageAabb: [Vec2, Vec2] = [{ x: 0, y: 0 }, paperSize.size] + const margin = { x: marginMm, y: marginMm } const insetAabb: [Vec2, Vec2] = [vadd(pageAabb[0], margin), vsub(pageAabb[1], margin)] const truncatedPointLists: Vec2[][] = [] for (const pointList of pointLists) { @@ -159,14 +154,14 @@ export function cropToMargins(pointLists: Vec2[][], paperSize: PaperSize, margin return truncatedPointLists } -export function dedupPoints(points: Vec2[], epsilon: number): Vec2[] { - if (epsilon === 0) { return points; } - const dedupedPoints = [points[0]]; - const epsilon2 = epsilon * epsilon; +export function dedupPoints (points: Vec2[], epsilon: number): Vec2[] { + if (epsilon === 0) { return points } + const dedupedPoints = [points[0]] + const epsilon2 = epsilon * epsilon for (const p of points.slice(1)) { if (vlen2(vsub(p, dedupedPoints[dedupedPoints.length - 1])) > epsilon2) { - dedupedPoints.push(p); + dedupedPoints.push(p) } } - return dedupedPoints; + return dedupedPoints } diff --git a/src/vec.ts b/src/vec.ts index e4c6bf16..2fa81885 100644 --- a/src/vec.ts +++ b/src/vec.ts @@ -1,38 +1,38 @@ export interface Vec2 { - x: number; - y: number; + x: number + y: number } -export function vlen2(a: Vec2): number { - return a.x * a.x + a.y * a.y; +export function vlen2 (a: Vec2): number { + return a.x * a.x + a.y * a.y } -export function vlen(a: Vec2): number { - return Math.sqrt(vlen2(a)); +export function vlen (a: Vec2): number { + return Math.sqrt(vlen2(a)) } -export function vsub(a: Vec2, b: Vec2): Vec2 { - return {x: a.x - b.x, y: a.y - b.y}; +export function vsub (a: Vec2, b: Vec2): Vec2 { + return { x: a.x - b.x, y: a.y - b.y } } -export function vmul(a: Vec2, s: number): Vec2 { - return {x: a.x * s, y: a.y * s}; +export function vmul (a: Vec2, s: number): Vec2 { + return { x: a.x * s, y: a.y * s } } -export function vnorm(a: Vec2): Vec2 { - return vmul(a, 1 / vlen(a)); +export function vnorm (a: Vec2): Vec2 { + return vmul(a, 1 / vlen(a)) } -export function vadd(a: Vec2, b: Vec2): Vec2 { - return {x: a.x + b.x, y: a.y + b.y}; +export function vadd (a: Vec2, b: Vec2): Vec2 { + return { x: a.x + b.x, y: a.y + b.y } } -export function vdot(a: Vec2, b: Vec2): number { - return a.x * b.x + a.y * b.y; +export function vdot (a: Vec2, b: Vec2): number { + return a.x * b.x + a.y * b.y } -export function vrot(v: Vec2, c: Vec2, a: number): Vec2 { - if (a === 0) return v; +export function vrot (v: Vec2, c: Vec2, a: number): Vec2 { + if (a === 0) return v - const radians = (Math.PI / 180) * a, - cos = Math.cos(radians), - sin = Math.sin(radians), - nx = cos * (v.x - c.x) - sin * (v.y - c.y) + c.x, - ny = cos * (v.y - c.y) + sin * (v.x - c.x) + c.y; - - return {x:nx, y:ny}; + const radians = (Math.PI / 180) * a + const cos = Math.cos(radians) + const sin = Math.sin(radians) + const nx = cos * (v.x - c.x) - sin * (v.y - c.y) + c.x + const ny = cos * (v.y - c.y) + sin * (v.x - c.x) + c.y + + return { x: nx, y: ny } } diff --git a/tools/release.js b/tools/release.js index 62721b5b..54eb1f99 100644 --- a/tools/release.js +++ b/tools/release.js @@ -5,36 +5,36 @@ const child_process = require('child_process') const repositoryRoot = path.join(__dirname, '..') const packageJsonPath = path.join(repositoryRoot, 'package.json') -const package = JSON.parse(fs.readFileSync(packageJsonPath)) +const packageParsed = JSON.parse(fs.readFileSync(packageJsonPath)) const args = require('yargs') .strict() - .option("level", { - type: "string", - choices: ["major", "premajor", "minor", "preminor", "patch", "prepatch", "prerelease"], + .option('level', { + type: 'string', + choices: ['major', 'premajor', 'minor', 'preminor', 'patch', 'prepatch', 'prerelease'], demandOption: true }) .parse() -const newVersion = semver.inc(package.version, args.level) +const newVersion = semver.inc(packageParsed.version, args.level) -const newPackageJson = {...package, version: newVersion} -fs.writeFileSync(packageJsonPath, JSON.stringify(newPackageJson, null, 2) + "\n") +const newPackageJson = { ...packageParsed, version: newVersion } +fs.writeFileSync(packageJsonPath, JSON.stringify(newPackageJson, null, 2) + '\n') const packageLockJsonPath = path.join(repositoryRoot, 'package-lock.json') const packageLock = JSON.parse(fs.readFileSync(packageLockJsonPath)) -const newPackageLockJson = {...packageLock, version: newVersion} -fs.writeFileSync(packageLockJsonPath, JSON.stringify(newPackageLockJson, null, 2) + "\n") +const newPackageLockJson = { ...packageLock, version: newVersion } +fs.writeFileSync(packageLockJsonPath, JSON.stringify(newPackageLockJson, null, 2) + '\n') -function git(args) { - const r = child_process.spawnSync("git", args, {cwd: repositoryRoot}) +function git (args) { + const r = child_process.spawnSync('git', args, { cwd: repositoryRoot }) if (r.status !