Merge pull request #2308 from haslinghuis/msp
Michael Keller
GitHub
commit
92faf5fcdf
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@ -1,6 +1,6 @@
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'use strict';
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var MSP = {
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const MSP = {
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symbols: {
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BEGIN: '$'.charCodeAt(0),
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PROTO_V1: 'M'.charCodeAt(0),
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@ -56,17 +56,17 @@ var MSP = {
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JUMBO_FRAME_SIZE_LIMIT: 255,
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read: function (readInfo) {
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var data = new Uint8Array(readInfo.data);
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const data = new Uint8Array(readInfo.data);
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for (var i = 0; i < data.length; i++) {
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for (const chunk of data) {
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switch (this.state) {
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case this.decoder_states.IDLE: // sync char 1
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if (data[i] === this.symbols.BEGIN) {
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if (chunk === this.symbols.BEGIN) {
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this.state = this.decoder_states.PROTO_IDENTIFIER;
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}
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break;
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case this.decoder_states.PROTO_IDENTIFIER: // sync char 2
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switch (data[i]) {
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switch (chunk) {
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case this.symbols.PROTO_V1:
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this.state = this.decoder_states.DIRECTION_V1;
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break;
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@ -74,14 +74,14 @@ var MSP = {
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this.state = this.decoder_states.DIRECTION_V2;
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break;
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default:
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console.log(`Unknown protocol char ${String.fromCharCode(data[i])}`);
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console.log(`Unknown protocol char ${String.fromCharCode(chunk)}`);
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this.state = this.decoder_states.IDLE;
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}
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break;
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case this.decoder_states.DIRECTION_V1: // direction (should be >)
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case this.decoder_states.DIRECTION_V2:
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this.unsupported = 0;
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switch (data[i]) {
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switch (chunk) {
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case this.symbols.FROM_MWC:
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this.message_direction = 1;
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break;
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@ -101,7 +101,7 @@ var MSP = {
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this.state = this.decoder_states.CODE_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V1:
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this.message_length_expected = data[i];
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this.message_length_expected = chunk;
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if (this.message_length_expected === this.constants.JUMBO_FRAME_MIN_SIZE) {
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this.state = this.decoder_states.CODE_JUMBO_V1;
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@ -112,11 +112,11 @@ var MSP = {
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_LOW:
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this.message_length_expected = data[i];
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this.message_length_expected = chunk;
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_V2_HIGH:
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this.message_length_expected |= data[i] << 8;
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this.message_length_expected |= chunk << 8;
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this._initialize_read_buffer();
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this.state = this.message_length_expected > 0 ?
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this.decoder_states.PAYLOAD_V2 :
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@ -124,7 +124,7 @@ var MSP = {
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break;
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case this.decoder_states.CODE_V1:
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case this.decoder_states.CODE_JUMBO_V1:
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this.code = data[i];
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this.code = chunk;
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if (this.message_length_expected > 0) {
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// process payload
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if (this.state === this.decoder_states.CODE_JUMBO_V1) {
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@ -138,25 +138,25 @@ var MSP = {
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}
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break;
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case this.decoder_states.CODE_V2_LOW:
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this.code = data[i];
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this.code = chunk;
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this.state = this.decoder_states.CODE_V2_HIGH;
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break;
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case this.decoder_states.CODE_V2_HIGH:
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this.code |= data[i] << 8;
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this.code |= chunk << 8;
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this.state = this.decoder_states.PAYLOAD_LENGTH_V2_LOW;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_LOW:
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this.message_length_expected = data[i];
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this.message_length_expected = chunk;
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this.state = this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH;
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break;
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case this.decoder_states.PAYLOAD_LENGTH_JUMBO_HIGH:
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this.message_length_expected |= data[i] << 8;
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this.message_length_expected |= chunk << 8;
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this._initialize_read_buffer();
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this.state = this.decoder_states.PAYLOAD_V1;
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break;
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case this.decoder_states.PAYLOAD_V1:
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case this.decoder_states.PAYLOAD_V2:
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_buffer_uint8_view[this.message_length_received] = chunk;
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this.message_length_received++;
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if (this.message_length_received >= this.message_length_expected) {
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@ -179,7 +179,7 @@ var MSP = {
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for (let ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum ^= this.message_buffer_uint8_view[ii];
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}
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this._dispatch_message(data[i]);
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this._dispatch_message(chunk);
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break;
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case this.decoder_states.CHECKSUM_V2:
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this.message_checksum = 0;
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@ -191,7 +191,7 @@ var MSP = {
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for (let ii = 0; ii < this.message_length_received; ii++) {
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this.message_checksum = this.crc8_dvb_s2(this.message_checksum, this.message_buffer_uint8_view[ii]);
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}
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this._dispatch_message(data[i]);
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this._dispatch_message(chunk);
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break;
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default:
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console.log(`Unknown state detected: ${this.state}`);
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@ -212,16 +212,16 @@ var MSP = {
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this.crcError = true;
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this.dataView = new DataView(new ArrayBuffer(0));
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}
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this.notify();
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// Reset variables
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this.message_length_received = 0;
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this.state = 0;
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this.messageIsJumboFrame = false;
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this.notify();
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this.crcError = false;
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},
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notify: function() {
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var self = this;
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this.listeners.forEach(function(listener) {
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const self = this;
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self.listeners.forEach(function(listener) {
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listener(self);
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});
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},
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@ -255,8 +255,8 @@ var MSP = {
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let bufferOut;
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// always reserve 6 bytes for protocol overhead !
