Rev data source

src/hub/dataSources/rev/REVDataSource.ts

@@ -0,0 +1,98 @@
+import { LiveDataSource, LiveDataSourceStatus } from "../LiveDataSource";
+import Log from "../../../shared/log/Log";
+import { REVTelemetryClient } from "./REVTelemetryClient";
+
+/*
+ * The REV DataSource is a WebSocket hosted by an external server.
+ * The server will be running either on the user's desktop, or a
+ * SystemCore.
+ *
+ * The server listens for a message in the format:
+ * ```
+ * {
+ *     "key": "an arbitrary key"
+ * }
+ * ```
+ *
+ * where the key identifies this AdvantageScope instance.
+ * The server then registers this key, which is used to manage
+ * the status frames and devices that are exposed to advantage scope.
+ *
+ * Once a key is registered, and any frames are enabled on the server,
+ * messages of the form:
+ *
+ * ```
+ * {
+ *     "name": "NameOfDevice",
+ *     "descriptor": "technical descriptor used by server to identify the device",
+ *     "timestamp": 1.23,
+ *     "data": {
+ *         "status0": {
+ *             "isPoweredOn": true,
+ *             "position": 123.456,
+ *         },
+ *         "status1": {
+ *             "aField": 7
+ *         }
+ *     }
+ * }
+ * ```
+ *
+ * are sent by the server asynchronously. This data source
+ * will receive these messages, and create fields named
+ * `${frame.name}.${frame.data.<name>}.${field.name}`,
+ * such as `NameOfDevice.status0.isPoweredOn` in the previous frame example.
+ *
+ * Fields can have type of number or boolean.
+ *
+ * Currently, the data structure enforces that there must be two
+ * layers of indirection from the data object (such that data.foo.bar is valid,
+ * and data.bar or data.foo.baz.bar are both invalid).
+ *
+ * Any fields that are null will not be updated or removed, instead keeping the
+ * last value, and the timestamp will not be updated.
+ *
+ * No assumptions are made about the format of name, or data fields, meaning
+ * they can have any value. Specifically, data fields do not need to be named
+ * status<index>, but it is a good convention.
+ */
+
+export default class REVDataSource extends LiveDataSource {
+  client: REVTelemetryClient | undefined;
+  liveZeroTime: number | undefined;
+
+  override connect(
+    address: string,
+    statusCallback: (status: LiveDataSourceStatus) => void,
+    outputCallback: (log: Log, timeSupplier: () => number) => void
+  ) {
+    super.connect(address, statusCallback, outputCallback, false);
+    this.log = new Log();
+    this.client = new REVTelemetryClient(this.log, this.onMessage.bind(this));
+    let port = window.preferences?.revTelemetryPort ?? 8080;
+    this.client.connect(address, port);
+  }
+
+  onMessage() {
+    this.setStatus(LiveDataSourceStatus.Active);
+
+    if (this.liveZeroTime === undefined) {
+      this.liveZeroTime = new Date().getTime() / 1000;
+    }
+
+    if (this.log === null) {
+      return;
+    }
+
+    // Run output callback
+    if (this.outputCallback !== null) {
+      this.outputCallback(this.log, () => {
+        if (this.log && this.liveZeroTime !== undefined) {
+          return new Date().getTime() / 1000 - this.liveZeroTime + this.log.getTimestampRange()[0];
+        } else {
+          return 0;
+        }
+      });
+    }
+  }
+}

src/hub/dataSources/rev/REVTelemetryClient.ts

@@ -0,0 +1,64 @@
+import Log from "../../../shared/log/Log";
+
+export class REVTelemetryClient {
+  log: Log;
+  onMessage: () => void;
+
+  constructor(log: Log, onMessage: () => void) {
+    this.log = log;
+    this.onMessage = onMessage;
+  }
+
+  connect(address: string, port: number) {
+    let socket = new WebSocket(`ws://${address}:${port}/v1/ws/status`);
+
+    socket.addEventListener("open", event => {
+      let key = window.preferences?.revTelemetryKey ?? crypto.randomUUID();
+      console.log(key);
+
+      socket.send(JSON.stringify({ key: key }));
+    });
+
+    socket.addEventListener("message", event => {
+      let statusData = JSON.parse(event.data);
+
+      if(statusData !== undefined && statusData !== null) {
+        this.handleStatusFrame(statusData);
+      }
+    });
+  }
+
+  handleStatusFrame(frameData: any) {
+    this.onMessage();
+    let timestamp = frameData.timestamp;
+    let name = frameData.name;
+
+    for(let statusFrameKey in frameData.data) {
+      let statusFrame = frameData.data[statusFrameKey];
+
+      if(statusFrame === undefined || statusFrame === null) {
+        continue;
+      }
+
+      if(typeof statusFrame !== "object") {
+        continue;
+      }
+
+      for(let fieldKey in statusFrame) {
+        let value = statusFrame[fieldKey];
+        let fieldName = `${name}/${statusFrameKey}/${fieldKey}`;
+
+        if(value !== undefined && value !== null) {
+          switch(typeof value) {
+            case "number":
+              this.log.putNumber(fieldName, timestamp, value);
+              break;
+            case "boolean":
+              this.log.putBoolean(fieldName, timestamp, value);
+              break;
+          }
+        }
+      }
+    }
+  }
+}

