diff --git a/dobot-serial/.gitignore b/dobot-serial/.gitignore
new file mode 100644
index 0000000..3b7e5ad
--- /dev/null
+++ b/dobot-serial/.gitignore
@@ -0,0 +1,160 @@
+yarn.lock
+
+# Created by https://www.toptal.com/developers/gitignore/api/turbo,node,react
+# Edit at https://www.toptal.com/developers/gitignore?templates=turbo,node,react
+
+### Node ###
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+lerna-debug.log*
+.pnpm-debug.log*
+
+# Diagnostic reports (https://nodejs.org/api/report.html)
+report.[0-9]*.[0-9]*.[0-9]*.[0-9]*.json
+
+# 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
+*.lcov
+
+# nyc test coverage
+.nyc_output
+
+# Grunt intermediate storage (https://gruntjs.com/creating-plugins#storing-task-files)
+.grunt
+
+# Bower dependency directory (https://bower.io/)
+bower_components
+
+# node-waf configuration
+.lock-wscript
+
+# Compiled binary addons (https://nodejs.org/api/addons.html)
+build/Release
+
+# Dependency directories
+node_modules/
+jspm_packages/
+
+# Snowpack dependency directory (https://snowpack.dev/)
+web_modules/
+
+# TypeScript cache
+*.tsbuildinfo
+
+# Optional npm cache directory
+.npm
+
+# Optional eslint cache
+.eslintcache
+
+# Optional stylelint cache
+.stylelintcache
+
+# Microbundle cache
+.rpt2_cache/
+.rts2_cache_cjs/
+.rts2_cache_es/
+.rts2_cache_umd/
+
+# Optional REPL history
+.node_repl_history
+
+# Output of 'npm pack'
+*.tgz
+
+# Yarn Integrity file
+.yarn-integrity
+
+# dotenv environment variable files
+# .env
+.env.development.local
+.env.test.local
+.env.production.local
+.env.local
+
+# parcel-bundler cache (https://parceljs.org/)
+.cache
+.parcel-cache
+
+# Next.js build output
+.next
+out
+
+# Nuxt.js build / generate output
+.nuxt
+dist
+
+# Gatsby files
+.cache/
+
+# vuepress build output
+.vuepress/dist
+
+# vuepress v2.x temp and cache directory
+.temp
+
+# Docusaurus cache and generated files
+.docusaurus
+
+# Serverless directories
+.serverless/
+
+# FuseBox cache
+.fusebox/
+
+# DynamoDB Local files
+.dynamodb/
+
+# TernJS port file
+.tern-port
+
+# Stores VSCode versions used for testing VSCode extensions
+.vscode-test
+
+# yarn v2
+.yarn/cache
+.yarn/unplugged
+.yarn/build-state.yml
+.yarn/install-state.gz
+.pnp.*
+
+### Node Patch ###
+# Serverless Webpack directories
+.webpack/
+
+# Optional stylelint cache
+
+# SvelteKit build / generate output
+.svelte-kit
+
+### react ###
+.DS_*
+**/*.backup.*
+**/*.back.*
+
+node_modules
+
+*.sublime*
+
+psd
+thumb
+sketch
+
+### Turbo ###
+# Turborepo task cache
+.turbo
+
+# End of https://www.toptal.com/developers/gitignore/api/turbo,node,react
diff --git a/dobot-serial/.idea/huenit-serial.iml b/dobot-serial/.idea/huenit-serial.iml
new file mode 100644
index 0000000..d6ebd48
--- /dev/null
+++ b/dobot-serial/.idea/huenit-serial.iml
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.idea/inspectionProfiles/Project_Default.xml b/dobot-serial/.idea/inspectionProfiles/Project_Default.xml
new file mode 100644
index 0000000..03d9549
--- /dev/null
+++ b/dobot-serial/.idea/inspectionProfiles/Project_Default.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.idea/misc.xml b/dobot-serial/.idea/misc.xml
new file mode 100644
index 0000000..e0844bc
--- /dev/null
+++ b/dobot-serial/.idea/misc.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.idea/modules.xml b/dobot-serial/.idea/modules.xml
new file mode 100644
index 0000000..1f8eadf
--- /dev/null
+++ b/dobot-serial/.idea/modules.xml
@@ -0,0 +1,8 @@
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.idea/vcs.xml b/dobot-serial/.idea/vcs.xml
new file mode 100644
index 0000000..6c0b863
--- /dev/null
+++ b/dobot-serial/.idea/vcs.xml
@@ -0,0 +1,6 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.idea/workspace.xml b/dobot-serial/.idea/workspace.xml
new file mode 100644
index 0000000..50ef4e7
--- /dev/null
+++ b/dobot-serial/.idea/workspace.xml
@@ -0,0 +1,53 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 1708994103715
+
+
+ 1708994103715
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/dobot-serial/.prettierignore b/dobot-serial/.prettierignore
new file mode 100644
index 0000000..199fda5
--- /dev/null
+++ b/dobot-serial/.prettierignore
@@ -0,0 +1,10 @@
+.next
+public
+static
+node_modules
+**/dist/**
+*.png
+*.svg
+**/.turbo/**
+**/build/**
+**/dist/**
\ No newline at end of file
diff --git a/dobot-serial/.prettierrc.js b/dobot-serial/.prettierrc.js
new file mode 100644
index 0000000..064c391
--- /dev/null
+++ b/dobot-serial/.prettierrc.js
@@ -0,0 +1,28 @@
+module.exports = {
+ printWidth: 100,
+ tabWidth: 2,
+ trailingComma: 'all',
+ singleQuote: true,
+ bracketSpacing: true,
+ semi: false,
+ useTabs: false,
+ arrowParens: 'always',
+ endOfLine: 'lf',
+ proseWrap: 'preserve',
+ bracketSameLine: false,
+ overrides: [
+ {
+ files: '*.json',
+ options: {
+ printWidth: 200,
+ tabWidth: 2,
+ },
+ },
+ {
+ files: ['*.mts', '*.cts', '*.ts', '*.tsx'],
+ options: {
+ parser: 'typescript',
+ },
+ },
+ ], // 특정 파일별로 옵션을 다르게 지정함, ESLint 방식 사용
+}
diff --git a/dobot-serial/LICENSE b/dobot-serial/LICENSE
new file mode 100644
index 0000000..261eeb9
--- /dev/null
+++ b/dobot-serial/LICENSE
@@ -0,0 +1,201 @@
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
+ and distribution as defined by Sections 1 through 9 of this document.
+
+ "Licensor" shall mean the copyright owner or entity authorized by
+ the copyright owner that is granting the License.
+
+ "Legal Entity" shall mean the union of the acting entity and all
+ other entities that control, are controlled by, or are under common
+ control with that entity. For the purposes of this definition,
+ "control" means (i) the power, direct or indirect, to cause the
+ direction or management of such entity, whether by contract or
+ otherwise, or (ii) ownership of fifty percent (50%) or more of the
+ outstanding shares, or (iii) beneficial ownership of such entity.