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if (data) {
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var size = data.length + 6,
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checksum = 0;
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const size = data.length + 6;
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let checksum = 0;
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bufferOut = new ArrayBuffer(size);
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let bufView = new Uint8Array(bufferOut);
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@ -269,7 +269,7 @@ var MSP = {
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checksum = bufView[3] ^ bufView[4];
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for (var i = 0; i < data.length; i++) {
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for (let i = 0; i < data.length; i++) {
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bufView[i + 5] = data[i];
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checksum ^= bufView[i + 5];
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@ -320,11 +320,11 @@ var MSP = {
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bufferOut = this.encode_message_v2(code, data);
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}
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var obj = {'code': code, 'requestBuffer': bufferOut, 'callback': callback_msp ? callback_msp : false, 'timer': false, 'callbackOnError': doCallbackOnError};
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const obj = {'code': code, 'requestBuffer': bufferOut, 'callback': callback_msp ? callback_msp : false, 'timer': false, 'callbackOnError': doCallbackOnError};
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var requestExists = false;
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for (var i = 0; i < MSP.callbacks.length; i++) {
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if (MSP.callbacks[i].code == code) {
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let requestExists = false;
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for (const value of MSP.callbacks) {
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if (value.code === code) {
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// request already exist, we will just attach
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requestExists = true;
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break;
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@ -333,7 +333,7 @@ var MSP = {
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if (!requestExists) {
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obj.timer = setInterval(function () {
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console.log(`MSP data request timed-out: ${code}`);
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console.log(`MSP data request timed-out: ${code} direction: ${MSP.message_direction} tab: ${GUI.active_tab}`);
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serial.send(bufferOut, false);
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}, 1000); // we should be able to define timeout in the future
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@ -359,16 +359,16 @@ var MSP = {
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* resolves: {command: code, data: data, length: message_length}
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*/
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promise: function(code, data) {
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var self = this;
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const self = this;
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return new Promise(function(resolve) {
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self.send_message(code, data, false, function(data) {
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resolve(data);
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self.send_message(code, data, false, function(_data) {
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resolve(_data);
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});
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});
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},
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callbacks_cleanup: function () {
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for (var i = 0; i < this.callbacks.length; i++) {
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clearInterval(this.callbacks[i].timer);
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for (let index = 0; index < this.callbacks.length; index++) {
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clearInterval(this.callbacks[index].timer);
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}
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this.callbacks = [];
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@ -1,7 +1,7 @@
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'use strict';
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//MSPCodes needs to be re-integrated inside MSP object
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var MSPCodes = {
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const MSPCodes = {
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MSP_API_VERSION: 1,
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MSP_FC_VARIANT: 2,
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MSP_FC_VERSION: 3,
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@ -1,6 +1,6 @@
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'use strict';
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var MSPConnectorImpl = function () {
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const MSPConnectorImpl = function () {
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this.baud = undefined;
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this.port = undefined;
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this.onConnectCallback = undefined;
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@ -10,7 +10,7 @@ var MSPConnectorImpl = function () {
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MSPConnectorImpl.prototype.connect = function (port, baud, onConnectCallback, onTimeoutCallback, onFailureCallback) {
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var self = this;
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const self = this;
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self.port = port;
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self.baud = baud;
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self.onConnectCallback = onConnectCallback;
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@ -19,7 +19,7 @@ MSPConnectorImpl.prototype.connect = function (port, baud, onConnectCallback, on
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serial.connect(self.port, {bitrate: self.baud}, function (openInfo) {
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if (openInfo) {
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var disconnectAndCleanup = function() {
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const disconnectAndCleanup = function() {
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serial.disconnect(function(result) {
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console.log('Disconnected');
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@ -44,7 +44,7 @@ MSPConnectorImpl.prototype.connect = function (port, baud, onConnectCallback, on
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serial.onReceive.addListener(read_serial);
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mspHelper = new MspHelper();
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const mspHelper = new MspHelper();
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MSP.listen(mspHelper.process_data.bind(mspHelper));
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MSP.send_message(MSPCodes.MSP_API_VERSION, false, false, function () {
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@ -74,4 +74,3 @@ MSPConnectorImpl.prototype.disconnect = function(onDisconnectCallback) {
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MSP.disconnect_cleanup();
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};
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