== 0) { console.error(r.stderr) - throw new Error(`Command failed: git ${args.join(" ")}`) + throw new Error(`Command failed: git ${args.join(' ')}`) } } -git(["add", "package.json", "package-lock.json"]) -git(["commit", "-m", `bump to ${newVersion}`]) -git(["tag", `v${newVersion}`]) +git(['add', 'package.json', 'package-lock.json']) +git(['commit', '-m', `bump to ${newVersion}`]) +git(['tag', `v${newVersion}`]) -console.log(`Bumped version from ${package.version} -> ${newVersion}`) +console.log(`Bumped version from ${packageParsed.version} -> ${newVersion}`) diff --git a/tsconfig.cli.json b/tsconfig.cli.json new file mode 100644 index 00000000..9ea3dd39 --- /dev/null +++ b/tsconfig.cli.json @@ -0,0 +1,16 @@ +{ + "extends": "./tsconfig.json", + "compilerOptions": { + "module": "commonjs", + "sourceMap": true, + "outDir": "dist/server", + "baseUrl": ".", + + "paths": { + "*": [ + "node_modules/*" + ] + } + }, + "exclude": [ "src/server.ts", "src/ui.tsx" ] +} diff --git a/tsconfig.json b/tsconfig.json index f2f5c9b9..cf18b444 100644 --- a/tsconfig.json +++ b/tsconfig.json @@ -1,22 +1,10 @@ { "compilerOptions": { - "module": "commonjs", + "skipLibCheck": true, "esModuleInterop": true, - "target": "es6", - "noImplicitAny": true, - "moduleResolution": "node", - "sourceMap": true, - "outDir": "dist/server", - "baseUrl": ".", + "target": "es2020", "jsx": "react", - "paths": { - "*": [ - "node_modules/*" - ] - } + "moduleResolution": "node" }, - "files": [ - "src/cli.ts", - "src/global.d.ts" - ] -} + "include": [ "src/server.ts", "src/ui.tsx", "src/cli.ts", "src/global.d.ts" ] +} \ No newline at end of file diff --git a/tsconfig.server.json b/tsconfig.server.json new file mode 100644 index 00000000..84d68c75 --- /dev/null +++ b/tsconfig.server.json @@ -0,0 +1,16 @@ +{ + "extends": "./tsconfig.json", + "compilerOptions": { + "module": "commonjs", + "sourceMap": true, + "outDir": "dist/server", + "baseUrl": ".", + + "paths": { + "*": [ + "node_modules/*" + ] + } + }, + "exclude": [ "src/cli.ts", "src/ui.tsx" ] +} diff --git a/tsconfig.web.json b/tsconfig.web.json index ab3e6b9f..4c116546 100644 --- a/tsconfig.web.json +++ b/tsconfig.web.json @@ -1,15 +1,9 @@ { + "extends": "./tsconfig.json", "compilerOptions": { - "esModuleInterop": true, - "noImplicitAny": true, - "module": "es6", - "target": "es6", - "moduleResolution": "node", - "jsx": "react", + "noEmit": true, + "module": "es2020", "allowJs": true }, - "files": [ - "src/ui.tsx", - "src/global.d.ts" - ] + "exclude": [ "src/cli.ts" ] } diff --git a/webpack.config.js b/webpack.config.js deleted file mode 100644 index 76db0d56..00000000 --- a/webpack.config.js +++ /dev/null @@ -1,49 +0,0 @@ -const path = require('path'); -const webpack = require('webpack') -const HtmlWebpackPlugin = require('html-webpack-plugin'); - -module.exports = (env, {mode = 'development'}) => ({ - entry: './src/ui.tsx', - output: { - filename: 'main.js', - path: path.resolve(__dirname, 'dist', 'ui') - }, - module: { - rules: [ - { - test: /\.tsx?$/, - exclude: /node_modules/, - use: [{ - loader: 'ts-loader', - options: { - configFile: 'tsconfig.web.json' - } - }] - }, - { - test: /\.css$/, - use: ['style-loader', 'css-loader'], - }, - { - test: /\.svg$/, - use: ['file-loader'], - }, - { - test: /\.worker.js/, - use: ['worker-loader'], - }, - ] - }, - resolve: { - extensions: ['*', '.ts', '.tsx', '.js', '.jsx'] - }, - plugins: [ - new HtmlWebpackPlugin({ - template: './src/index.html', - }), - new webpack.DefinePlugin({ - IS_WEB: !!process.env['IS_WEB'] - }), - ], - devtool: mode === 'development' ? 'inline-source-map' : 'source-map', -});