+
+ "You" (or "Your") shall mean an individual or Legal Entity
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+
+ "Source" form shall mean the preferred form for making modifications,
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+
+ "Object" form shall mean any form resulting from mechanical
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+
+ "Work" shall mean the work of authorship, whether in Source or
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+
+ "Derivative Works" shall mean any work, whether in Source or Object
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+ editorial revisions, annotations, elaborations, or other modifications
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+ of this License, Derivative Works shall not include works that remain
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+ "Contribution" shall mean any work of authorship, including
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+ "Contributor" shall mean Licensor and any individual or Legal Entity
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+ 2. Grant of Copyright License. Subject to the terms and conditions of
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+
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+ (b) You must cause any modified files to carry prominent notices
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+ for use, reproduction, or distribution of Your modifications, or
+ for any such Derivative Works as a whole, provided Your use,
+ reproduction, and distribution of the Work otherwise complies with
+ the conditions stated in this License.
+
+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
+
+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
+ except as required for reasonable and customary use in describing the
+ origin of the Work and reproducing the content of the NOTICE file.
+
+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+ implied, including, without limitation, any warranties or conditions
+ of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+ PARTICULAR PURPOSE. You are solely responsible for determining the
+ appropriateness of using or redistributing the Work and assume any
+ risks associated with Your exercise of permissions under this License.
+
+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
+ result of this License or out of the use or inability to use the
+ Work (including but not limited to damages for loss of goodwill,
+ work stoppage, computer failure or malfunction, or any and all
+ other commercial damages or losses), even if such Contributor
+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
+ or other liability obligations and/or rights consistent with this
+ License. However, in accepting such obligations, You may act only
+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright [yyyy] [name of copyright owner]
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
diff --git a/dobot-serial/README.md b/dobot-serial/README.md
new file mode 100644
index 0000000..15d1aaa
--- /dev/null
+++ b/dobot-serial/README.md
@@ -0,0 +1,15 @@
+## TODO
+
+## huenit 제어 커맨드 예시
+
+serial connection 완료 이후
+
+```js
+await hw.robothome()
+await hw.moveG0(0, 180, 0)
+await hw.suctionOn()
+await hw.suctionOff()
+await hw.moveGoDobot(10, 10, 10, 10)
+await hw.testConnection()
+await hw.moveDobot(100, 10, 10, 0)
+```
diff --git a/dobot-serial/_export.sh b/dobot-serial/_export.sh
new file mode 100755
index 0000000..8a252ef
--- /dev/null
+++ b/dobot-serial/_export.sh
@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+
+set -e
+
+SCRIPT_DIR=$(dirname "$(readlink -f "$0")")
+cd "${SCRIPT_DIR}"
+
+pnpm install
+pnpm build
diff --git a/dobot-serial/_purge.sh b/dobot-serial/_purge.sh
new file mode 100755
index 0000000..40f669d
--- /dev/null
+++ b/dobot-serial/_purge.sh
@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+set -e
+
+SCRIPT_DIR=$(dirname "$(readlink -f "$0")")
+cd "${SCRIPT_DIR}"
+
+
+rm -rf main/node_modules main/.next main/.turbo
+
+for f in sub/*; do
+ echo "rm -rf $f/node_modules $f/.turbo $f/dist"
+ rm -rf $f/node_modules $f/.turbo $f/dist
+done
+
+echo "`pwd` : rm -rf node_modules"
+rm -rf node_modules
diff --git a/dobot-serial/main/.env b/dobot-serial/main/.env
new file mode 100644
index 0000000..85f728b
--- /dev/null
+++ b/dobot-serial/main/.env
@@ -0,0 +1,3 @@
+NEXT_PUBLIC_BASE_PATH=/
+NEXT_PUBLIC_PRODUCTION=false
+NEXT_PUBLIC_DEBUG=true
\ No newline at end of file
diff --git a/dobot-serial/main/.env.production b/dobot-serial/main/.env.production
new file mode 100644
index 0000000..29040d2
--- /dev/null
+++ b/dobot-serial/main/.env.production
@@ -0,0 +1,3 @@
+NEXT_PUBLIC_BASE_PATH=/aimk-server/d_/hw-iframe/dobot-serial
+NEXT_PUBLIC_PRODUCTION=true
+NEXT_PUBLIC_DEBUG=false
diff --git a/dobot-serial/main/.eslintrc.js b/dobot-serial/main/.eslintrc.js
new file mode 100644
index 0000000..c39d43b
--- /dev/null
+++ b/dobot-serial/main/.eslintrc.js
@@ -0,0 +1,30 @@
+module.exports = {
+ root: true,
+ extends: ['@repo/eslint-config/next.js'],
+ parser: '@typescript-eslint/parser',
+ parserOptions: {
+ project: true,
+ },
+ rules: {
+ 'react-hooks/rules-of-hooks': 'error',
+ 'react-hooks/exhaustive-deps': 'warn',
+ 'react/no-unstable-nested-components': 'off',
+ 'no-lonely-if': 'off',
+ 'no-empty': 'off',
+ 'no-constant-binary-expression': 'off',
+ 'no-return-await': 'off',
+ 'unicorn/prefer-node-protocol': 'off',
+ '@typescript-eslint/prefer-optional-chain': 'off',
+ 'react/jsx-no-useless-fragment': 'off',
+ '@next/next/no-img-element': 'off',
+ '@typescript-eslint/no-dynamic-delete': 'off',
+ '@typescript-eslint/require-array-sort-compare': 'off',
+ 'jsx-a11y/iframe-has-title': 'off',
+ 'react/no-array-index-key': 'off',
+ '@typescript-eslint/ban-types': 'off',
+ 'no-param-reassign': 'off',
+ 'prefer-named-capture-group': 'off',
+ '@typescript-eslint/ban-ts-comment': 'off',
+ 'jsx-a11y/no-autofocus': 'off',
+ },
+}
diff --git a/dobot-serial/main/.gitignore b/dobot-serial/main/.gitignore
new file mode 100644
index 0000000..1437c53
--- /dev/null
+++ b/dobot-serial/main/.gitignore
@@ -0,0 +1,34 @@
+# See https://help.github.com/articles/ignoring-files/ for more about ignoring files.