src/hub/hub.ts

@@ -29,6 +29,7 @@ import FTCDashboardSource from "./dataSources/ftcdashboard/FTCDashboardSource";
 import { NT4Publisher, NT4PublisherStatus } from "./dataSources/nt4/NT4Publisher";
 import NT4Source from "./dataSources/nt4/NT4Source";
 import RLOGServerSource from "./dataSources/rlog/RLOGServerSource";
+import REVDataSource from "./dataSources/rev/REVDataSource";
 
 // Constants
 const STATE_SAVE_PERIOD_MS = 250;
@@ -440,6 +441,8 @@ function startLive(isSim = false) {
     case "ftcdashboard":
       liveSource = new FTCDashboardSource();
       break;
+    case "rev":
+      liveSource = new REVDataSource();
   }
 
   let address = "";

src/main/electron/main.ts

@@ -1898,7 +1898,7 @@ function setupMenu() {
               }
             },
             { type: "separator" },
-            ...(["nt4", "nt4-akit", "phoenix", "rlog", "ftcdashboard"] as const).map((liveMode: LiveMode) => {
+            ...(["nt4", "nt4-akit", "phoenix", "rlog", "ftcdashboard", "rev"] as const).map((liveMode: LiveMode) => {
               let item: Electron.MenuItemConstructorOptions = {
                 label: getLiveModeName(liveMode),
                 click(_, baseWindow) {
@@ -1929,7 +1929,7 @@ function setupMenu() {
               }
             },
             { type: "separator" },
-            ...(["nt4", "nt4-akit", "phoenix", "rlog", "ftcdashboard"] as const).map((liveMode: LiveMode) => {
+            ...(["nt4", "nt4-akit", "phoenix", "rlog", "ftcdashboard", "rev"] as const).map((liveMode: LiveMode) => {
               let item: Electron.MenuItemConstructorOptions = {
                 label: getLiveModeName(liveMode),
                 click(_, baseWindow) {
@@ -3050,8 +3050,8 @@ function openPreferences(parentWindow: Electron.BrowserWindow) {
   }
 
   const width = 400;
-  const optionRows = 12;
-  const titleRows = 2;
+  const optionRows = 14;
+  const titleRows = 3;
   const height = optionRows * 27 + titleRows * 34 + 54;
   prefsWindow = new BrowserWindow({
     width: width,

src/main/lite/main.ts

@@ -167,8 +167,8 @@ function openSourceListHelp(config: SourceListConfig) {
 /** Opens a popup window for preferences. */
 function openPreferences() {
   const width = 400;
-  const optionRows = 7;
-  const titleRows = 2;
+  const optionRows = 9;
+  const titleRows = 3;
   const height = optionRows * 27 + titleRows * 34 + 54;
   openPopupWindow("www/preferences.html", [width, height], "pixels", (message) => {
     closePopupWindow();

src/preferences.ts

@@ -22,6 +22,8 @@ const FIELD_3D_ANTIALIASING = document.getElementById("field3dAntialiasing") as
 const TBA_API_KEY = document.getElementById("tbaApiKey") as HTMLInputElement;
 const EXIT_BUTTON = document.getElementById("exit") as HTMLInputElement;
 const CONFIRM_BUTTON = document.getElementById("confirm") as HTMLInputElement;
+const REV_PORT = document.getElementById("revPort") as HTMLInputElement;
+const REV_KEY = document.getElementById("revKey") as HTMLInputElement;
 
 window.addEventListener("message", (event) => {
   if (event.data === "port") {
@@ -67,6 +69,8 @@ window.addEventListener("message", (event) => {
       FIELD_3D_MODE_BATTERY.value = oldPrefs.field3dModeBattery;
       FIELD_3D_ANTIALIASING.value = oldPrefs.field3dAntialiasing.toString();
       TBA_API_KEY.value = oldPrefs.tbaApiKey;
+      REV_PORT.value = oldPrefs.revTelemetryPort.toString();
+      REV_KEY.value = oldPrefs.revTelemetryKey;
 
       // Close function
       function close(useNewPrefs: boolean) {
@@ -98,6 +102,11 @@ window.addEventListener("message", (event) => {
           if (FIELD_3D_MODE_BATTERY.value === "standard") field3dModeBattery = "standard";
           if (FIELD_3D_MODE_BATTERY.value === "low-power") field3dModeBattery = "low-power";
 
