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'use strict';
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/**
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*
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* @constructor
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*/
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var MspMessageClass = function () {
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var publicScope = {};
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publicScope.code = null;
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publicScope.messageBody = null;
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publicScope.onFinish = null;
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publicScope.onSend = null;
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publicScope.timer = false;
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publicScope.createdOn = new Date().getTime();
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publicScope.sentOn = null;
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publicScope.retryCounter = 5;
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return publicScope;
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};
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/**
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* @typedef {{state: number, message_direction: number, code: number, message_length_expected: number, message_length_received: number, message_buffer: null, message_buffer_uint8_view: null, message_checksum: number, callbacks: Array, packet_error: number, unsupported: number, ledDirectionLetters: [*], ledFunctionLetters: [*], ledBaseFunctionLetters: [*], ledOverlayLetters: [*], last_received_timestamp: null, analog_last_received_timestamp: number, read: MSP.read, send_message: MSP.send_message, promise: MSP.promise, callbacks_cleanup: MSP.callbacks_cleanup, disconnect_cleanup: MSP.disconnect_cleanup}} MSP
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*/
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var 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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PROTO_V2: 'X'.charCodeAt(0),
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FROM_MWC: '>'.charCodeAt(0),
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TO_MWC: '<'.charCodeAt(0),
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UNSUPPORTED: '!'.charCodeAt(0),
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},
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decoder_states: {
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IDLE: 0,
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PROTO_IDENTIFIER: 1,
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DIRECTION_V1: 2,
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DIRECTION_V2: 3,
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PAYLOAD_LENGTH_V1: 4,
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PAYLOAD_LENGTH_V2_LOW: 5,
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PAYLOAD_LENGTH_V2_HIGH: 6,
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CODE_V1: 7,
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CODE_V2_LOW: 8,
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CODE_V2_HIGH: 9,
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PAYLOAD_V1: 10,
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PAYLOAD_V2: 11,
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CHECKSUM_V1: 12,
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CHECKSUM_V2: 13,
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},
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state: 0, // this.decoder_states.IDLE
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message_direction: 1,
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code: 0,
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message_length_expected: 0,
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message_length_received: 0,
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message_buffer: null,
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message_buffer_uint8_view: null,
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message_checksum: 0,
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callbacks: [],
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packet_error: 0,
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unsupported: 0,
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ledDirectionLetters: ['n', 'e', 's', 'w', 'u', 'd'], // in LSB bit order
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ledFunctionLetters: ['i', 'w', 'f', 'a', 't', 'r', 'c', 'g', 's', 'b', 'l'], // in LSB bit order
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ledBaseFunctionLetters: ['c', 'f', 'a', 'l', 's', 'g', 'r'], // in LSB bit
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ledOverlayLetters: ['t', 'o', 'b', 'n', 'i', 'w'], // in LSB bit
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last_received_timestamp: null,
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analog_last_received_timestamp: null,
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read: function (readInfo) {
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var data = new Uint8Array(readInfo.data);
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for (var i = 0; i < data.length; i++) {
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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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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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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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case this.symbols.PROTO_V2:
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// eventually, MSPv2
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default:
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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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this.unsupported = 0;
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switch (data[i]) {
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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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case this.symbols.TO_MWC:
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this.message_direction = 0;
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break;
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case this.symbols.UNSUPPORTED:
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this.unsupported = 1;
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break;
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}
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this.state = this.decoder_states.PAYLOAD_LENGTH_V1;
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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_checksum = data[i];
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// setup arraybuffer
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this.message_buffer = new ArrayBuffer(this.message_length_expected);
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this.message_buffer_uint8_view = new Uint8Array(this.message_buffer);
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this.state = this.decoder_states.CODE_V1;
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break;
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case this.decoder_states.CODE_V1:
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this.code = data[i];
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this.message_checksum ^= data[i];
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if (this.message_length_expected > 0) {
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// process payload
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this.state = this.decoder_states.PAYLOAD_V1;
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} else {
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// no payload
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this.state = this.decoder_states.CHECKSUM_V1;
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}
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break;
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case this.decoder_states.PAYLOAD_V1:
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this.message_buffer_uint8_view[this.message_length_received] = data[i];
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this.message_checksum ^= data[i];
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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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this.state = this.decoder_states.CHECKSUM_V1;
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}
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break;
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case this.decoder_states.CHECKSUM_V1:
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if (this.message_checksum == data[i]) {
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// message received, process
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mspHelper.processData(this);
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} else {
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console.log('code: ' + this.code + ' - crc failed');
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this.packet_error++;
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$('span.packet-error').html(this.packet_error);
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}
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/*
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* Free port
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*/
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helper.mspQueue.freeHardLock();
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// Reset variables
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this.message_length_received = 0;
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this.state = this.decoder_states.IDLE;
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break;
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default:
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/*
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* Free port
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*/
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helper.mspQueue.freeHardLock();
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console.log('Unknown state detected: ' + this.state);
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}
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}
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this.last_received_timestamp = Date.now();
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},
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/**
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*
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* @param {MSP} mspData
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*/
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putCallback: function (mspData) {
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MSP.callbacks.push(mspData);
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},
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/**
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* @param {number} code
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*/
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removeCallback: function (code) {
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for (var i in this.callbacks) {
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if (this.callbacks.hasOwnProperty(i) && this.callbacks[i].code == code) {
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clearTimeout(this.callbacks[i].timer);
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this.callbacks.splice(i, 1);
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}
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}
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},
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send_message: function (code, data, callback_sent, callback_msp) {
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var bufferOut,
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bufView,
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i;
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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;
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bufferOut = new ArrayBuffer(size);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = data.length;
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bufView[4] = code;
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checksum = bufView[3] ^ bufView[4];
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for (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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}
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bufView[5 + data.length] = checksum;
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} else {
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bufferOut = new ArrayBuffer(6);
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bufView = new Uint8Array(bufferOut);
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bufView[0] = 36; // $
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bufView[1] = 77; // M
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bufView[2] = 60; // <
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bufView[3] = 0; // data length
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bufView[4] = code; // code
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bufView[5] = bufView[3] ^ bufView[4]; // checksum
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}
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var message = new MspMessageClass();
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message.code = code;
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message.messageBody = bufferOut;
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message.onFinish = callback_msp;
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message.onSend = callback_sent;
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/*
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* In case of MSP_REBOOT special procedure is required
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*/
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if (code == MSPCodes.MSP_SET_REBOOT || code == MSPCodes.MSP_EEPROM_WRITE) {
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message.retryCounter = 10;
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}
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helper.mspQueue.put(message);
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return true;
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},
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promise: function(code, data) {
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var 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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});
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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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}
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this.callbacks = [];
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},
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disconnect_cleanup: function () {
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this.state = 0; // reset packet state for "clean" initial entry (this is only required if user hot-disconnects)
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this.packet_error = 0; // reset CRC packet error counter for next session
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this.callbacks_cleanup();
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}
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};
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MSP.SDCARD_STATE_NOT_PRESENT = 0;
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MSP.SDCARD_STATE_FATAL = 1;
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MSP.SDCARD_STATE_CARD_INIT = 2;
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MSP.SDCARD_STATE_FS_INIT = 3;
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MSP.SDCARD_STATE_READY = 4;
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