+
+# dependencies
+/node_modules
+/.pnp
+.pnp.js
+
+# testing
+/coverage
+
+# next.js
+/.next/
+/out/
+
+# production
+/build
+
+# misc
+.DS_Store
+*.pem
+
+# debug
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+
+# local env files
+.env.local
+.env.development.local
+.env.test.local
+.env.production.local
+
+# vercel
+.vercel
diff --git a/dobot-serial/main/app/layout.tsx b/dobot-serial/main/app/layout.tsx
new file mode 100644
index 0000000..7ff113a
--- /dev/null
+++ b/dobot-serial/main/app/layout.tsx
@@ -0,0 +1,17 @@
+import ThemeRegistry from '@/theme/ThemeRegistry'
+import type { Metadata } from 'next'
+
+export const metadata: Metadata = {
+ title: 'Codiny Hw Iframe',
+ description: 'codiny hw iframe',
+}
+
+export default function RootLayout({ children }: { children: React.ReactNode }): JSX.Element {
+ return (
+
+
+ {children}
+
+
+ )
+}
diff --git a/dobot-serial/main/app/page.tsx b/dobot-serial/main/app/page.tsx
new file mode 100644
index 0000000..31e8afd
--- /dev/null
+++ b/dobot-serial/main/app/page.tsx
@@ -0,0 +1,77 @@
+'use client'
+
+import { HW_ID, HW_NAME } from '@/constant'
+import { CommandRunner } from '@/hw/CommandRunner'
+import { Box, TextField } from '@mui/material'
+import { ConnectButton, HardwareImageBox, HardwareNameBox, MediaIconBox, usePet } from '@repo/ui'
+import { useSearchParams } from 'next/navigation'
+import { Suspense, useState } from 'react'
+const LOGO_IMG_URL = 'dobot.jpg'
+
+const MEDIA_ICON = 'usb.svg'
+
+export default function Page() {
+ return (
+
+
+
+ )
+}
+
+function PageInternal() {
+ const { commandRunner, connectionState, pet } = usePet(HW_ID, CommandRunner, useSearchParams())
+
+ // State for the IP address
+ const [ipAddress, setIpAddress] = useState('')
+
+ // Handler for IP address input change
+ const handleIpChange = (event) => {
+ setIpAddress(event.target.value)
+ }
+
+ // Click handler for the Connect button
+ const handleClickConnectBtn = () => {
+ const runner = commandRunner
+ if (!runner) return
+ runner.testConnect(ipAddress) // Pass the IP address when connecting
+ }
+
+ // Click handler for the Disconnect button
+ const handleClickDisconnectBtn = () => {
+ const runner = commandRunner
+ if (!runner) {
+ return
+ }
+ runner.disconnect()
+ }
+
+ return (
+
+
+
+
+
+ {/* IP Address Input Box */}
+
+
+
+
+
+
+ )
+}
diff --git a/dobot-serial/main/next-env.d.ts b/dobot-serial/main/next-env.d.ts
new file mode 100644
index 0000000..4f11a03
--- /dev/null
+++ b/dobot-serial/main/next-env.d.ts
@@ -0,0 +1,5 @@
+///
+///
+
+// NOTE: This file should not be edited
+// see https://nextjs.org/docs/basic-features/typescript for more information.
diff --git a/dobot-serial/main/next.config.js b/dobot-serial/main/next.config.js
new file mode 100644
index 0000000..301ce67
--- /dev/null
+++ b/dobot-serial/main/next.config.js
@@ -0,0 +1,12 @@
+const BASE_PATH = process.env.NEXT_PUBLIC_BASE_PATH
+
+/**
+ * @type {import('next').NextConfig}
+ **/
+const nextConfig = {
+ reactStrictMode: false,
+ output: BASE_PATH === '/' ? 'standalone' : 'export',
+ basePath: BASE_PATH === '/' ? '' : BASE_PATH,
+}
+
+module.exports = nextConfig
diff --git a/dobot-serial/main/package.json b/dobot-serial/main/package.json
new file mode 100644
index 0000000..e2093c3
--- /dev/null
+++ b/dobot-serial/main/package.json
@@ -0,0 +1,37 @@
+{
+ "name": "web",
+ "version": "1.0.0",
+ "private": true,
+ "scripts": {
+ "dev": "next dev",
+ "build": "next build",
+ "start": "next start",
+ "lint": "next lint"
+ },
+ "dependencies": {
+ "@emotion/cache": "^11.11.0",
+ "@emotion/react": "^11.11.1",
+ "@emotion/styled": "^11.11.0",
+ "@ktaicoder/hw-pet": "^1.2.9",
+ "@mui/material": "^5.15.17",
+ "@mui/material-nextjs": "^5.15.11",
+ "clsx": "^2.0.0",
+ "eventemitter3": "^5.0.1",
+ "next": "^14.2.3",
+ "react": "^18.3.1",
+ "react-dom": "^18.3.1",
+ "rxjs": "^7.8.1"
+ },
+ "devDependencies": {
+ "@next/eslint-plugin-next": "^14.2.3",
+ "@repo/eslint-config": "workspace:*",
+ "@repo/typescript-config": "workspace:*",
+ "@repo/ui": "workspace:*",
+ "@types/node": "^17.0.12",
+ "@types/react": "^18.3.2",
+ "@types/react-dom": "^18.3.0",
+ "@types/w3c-web-serial": "^1.0.6",
+ "@types/web-bluetooth": "^0.0.20",
+ "typescript": "^5.3.3"
+ }
+}
diff --git a/dobot-serial/main/public/bluetooth.svg b/dobot-serial/main/public/bluetooth.svg
new file mode 100644
index 0000000..b43d8ee
--- /dev/null
+++ b/dobot-serial/main/public/bluetooth.svg
@@ -0,0 +1,6 @@
+
+
+
diff --git a/dobot-serial/main/public/dobot.jpg b/dobot-serial/main/public/dobot.jpg
new file mode 100644
index 0000000..803f52e
Binary files /dev/null and b/dobot-serial/main/public/dobot.jpg differ
diff --git a/dobot-serial/main/public/logo.png b/dobot-serial/main/public/logo.png
new file mode 100644
index 0000000..5e5e0ed
Binary files /dev/null and b/dobot-serial/main/public/logo.png differ
diff --git a/dobot-serial/main/public/usb.svg b/dobot-serial/main/public/usb.svg
new file mode 100644
index 0000000..ba28465
--- /dev/null
+++ b/dobot-serial/main/public/usb.svg
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/dobot-serial/main/src/config.ts b/dobot-serial/main/src/config.ts
new file mode 100644
index 0000000..7ca4556
--- /dev/null
+++ b/dobot-serial/main/src/config.ts
@@ -0,0 +1,14 @@
+import { logger } from './logger'
+
+const basePath: string = process.env.NEXT_PUBLIC_BASE_PATH ?? '/'
+const isProduction: boolean = process.env.NEXT_PUBLIC_PRODUCTION === 'true'
+const isDebug: boolean = process.env.NEXT_PUBLIC_DEBUG === 'true'
+
+const config = {
+ basePath,
+ isProduction,
+ isDebug,
+}
+
+logger.debug('config=', config)
+export default config
diff --git a/dobot-serial/main/src/constant.ts b/dobot-serial/main/src/constant.ts
new file mode 100644
index 0000000..52e4a35
--- /dev/null
+++ b/dobot-serial/main/src/constant.ts
@@ -0,0 +1,12 @@
+/**
+ * hardware id
+ */
+export const HW_ID = 'dobot-serial'
+
+/**
+ * hardware name
+ */
+export const HW_NAME = {
+ en: 'dobot',
+ ko: '두봇',
+}
diff --git a/dobot-serial/main/src/hw/CommandRunner.ts b/dobot-serial/main/src/hw/CommandRunner.ts
new file mode 100644
index 0000000..df223d4
--- /dev/null
+++ b/dobot-serial/main/src/hw/CommandRunner.ts
@@ -0,0 +1,205 @@
+import { CommandRunnerBase } from './CommandRunnerBase'
+
+/**
+ * Inherits from the CommandRunnerBase class.
+ * CommandRunnerBase handles the aspects related to the connection with hardware,
+ * and this class handles the remaining commands that are sent to the hardware.
+ */
+export class CommandRunner extends CommandRunnerBase {
+ async timeSleep(t: number): Promise {
+ await new Promise((resolve) => {
+ setTimeout(resolve, t * 1000)
+ })
+ }
+
+ private ipAddress: string | null = null
+
+ // IP 주소를 설정하는 함수
+ setIpAddress(ipAddress: string) {
+ this.ipAddress = ipAddress
+ }
+
+ // IP 주소를 가져오는 함수
+ getIpAddress(): string | null {
+ return this.ipAddress
+ }
+
+ testConnect = async (ipAddress: string): Promise => {
+ if (!ipAddress) {
+ console.error('IP address is required.')