+          let revPort = parseInt(REV_PORT.value);
+          if(isNaN(revPort)) {
+            revPort = oldPrefs.revTelemetryPort;
+          }
+
           let newPrefs: Preferences = {
             theme: theme,
             robotAddress: ROBOT_ADDRESS.value,
@@ -117,7 +126,9 @@ window.addEventListener("message", (event) => {
             skipFrcLogFolderDefault: oldPrefs.skipFrcLogFolderDefault,
             skipNumericArrayDeprecationWarning: oldPrefs.skipNumericArrayDeprecationWarning,
             skipFTCExperimentalWarning: oldPrefs.skipFTCExperimentalWarning,
-            ctreLicenseAccepted: oldPrefs.ctreLicenseAccepted
+            ctreLicenseAccepted: oldPrefs.ctreLicenseAccepted,
+            revTelemetryKey: REV_KEY.value,
+            revTelemetryPort: revPort,
           };
           messagePort.postMessage(newPrefs);
         } else {

src/shared/Preferences.ts

@@ -29,6 +29,8 @@ export default interface Preferences {
   skipFrcLogFolderDefault: boolean;
   ctreLicenseAccepted: boolean;
   usb?: boolean;
+  revTelemetryPort: number;
+  revTelemetryKey: string;
 }
 
 export const DEFAULT_PREFS: Preferences = {
@@ -50,10 +52,12 @@ export const DEFAULT_PREFS: Preferences = {
   skipFrcLogFolderDefault: false,
   skipNumericArrayDeprecationWarning: false,
   skipFTCExperimentalWarning: false,
-  ctreLicenseAccepted: false
+  ctreLicenseAccepted: false,
+  revTelemetryPort: 8080,
+  revTelemetryKey: "REV",
 };
 
-export type LiveMode = "nt4" | "nt4-akit" | "phoenix" | "rlog" | "ftcdashboard";
+export type LiveMode = "nt4" | "nt4-akit" | "phoenix" | "rlog" | "ftcdashboard" | "rev";
 
 export function getLiveModeName(mode: LiveMode): string {
   switch (mode) {
@@ -67,12 +71,14 @@ export function getLiveModeName(mode: LiveMode): string {
       return "RLOG Server";
     case "ftcdashboard":
       return "FTC Dashboard";
+    case "rev":
+      return "Rev Dashboard";
   }
 }
 
 // Phoenix not possible due to cross origin restrictions
 // RLOG not possible because it uses raw TCP
-export const LITE_ALLOWED_LIVE_MODES: LiveMode[] = ["nt4", "nt4-akit", "ftcdashboard"];
+export const LITE_ALLOWED_LIVE_MODES: LiveMode[] = ["nt4", "nt4-akit", "ftcdashboard", "rev"];
 
 export function mergePreferences(basePrefs: Preferences, newPrefs: object) {
   if ("theme" in newPrefs && (newPrefs.theme === "light" || newPrefs.theme === "dark" || newPrefs.theme === "system")) {
@@ -102,7 +108,8 @@ export function mergePreferences(basePrefs: Preferences, newPrefs: object) {
       newPrefs.liveMode === "nt4-akit" ||
       newPrefs.liveMode === "phoenix" ||
       newPrefs.liveMode === "rlog" ||
-      newPrefs.liveMode === "ftcdashboard")
+      newPrefs.liveMode === "ftcdashboard" ||
+      newPrefs.liveMode === "rev")
   ) {
     basePrefs.liveMode = newPrefs.liveMode;
   }
@@ -121,6 +128,12 @@ export function mergePreferences(basePrefs: Preferences, newPrefs: object) {
   if ("rlogPort" in newPrefs && typeof newPrefs.rlogPort === "number") {
     basePrefs.rlogPort = newPrefs.rlogPort;
   }
+  if ("revTelemetryPort" in newPrefs && typeof newPrefs.revTelemetryPort === "number") {
+    basePrefs.revTelemetryPort = newPrefs.revTelemetryPort;
+  }
+  if ("revTelemetryKey" in newPrefs && typeof newPrefs.revTelemetryKey === "string") {
+    basePrefs.revTelemetryKey = newPrefs.revTelemetryKey;
+  }
   if (
     "coordinateSystem" in newPrefs &&
     (newPrefs.coordinateSystem === "automatic" ||

www/preferences.html

@@ -98,6 +98,24 @@
             <input type="text" id="publishFilter" />
           </td>
         </tr>
+        <tr>
+          <td class="title" colspan="2">
+            <hr />
+            REV Options
+          </td>
+        </tr>
+        <tr>
+          <td class="label">REV Port</td>
+          <td class="input" tabindex="-1">
+            <input type="number" id="revPort" />
+          </td>
+        </tr>
+        <tr>
+          <td class="label">REV Key (used to identify connection)</td>
+          <td class="input" tabindex="-1">
+            <input type="text" id="revKey" />
+          </td>
+        </tr>
         <tr>
           <td class="title" colspan="2">
             <hr />