Base connection protocol class and VM/Execution stack

Author: ivanseidel

.gitignore

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+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
+# Runtime data
+pids
+*.pid
+*.seed
+*.pid.lock
+
+# Directory for instrumented libs generated by jscoverage/JSCover
+lib-cov
+
+# Coverage directory used by tools like istanbul
+coverage
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (http://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (http://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# Typescript v1 declaration files
+typings/
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variables file
+.env
+
+# Google Cloud files
+source-context.json
+source-contexts.json
+
+# Mac OSx files
+.DS_Store

CursorFile.js

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+class CursorFile {
+
+  
+  
+}

CursorReal.js

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+class CursorReal {
+
+  constructor (serialPort) {
+
+  }
+
+  async next() {
+
+  }
+
+  async previous() {
+
+  }
+
+
+  halt, read, reset...
+
+}

ReconnectableSerialPort.js

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+const _ = require('lodash')
+const EventEmitter = require('events')
+
+const SerialPort = require('serialport')
+const Ready = SerialPort.parsers.Ready
+const Readline = SerialPort.parsers.Readline
+
+module.exports = class ReconnectableSerialPort extends EventEmitter{
+
+  constructor(pattern) {
+    super()
+
+    this.port = null
+    this.pattern = pattern
+
+    // Configure readline parser
+    // this.ready = new Ready({data: 'init'})
+    
+    this.readLine = new Readline()
+    this.ready = new Ready({
+      delimiter: 'init',
+    })
+    
+    this.readLine.on('data', (data) => { this.emit('data', data) })
+    this.ready.on('ready', () => { this.emit('ready') })
+
+    // Init attempt to connect
+    this.attemptConnect()
+    this.keepTrying()
+  }
+
+  write(data) {
+    if (!this.connected())
+      return false
+
+    this.port.write(data)
+  }
+
+  async attemptConnect() {
+    if (this.connected()) {
+      return true
+    }
+
+    // List all serial ports
+    let boards = await SerialPort.list()
+
+    // Find board
+    let board = _.find(boards, this.pattern)
+
+    if (!board)
+      return false
+
+    // Save connection
+    this.port = await new SerialPort(board.comName, {baudRate: 115200});
+
+    // Listen to close event
+    this.port.on('close', () => { this.keepTrying() })
+
+    // Pipe stream to readline
+    this.port.pipe(this.ready)
+    this.port.pipe(this.readLine)
+
+    // Rebind events
+    _.forEach(['close', 'open', 'error'], (event) => {
+      this.port.on(event, () => { this.emit(event) })
+    })
+    
+    return this.port
+  }
+
+  keepTrying() {
+    clearTimeout(this.timeout)
+
+    if (this.connected()) {
+      return
+    }
+    
+    this.timeout = setTimeout(async () => {
+      if ( await this.attemptConnect() )
+        return
+
+      this.keepTrying()
+    }, 300)
+  }
+
+  connected() {
+    if (!this.port)
+      return false
+
+    return this.port.isOpen || this.port.opening
+  }
+}

Robot.js

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+class Robot {
+
+  constructor (serialPort) {
+    this.serialPort = serialPort
+  }
+
+  front(){
+
+  }
+
+  back(){
+    
+  }
+
+}

SerialCommandProtocol.js

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+const _ = require('lodash')
+
+module.exports = class SerialCommandProtocol {
+  constructor(serialPort) {
+    this.promiseQueue = []
+    this.serialPort = serialPort
+    serialPort.on('data', (data) => this.dataReceived(data))
+    serialPort.on('open', () => this.resetQueue())
+  }
+
+  resetQueue() {
+    this.promiseQueue = []
+  }
+
+  dataReceived(data) {
+    console.log('data:', data)
+    let promise = this.promiseQueue.shift()
+  
+    if (!promise)
+      return
+
+    promise.resolve(data)
+  }
+
+  execute(command) {
+    this.serialPort.write(command)
+    let promise = new Promise((resolve, reject) => {
+      let queued = {resolve, reject}
+      this.promiseQueue.push(queued)
+
+      // Timeout command
+      setTimeout(() => {
+        // Remove from queue
+        _.pull(this.promiseQueue, queued)
+
+        // Reject
+        reject('Timeout action')
+      }, 5000)
+    })
+
+    return promise
+  }
+
+}

VM.js

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+class VM {
+  constructor(cursorDelegate, robotDelegate) {
+    this.cursor = cursorDelegate
+    this.robot = robotDelegate
+  }
+
+
+  async run () {
+    await this.cursor.reset()
+
+    // Read current
+    try {
+      while (!await this.cursor.ended()) {      
+        let command = await this.cursor.read()
+
+        await executeCommand(command)
+      }
+    } catch (e) {
+      this.cursor.halt()
+    }
+  }
+
+  async executeCommand(command) {
+    // TODO
+
+    if (command == [ ])
+      await this.robot.front()
+  }
+}

main.js

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+const VM = require('./VM')
+const Robot = require('./Robot')
+const CursorReal = require('./CursorReal')
+
+(async () => {
+
+  let robot = new Robot(serial...)
+  let cursor = new CursorReal(serial...)
+  
+  let vm = new VM(cursor, robot)
+
+})()