+ return false
+ }
+
+ // IP 주소 저장
+ this.setIpAddress(ipAddress)
+
+ try {
+ const url = `http://${ipAddress}/connect`
+ const response = await fetch(url, {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ body: JSON.stringify({ port: '/dev/ttyUSB0' }), // JSON 데이터를 본문에 포함
+ })
+
+ if (response.ok) {
+ const data = await response.json()
+ console.log('Response:', data)
+ } else {
+ console.error('Error:', response.statusText)
+ }
+
+ return true
+ } catch (error) {
+ console.error('Error connecting to device:', error)
+ //this.updateConnectionState_('disconnected')
+ return false
+ }
+ }
+
+ testDisconnect = async (): Promise => {
+ if (!this.ipAddress) {
+ console.error('IP address is not set.')
+ return false
+ }
+
+ try {
+ const url = `http://${this.ipAddress}/disconnect`
+ const response = await fetch(url, {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ body: JSON.stringify({ port: '/dev/ttyUSB0' }), // JSON 데이터를 본문에 포함
+ })
+
+ if (response.ok) {
+ const data = await response.json()
+ console.log('Response:', data)
+ } else {
+ console.error('Error:', response.statusText)
+ }
+
+ return true
+ } catch (error) {
+ console.error('Error connecting to device:', error)
+ //this.updateConnectionState_('disconnected')
+ return false
+ }
+ }
+
+ pose = async (): Promise => {
+ if (!this.ipAddress) {
+ console.error('IP address is not set.')
+ return
+ }
+
+ try {
+ const url = `http://${this.ipAddress}/pose`
+ const response = await fetch(url, {
+ method: 'GET',
+ })
+
+ if (!response.ok) {
+ console.error(`Failed to fetch pose: ${response.statusText}`)
+ return
+ }
+
+ const responseData = await response.json()
+ console.log('Pose Response:', responseData)
+ } catch (error) {
+ console.error('Error fetching pose:', error)
+ }
+ }
+
+ moveRobot = async (x, y, z, r) => {
+ if (!this.ipAddress) {
+ console.error('IP address is not set.')
+ return
+ }
+
+ try {
+ const url = `http://${this.ipAddress}/move`
+ const response = await fetch(url, {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ body: JSON.stringify({
+ x: x,
+ y: y,
+ z: z,
+ r: r,
+ wait: true, // 기본값으로 설정
+ }),
+ })
+
+ if (!response.ok) {
+ console.error(`Failed to move robot: ${response.statusText}`)
+ return false
+ }
+
+ const responseData = await response.json()
+ console.log('Move Response:', responseData)
+ return true
+ } catch (error) {
+ console.error('Error moving the robot:', error)
+ return false
+ }
+ }
+
+ suckOn = async (): Promise => {
+ if (!this.ipAddress) {
+ console.error('IP address is not set.')
+ return
+ }
+
+ try {
+ const url = `http://${this.ipAddress}/suckOn`
+ const response = await fetch(url, {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ })
+
+ if (!response.ok) {
+ console.error(`Failed to turn suction on: ${response.statusText}`)
+ return
+ }
+
+ const responseData = await response.json()
+ console.log('Suction On Response:', responseData)
+ } catch (error) {
+ console.error('Error turning suction on:', error)
+ }
+ }
+
+ suckOff = async (): Promise => {
+ if (!this.ipAddress) {
+ console.error('IP address is not set.')
+ return
+ }
+
+ try {
+ const url = `http://${this.ipAddress}/suckOff`
+ const response = await fetch(url, {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ })
+
+ if (!response.ok) {
+ console.error(`Failed to turn suction off: ${response.statusText}`)
+ return
+ }
+
+ const responseData = await response.json()
+ console.log('Suction Off Response:', responseData)
+ } catch (error) {
+ console.error('Error turning suction off:', error)
+ }
+ }
+}
diff --git a/dobot-serial/main/src/hw/CommandRunnerBase.ts b/dobot-serial/main/src/hw/CommandRunnerBase.ts
new file mode 100644
index 0000000..a730fc4
--- /dev/null
+++ b/dobot-serial/main/src/hw/CommandRunnerBase.ts
@@ -0,0 +1,523 @@
+import { logger } from '@/logger'
+import { genId } from '@/util/gen-id'
+import { chr, errmsg } from '@/util/misc'
+import type {
+ ConnectionState,
+ HPetNotifiyEventDefinition,
+ IHPetCommandRunner,
+ IHPetContext,
+ IParentSender,
+} from '@ktaicoder/hw-pet'
+import { HPetNotifyEventKeys } from '@ktaicoder/hw-pet'
+import { sleepAsync } from '@repo/ui'
+import type { EventEmitter } from 'eventemitter3'
+import {
+ BehaviorSubject,
+ EMPTY,
+ Subject,
+ Subscription,
+ concatMap,
+ distinctUntilChanged,
+ filter,
+ firstValueFrom,
+ from,
+ map,
+ switchMap,
+ take,
+ takeUntil,
+ tap,
+ type Observable,
+ of,
+} from 'rxjs'
+import { HuenitParser } from './HuenitParser'
+import { WebSerialDevice } from './WebSerialDevice'
+import { openSerialDevice } from './command-util'
+import type { BufferTimestamped } from './types'
+import { timeout, catchError } from 'rxjs/operators'
+
+type TxDataType = number[] | Uint8Array | string
+type TxRequest = {
+ requestId: string
+ debugCmd: string
+ data: TxDataType
+}
+
+/**
+ * Class for sending commands to the hardware.
+ * Add the necessary commands here.
+ * Write the method names the same as the commands.
+ *
+ * Lifecycle methods: init(), destroy()
+ * Mandatory implementation methods: getConnectionState(), getHwId(), connect(), disconnect()
+ * Additional commands are the remaining methods other than the ones mentioned above (e.g., echo).
+ */
+export class CommandRunnerBase implements IHPetCommandRunner {
+ private stopped$ = new BehaviorSubject(false)
+
+ /**
+ * 연결 상태
+ */
+ private connectionState: ConnectionState = 'disconnected'
+
+ /**
+ * 하드웨어 ID
+ */
+ private hwId: string
+
+ /**
+ * 부모 프레임에 데이터 전송하는 도우미 객체
+ */
+ private toParent: IParentSender
+
+ /**
+ * 연결 상태 등을 부모 프레임에 notify하기 위한 이벤트 객체
+ */
+ private notifyEvents: EventEmitter
+
+ /**
+ * 시리얼 디바이스
+ */
+ private device_?: WebSerialDevice
+
+ /**
+ * 연결이 해제될 때 호출될 함수
+ */
+ private disposeFn_?: VoidFunction
+
+ /**
+ * rxLoop 리소스 해제 함수
+ */
+ private rxLoopDisposeFn_?: VoidFunction
+
+ /**
+ * 하드웨어로부터 수신된 데이터
+ * 수신된 raw data를 HuenitParser로 파싱한 데이터
+ */
+ private rxPacket$ = new Subject()
+
+ /**
+ * 디바이스 쓰기 큐의 리소스 해제 함수
+ */
+ private txRequestQueueDisposeFn_?: VoidFunction
+
+ /**
+ * 디바이스 쓰기 큐
+ */
+ private dataToDevice$ = new Subject()
+
+ /**
+ * 디바이스로부터 수신된 데이터
+ */
+ private dataFromDevice$ = new Subject<{
+ requestId: string
+ returnData: Uint8Array | null
+ }>()
+
+ constructor(options: IHPetContext) {
+ const { hwId, toParent, notifyEvents, commandEvents, uiEvents } = options
+
+ this.hwId = hwId
+ this.toParent = toParent
+ this.notifyEvents = notifyEvents
+ // commandEvents: 부모 프레임에서 전달되는 명령의 이벤트들
+ // notifyEvents: 부모 프레임에 전달하는 연결 상태등의 notification 이벤트들
+ // uiEvents: iframe의 ui와 상호작용할 수 있는 이벤트, 필요한 경우에만 사용
+ }
+
+ /**
+ * Lifecycle function, Automatically called.
+ * An essential function that must be implemented.
+ * Called once before communicating with parent frame (CODINY).
+ * Initialization tasks, such as registering event listeners, can be performed here.
+ */
+ init = async (): Promise => {
+ logger.debug('CommandRunner.init()')
+ }
+
+ /**
+ * Lifecycle function, Automatically called.
+ * An essential function that must be implemented.
+ * Called once after the connection with the hardware is terminated.
+ * Cleanup tasks, such as unregistering event listeners, can be performed here.
+ */
+ destroy = async () => {
+ logger.debug('CommandRunner.destroy()')
+ }
+
+ /**
+ * Update the connection state variable,
+ * emit an event if the connection state has changed,
+ * and notify the parent frame (CODINY).
+ * @param state - The connection state
+ */
+ private updateConnectionState_ = (state: ConnectionState) => {
+ if (state !== this.connectionState) {
+ this.connectionState = state
+ this.notifyEvents.emit(HPetNotifyEventKeys.connectionStateChanged, this.connectionState)
+
+ // notify to parent frame (CODINY)
+ this.toParent.notifyConnectionState(this.connectionState)
+ }
+ }
+
+ /**
+ * command: getConnectionState
+ *
+ * get current connection state
+ * An essential function that must be implemented.
+ * The return value is automatically sent to the parent frame (CODINY)
+ * @returns ConnectionState - connection state
+ */
+ getConnectionState = async (): Promise => {
+ return this.connectionState
+ }
+
+ /**
+ * command: getHwId
+ *
+ * get hardware id
+ * An essential function that must be implemented.
+ * The return value is automatically sent to the parent frame (CODINY)
+ * @returns string - hwId
+ */
+ getHwId = async (): Promise => {
+ return this.hwId
+ }
+
+ get stopped() {
+ return this.stopped$.value
+ }
+
+ protected registerListeners_ = (device: WebSerialDevice) => {
+ const subscription = new Subscription()
+
+ // 디바이스의 상태가 변경될때 콜백 호출
+ subscription.add(
+ device.observeDeviceState().subscribe((state) => {
+ if (state === 'opened') {
+ this.onConnected_(device)
+ } else if (state === 'closed') {
+ this.onDisconnected_()
+ }
+ }),
+ )
+
+ this.disposeFn_ = () => {
+ subscription.unsubscribe()
+ }
+ }
+
+ /**
+ * command: connect
+ *
+ * Function to connect to the hardware.
+ * Check the connection status in ricConnector.setEventListener().
+ * An essential function that must be implemented.
+ * @returns The return value is meaningless.
+ */
+ connect = async (): Promise => {
+ let port: SerialPort | undefined
+
+ try {
+ port = await openSerialDevice()
+ if (!port) return false
+ } catch (ignore) {
+ logger.debug(errmsg(ignore))
+ }
+
+ if (!port) {
+ return false
+ }
+
+ this.updateConnectionState_('connecting')
+ const device = new WebSerialDevice()
+ this.device_ = device
+ this.registerListeners_(device)
+ device.open(port, { baudRate: 115200 })
+
+ // 연결이 되면 onConnected_() 가 호출되고,
+ // 연결이 실패하면 onDisconnected_() 가 호출됩니다
+ return true
+ }
+
+ /**
+ * 디바이스 콜백 - 연결됨
+ */
+ protected onConnected_ = async (device: WebSerialDevice) => {
+ this.stopped$.next(false)
+ this.device_ = device
+ this.updateConnectionState_('connected')
+
+ // 하드웨어로부터 수신된 데이터를 처리한다
+ this.rxLoop_()
+
+ // 하드웨어 쓰기 요청이 도착하면
+ // 하나씩 순차적으로 처리한다(concatMap)
+ const subscription = new Subscription()
+ subscription.add(
+ this.dataToDevice$
+ .pipe(
+ concatMap((request) => from(this.handleTxRequest_(request))),
+ takeUntil(this.closeTrigger_()),
+ )
+ .subscribe(),
+ )
+ this.txRequestQueueDisposeFn_ = () => {
+ subscription.unsubscribe()
+ }
+ }
+
+ /**
+ * 디바이스 콜백 - 연결이 끊어짐
+ */
+ protected onDisconnected_ = async () => {
+ this.disconnect()
+ }
+
+ /**
+ * Observable's destroy trigger
+ */
+ private closeTrigger_ = (): Observable => {
+ return this.stopped$.pipe(filter(Boolean), take(1))
+ }
+
+ /**
+ * 디바이스에 데이터를 전송합니다
+ * Send values to the device
+ */
+ protected writeRaw_ = async (values: number[] | Uint8Array | string): Promise => {
+ const device = this.device_
+ // 디바이스에 연결되지 않은 상태
+ if (!device) {
+ logger.debug('writeRaw_(): ignore, device not connected')
+ return
+ }
+
+ // 디바이스 중지 중
+ if (this.stopped$.value) {
+ logger.debug('writeRaw_(): ignore, stopping...')
+ return
+ }
+
+ if (typeof values === 'string') {
+ await device.write(new Uint8Array(values.split('').map(chr)))
+ } else if (Array.isArray(values)) {
+ await device.write(new Uint8Array(values))
+ } else {
+ await device.write(values)
+ }
+ }
+
+ /**
+ * 하드웨어 쓰기 요청을 처리합니다.
+ * 하드웨어에 데이터를 전송한 후, 하드웨어로부터 응답을 기다립니다.
+ */
+ private handleTxRequest_ = async (request: TxRequest): Promise => {
+ const { debugCmd, data, requestId } = request
+ const startTime = Date.now()
+ const values = typeof data === 'string' ? new Uint8Array(data.split('').map(chr)) : data
+ logger.debug(`${debugCmd}: write start: ${num2str(values)}`)
+ await this.writeRaw_(values)
+ if (this.stopped$.value) {
+ logger.debug(`${debugCmd} write canceled`)
+ return null
+ }
+ const returnData = await this.readNext_()
+ if (this.stopped$.value) {
+ logger.debug(`${debugCmd} write canceled`)
+ return null
+ }
+ const diff = Date.now() - startTime
+ logger.debug(`${debugCmd}: \t\texecution time: ${diff}ms, response: ${num2str(returnData)}`)
+ this.dataFromDevice$.next({
+ requestId,
+ returnData,
+ })
+ return returnData
+ }
+
+ /**
+ * 하드웨어에 쓰기 요청을 enque 합니다.
+ * @param debugCmd - 디버그용 명령어
+ * @param values - 하드웨어에 전송할 데이터
+ * @param afterDelayMillis - 명령을 실행한 후에 sleep 할 시간
+ */
+
+ protected write_ = async (
+ commandId: number,
+ values: Uint8Array,
+ afterDelayMillis = 0,
+ isQueued = false,
+ ): Promise => {
+ if (this.stopped) {
+ console.log('Execution stopped')
+ return null
+ }
+
+ const requestId = genId()
+ console.log('Generated Request ID:', requestId)
+
+ const packetLength = values.length + 3
+ const message = new Uint8Array([
+ 0xaa,
+ 0xaa,
+ packetLength,
+ commandId,
+ 1,
+ isQueued ? 1 : 0,
+ ...values,
+ 0,
+ ])
+
+ // Calculate checksum as two's complement
+ message[message.length - 1] = (~message.reduce((sum, byte) => sum + byte, 0) + 1) & 0xff
+ console.log('Message with checksum:', message)
+
+ this.dataToDevice$.next({
+ requestId,
+ data: message,
+ debugCmd: `CmdID ${commandId}`,
+ })
+ console.log('Data sent to device')
+
+ try {
+ const result = await firstValueFrom(
+ this.dataFromDevice$.pipe(
+ filter((it) => it.requestId === requestId),
+ map((it) => it.returnData),
+ takeUntil(this.closeTrigger_()),
+ timeout(5000), // Extended timeout
+ catchError((err) => {
+ console.error('Response timeout or error:', err)
+ return of(null as Uint8Array | null) // Explicitly casting to the correct type
+ }),
+ ),
+ )
+
+ if (!result) {
+ console.log('No result received')
+ return null
+ }
+
+ console.log('Result received:', result)
+
+ if (!this.stopped && afterDelayMillis > 0) {
+ console.log(`Command ${commandId}: \t\tsleep ${afterDelayMillis}ms`)
+ await sleepAsync(afterDelayMillis)
+ }
+
+ return result
+ } catch (err) {
+ console.log('Error in write_:', err)
+ logger.debug('write fail:', errmsg(err))
+ }
+
+ return null
+ }
+
+ /**
+ * 하드웨어로부터 도착한 데이터를 처리합니다.
+ * 개행문자를 구분자로 파싱하여 패킷(Uint8Array)을 만듭니다.
+ */
+ private rxLoop_ = () => {
+ const device = this.device_
+ if (!device) {
+ logger.debug('rxLoop_(): device is not opened')
+ return
+ }
+
+ const subscription = new Subscription()
+ subscription.add(
+ device
+ .observeOpenedOrNot()
+ .pipe(
+ distinctUntilChanged(),
+ switchMap((opened) => (opened ? device.observeRawData() : EMPTY)),
+ map((timestamped) => timestamped.dataBuffer),
+ HuenitParser.parse(),
+ tap((dataBuffer) => {
+ this.rxPacket$.next({ timestamp: Date.now(), dataBuffer })
+ }),
+ takeUntil(this.closeTrigger_()),
+ )
+ .subscribe(),
+ )
+
+ this.rxLoopDisposeFn_ = () => {
+ subscription.unsubscribe()
+ }
+ }
+
+ /**
+ * 하드웨어로부터 수신된 데이터를 가져옵니다.
+ * 현재 시점 이후에 수신된 첫번째 데이터만 가져옵니다.
+ */
+ private readNext_ = async (): Promise => {
+ if (this.stopped) return null
+ const now = Date.now()
+ try {
+ return await firstValueFrom(
+ this.rxPacket$.pipe(
+ filter((it) => it.timestamp >= now),
+ take(1),
+ map((it) => it.dataBuffer),
+ ),
+ )
+ } catch (err) {
+ logger.debug('read failed', err)
+ }
+ return null
+ }
+
+ /**
+ * command: disconnect
+ *
+ * Function to disconnect from the hardware.
+ * An essential function that must be implemented.
+ * @returns The return value is meaningless.
+ */
+ disconnect = async () => {
+ this.stopped$.next(true)
+ if (this.disposeFn_) {
+ this.disposeFn_()
+ this.disposeFn_ = undefined
+ }
+
+ if (this.rxLoopDisposeFn_) {
+ this.rxLoopDisposeFn_()
+ this.rxLoopDisposeFn_ = undefined
+ }
+
+ if (this.txRequestQueueDisposeFn_) {
+ this.txRequestQueueDisposeFn_()
+ this.txRequestQueueDisposeFn_ = undefined
+ }
+
+ if (this.device_) {
+ await this.device_.close()
+ this.device_ = undefined
+ }
+
+ // When changing the connection state, be sure to call updateConnectionState_()
+ this.updateConnectionState_('disconnected')
+ }
+}
+
+function num2str(data: number[] | Uint8Array | null) {
+ if (!data) {
+ return ''
+ }
+ const msg1 = data.join(' ')
+ let msg2: string[] = []
+ for (let i = 0; i < data.length; i++) {
+ const c = data[i]
+ if (c === 10) {
+ msg2.push('\\n')
+ } else if (c === 13) {
+ msg2.push('\\r')
+ } else {
+ msg2.push(String.fromCharCode(c))
+ }
+ }
+ return `[${msg1}] '${msg2.join('')}'`
+}
diff --git a/dobot-serial/main/src/hw/HuenitParser.ts b/dobot-serial/main/src/hw/HuenitParser.ts
new file mode 100644
index 0000000..279a3c1
--- /dev/null
+++ b/dobot-serial/main/src/hw/HuenitParser.ts
@@ -0,0 +1,109 @@
+import { arrayConcat, arrayIndexOf, chr } from '@/util/misc'
+import { Observable } from 'rxjs'
+
+// packet delimiter
+const DELIMITER = [chr('\n')] // new line character
+
+interface Options {
+ includeDelimiter: boolean
+ delimiter: Uint8Array
+}
+
+type TransformFn = (upstream: Observable) => Observable
+
+type PacketHandlerFn = (packet: Uint8Array) => void
+
+/**
+ * This class is delimiter parser.
+ * This class can be used on different hardware by simply changing the delimiter.
+ */
+export class HuenitParser {
+ /**
+ * Intermediate buffer
+ */
+ private buffer: Uint8Array
+
+ /**
+ * Whether including delimiters
+ */
+ private readonly includeDelimiter: boolean
+
+ /**
+ * delimiter
+ */
+ private readonly delimiter: Uint8Array
+
+ /**
+ * packet callback
+ * This is called when the packet is created.
+ */
+ private readonly packetCallback_: PacketHandlerFn
+
+ /**
+ * constructor
+ */
+ constructor(options: Options, packetCallback: PacketHandlerFn) {
+ this.buffer = new Uint8Array(0)
+ this.delimiter = options.delimiter
+ this.includeDelimiter = options.includeDelimiter
+ this.packetCallback_ = packetCallback
+ }
+
+ /**
+ * This is called when data is received from the hardware.
+ */
+ enqueue = (chunk: Uint8Array) => {
+ let data = arrayConcat(this.buffer, chunk)
+ let position = -1
+ // eslint-disable-next-line no-constant-condition
+ while (true) {
+ position = arrayIndexOf(data, this.delimiter)
+ if (position === -1) {
+ break
+ }
+
+ if (this.includeDelimiter) {
+ this.packetCallback_(data.slice(0, position + this.delimiter.length))
+ } else {
+ this.packetCallback_(data.slice(0, position))
+ }
+ data = data.slice(position + this.delimiter.length)
+ }
+ this.buffer = data
+ }
+
+ /**
+ * rxjs operator function
+ * upstream = raw byte array
+ * downstream = packet
+ */
+ static parse = (): TransformFn => {
+ return (upstream: Observable) => {
+ return new Observable((subscriber) => {
+ const handleParsedResult = (packet: Uint8Array) => {
+ if (!subscriber.closed && packet.byteLength > 0) {
+ subscriber.next(packet)
+ }
+ }
+
+ const parser = new HuenitParser(
+ {
+ includeDelimiter: false,
+ delimiter: new Uint8Array(DELIMITER),
+ },
+ handleParsedResult,
+ )
+
+ const subscription = upstream.subscribe({
+ next: parser.enqueue,
+ error: subscriber.error,
+ complete: subscriber.complete,
+ })
+
+ return () => {
+ subscription.unsubscribe()
+ }
+ })
+ }
+ }
+}
diff --git a/dobot-serial/main/src/hw/WebSerialDevice.ts b/dobot-serial/main/src/hw/WebSerialDevice.ts
new file mode 100644
index 0000000..c0b8bfd
--- /dev/null
+++ b/dobot-serial/main/src/hw/WebSerialDevice.ts
@@ -0,0 +1,292 @@
+import { sleepAsync } from '@repo/ui'
+import type { Observable } from 'rxjs'
+import {
+ BehaviorSubject,
+ EMPTY,
+ Subject,
+ distinctUntilChanged,
+ filter,
+ firstValueFrom,
+ map,
+ switchMap,
+ take,
+ timeout,
+} from 'rxjs'
+import type { BufferTimestamped } from './types'
+
+type HwDeviceState = 'opening' | 'opened' | 'closing' | 'closed'
+
+export class WebSerialDevice {
+ DEBUG = false
+
+ private deviceState$ = new BehaviorSubject('closed')
+
+ private deviceRawData$ = new Subject()
+
+ private port_?: SerialPort
+
+ private reader_?: ReadableStreamDefaultReader
+
+ private writer_?: WritableStreamDefaultWriter
+
+ private readLoopPromise_?: Promise
+
+ getRawSerialPort = (): SerialPort | undefined => {
+ return this.port_
+ }
+
+ /**
+ * 디바이스의 상태 관찰
+ */
+ observeDeviceState = (): Observable => this.deviceState$.asObservable()
+
+ /**
+ * 디바이스의 연결 여부 관찰
+ */
+ observeOpenedOrNot = (): Observable =>
+ this.deviceState$.pipe(map((it) => it === 'opened'))
+
+ /**
+ * 연결이 될 때까지 기다리기
+ */
+ waitUntilOpened = (timeoutMilli = 0): Promise => {
+ if (timeoutMilli > 0) {
+ return firstValueFrom(
+ this.deviceState$.pipe(
+ filter((it) => it === 'opened'),
+ take(1),
+ timeout({ first: timeoutMilli }),
+ map(() => true),
+ ),
+ )
+ } else {
+ return firstValueFrom(
+ this.deviceState$.pipe(
+ filter((it) => it === 'opened'),
+ take(1),
+ map(() => true),
+ ),
+ )
+ }
+ }
+
+ /**
+ * 디바이스의 데이터 관찰
+ */
+ observeRawData = (): Observable => {
+ return this.deviceState$.pipe(
+ distinctUntilChanged(),
+ map((state) => state === 'opened'),
+ switchMap((isOpened) => {
+ return isOpened ? this.deviceRawData$.asObservable() : EMPTY
+ }),
+ )
+ }
+
+ /**
+ * 연결 여부
+ */
+ isOpened = (): boolean => {
+ return this.deviceState$.value === 'opened'
+ }
+
+ private closeAndWait_ = async () => {
+ if (this.deviceState$.value === 'closed') return
+ if (this.deviceState$.value !== 'closing') {
+ if (this.DEBUG) console.log('WebSerialDevice.closeAndWait_()')
+ this.close()
+ }
+ await firstValueFrom(this.deviceState$.pipe(filter((it) => it === 'closed')))
+ }
+
+ /**
+ * 디바이스 열기
+ */
+ open = async (port: SerialPort, options: SerialOptions): Promise => {
+ if (this.DEBUG) console.log('WebSerialDevice.open()', options)
+ await this.closeAndWait_()
+ if (this.DEBUG) console.log('WebSerialDevice.open() opening')
+ this.deviceState$.next('opening')
+
+ while (this.deviceState$.value !== 'closed' && this.deviceState$.value !== 'closing') {
+ if (!port.readable) {
+ try {
+ if (this.DEBUG) console.log('WebSerialDevice.open() : port.open() called')
+ await port.open(options)
+ } catch (err) {
+ console.log(err)
+ }
+ }
+
+ if (port.readable) {
+ break
+ }
+
+ if (!port.readable) {
+ console.warn('WebSerialDevice.open() : port.open() failed, port is not readable, retry')
+ // this.deviceState$.next('closed')
+ await sleepAsync(200)
+ continue
+ }
+ }
+
+ if (this.deviceState$.value === 'opening' && port.readable) {
+ this.onOpened_(port)
+ }
+ }
+
+ private onOpened_ = (port: SerialPort) => {
+ if (this.DEBUG) console.debug('WebSerialDevice.onOpened_()')
+ this.port_ = port
+ this.deviceState$.next('opened')
+ this.readLoopPromise_ = this.startReadLoop_()
+ }
+
+ /**
+ * 시리얼포트 읽기 루프 실행
+ */
+ private startReadLoop_ = async () => {
+ while (this.deviceState$.value === 'opened') {
+ if (this.DEBUG) {
+ if (!this.port_) {
+ console.warn('WebSerialDevice.startReadLoop_() this.port_ is null')
+ } else if (!this.port_.readable) {
+ console.warn('WebSerialDevice.startReadLoop_() this.port_.readable is null')
+ }
+ }
+
+ if (!this.port_ || !this.port_.readable) {
+ await sleepAsync(100)
+ continue
+ }
+
+ if (this.DEBUG) console.log('WebSerialDevice.startReadLoop_() locked reader')
+ // 이미 시리얼포트에 락이 걸려있는 경우는 실패한다
+ const reader = this.getReaderOrNull_(this.port_)
+ if (!reader) {
+ await sleepAsync(100)
+ continue
+ }
+ this.reader_ = reader
+ try {
+ await this.doReadFromReader_(reader)
+ console.log('doReadFromReader_() end! deviceState =' + this.deviceState$.value)
+ } catch (err) {
+ // Handle non-fatal
+ console.info('startReadLoop_(): ignore error', err)
+ } finally {
+ if (this.DEBUG) console.log('WebSerialDevice.startReadLoop_() reader.releaseLock()')
+
+ this.reader_?.releaseLock()
+ this.reader_ = undefined
+ }
+ }
+ }
+
+ private getReaderOrNull_(port: SerialPort): ReadableStreamDefaultReader | null {
+ const readable = port.readable
+ if (!readable) return null
+ try {
+ const reader = readable.getReader()
+ return reader
+ } catch (err) {
+ // 시리얼포트에 락이 걸려있음
+ }
+ return null
+ }
+
+ private doReadFromReader_ = async (reader: ReadableStreamDefaultReader) => {
+ // console.log(`XXX WebSerialDevice.doReadFromReader_(): ${this.deviceState$.value}`)
+ while (this.deviceState$.value === 'opened') {
+ const { value: dataBuffer, done } = await reader.read()
+ // console.log(`XXX WebSerialDevice. reader.read(): ${done ? 'done' : ''}, ${dataBuffer?.byteLength ?? -1} bytes`)
+ if (done) {
+ break
+ }
+
+ if (dataBuffer) {
+ this.deviceRawData$.next({ timestamp: Date.now(), dataBuffer })
+ }
+ }
+ }
+
+ /**
+ * 시리얼포트에 데이터 전송
+ * @param value data to send
+ * @returns Promise
+ */
+ write = async (value: Uint8Array): Promise => {
+ const port = this.port_
+ if (!port) {
+ console.warn('WebSerialDevice.write() : port is not bound')
+ return
+ }
+
+ if (!port.writable) {
+ console.warn('WebSerialDevice.write() : port is not writable')
+ return
+ }
+
+ if (port.writable.locked) {
+ console.warn('WebSerialDevice.write() : port is locked')
+ await sleepAsync(100)
+ return
+ }
+ const writer = port.writable.getWriter()
+ try {
+ this.writer_ = writer
+ await writer.write(value)
+ } finally {
+ writer.releaseLock()
+ this.writer_ = undefined
+ }
+ }
+
+ /**
+ * 디바이스 닫기
+ */
+ close = async () => {
+ if (this.DEBUG) console.log('WebSerialDevice.close() currentState=' + this.deviceState$.value)
+ if (this.deviceState$.value === 'closed') {
+ // console.log('ignore close, already closed')
+ return
+ }
+
+ if (this.deviceState$.value === 'closing') {
+ console.log('ignore close, already closing')
+ return
+ }
+
+ this.deviceState$.next('closing')
+ try {
+ if (this.reader_) {
+ await this.reader_.cancel()
+ this.reader_ = undefined
+ }
+
+ if (this.readLoopPromise_) {
+ await this.readLoopPromise_.catch(() => {
+ /* ignore error */
+ })
+ this.readLoopPromise_ = undefined
+ }
+
+ if (this.writer_) {
+ if (!this.writer_.closed) {
+ await this.writer_.close()
+ }
+ this.writer_ = undefined
+ }
+
+ if (this.port_) {
+ await this.port_.close().catch(() => {
+ /* ignore error */
+ })
+ this.port_ = undefined
+ }
+ } finally {
+ if (this.DEBUG) console.log('WebSerialDevice closed')
+ this.deviceState$.next('closed')
+ }
+ }
+}
diff --git a/dobot-serial/main/src/hw/command-util.ts b/dobot-serial/main/src/hw/command-util.ts
new file mode 100644
index 0000000..05e4744
--- /dev/null
+++ b/dobot-serial/main/src/hw/command-util.ts
@@ -0,0 +1,16 @@
+import { errmsg } from '@/util/misc'
+
+export async function openSerialDevice(): Promise {
+ try {
+ if ('serial' in navigator) {
+ return await navigator.serial.requestPort()
+ }
+ console.error('Serial API is not supported in this browser.')
+ return undefined
+ } catch (err) {
+ if (errmsg(err) === 'No port selected by the user') {
+ return undefined
+ }
+ throw err
+ }
+}
diff --git a/dobot-serial/main/src/hw/robot-controller.py b/dobot-serial/main/src/hw/robot-controller.py
new file mode 100755
index 0000000..83bf5f2
--- /dev/null
+++ b/dobot-serial/main/src/hw/robot-controller.py
@@ -0,0 +1,61 @@
+# robot_controller.py
+import sys
+import json
+import asyncio
+from time import sleep
+
+class RobotController:
+ def __init__(self):
+ self.command_queue = asyncio.Queue()
+ self.serial_data = None
+
+ async def process_command(self, command):
+ try:
+ cmd_type = command.get('type')
+
+ if cmd_type == 'serial':
+ # 시리얼 데이터 저장
+ self.serial_data = command.get('data')
+ return {'status': 'success', 'type': 'serial_stored'}
+
+ if cmd_type == 'move':
+ # 시리얼 연결을 통해 로봇으로 명령 전송
+ if self.serial_data:
+ # 실제로는 여기서 시리얼 데이터를 사용하여 로봇과 통신
+ params = command.get('params', {})
+ return {
+ 'status': 'success',
+ 'command': cmd_type,
+ 'params': params
+ }
+ else:
+ return {'status': 'error', 'message': 'No serial connection'}
+
+ return {'status': 'error', 'message': 'Unknown command'}
+
+ except Exception as e:
+ return {'status': 'error', 'message': str(e)}
+
+ async def run(self):
+ while True:
+ try:
+ line = await self.get_input()
+ if not line:
+ continue
+
+ command = json.loads(line)
+ result = await self.process_command(command)
+
+ print(json.dumps(result))
+ sys.stdout.flush()
+
+ except Exception as e:
+ print(json.dumps({'status': 'error', 'message': str(e)}))
+ sys.stdout.flush()
+
+ async def get_input(self):
+ return await asyncio.get_event_loop().run_in_executor(None, sys.stdin.readline)
+
+if __name__ == '__main__':
+ controller = RobotController()
+ asyncio.get_event_loop().run_until_complete(controller.run())
diff --git a/dobot-serial/main/src/hw/types.ts b/dobot-serial/main/src/hw/types.ts
new file mode 100644
index 0000000..b90cc32
--- /dev/null
+++ b/dobot-serial/main/src/hw/types.ts
@@ -0,0 +1,4 @@
+export type BufferTimestamped = {
+ timestamp: number
+ dataBuffer: Uint8Array
+}
diff --git a/dobot-serial/main/src/hw/ws.txt b/dobot-serial/main/src/hw/ws.txt
new file mode 100755
index 0000000..0f23d05
--- /dev/null
+++ b/dobot-serial/main/src/hw/ws.txt
@@ -0,0 +1,397 @@
+네, 모든 컴포넌트를 서버에서 실행하고 시리얼 통신만 클라이언트에서 처리하는 방식으로 구현할 수 있습니다. 이를 위해서는 웹시리얼 API를 활용해야 합니다.
+
+
+
+```javascript
+// server/index.js
+const express = require('express');
+const { Server } = require('ws');
+const http = require('http');
+const { spawn } = require('child_process');
+const cors = require('cors');
+
+const app = express();
+const server = http.createServer(app);
+const wss = new Server({ server });
+
+app.use(cors());
+app.use(express.json());
+
+// 로봇 연결 관리
+class RobotManager {
+ constructor() {
+ this.robots = new Map(); // robotId -> { pythonProcess, webSocket }
+ this.serialConnections = new Map(); // robotId -> webSocket (browser serial connection)
+ }
+
+ startPythonProcess(robotId) {
+ if (this.robots.has(robotId)) {
+ return;
+ }
+
+ const pythonProcess = spawn('python', ['robot_controller.py']);
+
+ pythonProcess.stdout.on('data', (data) => {
+ const response = data.toString().trim();
+ // 시리얼 연결된 브라우저로 결과 전송
+ const serialWs = this.serialConnections.get(robotId);
+ if (serialWs) {
+ serialWs.send(JSON.stringify({ type: 'response', data: response }));
+ }
+ });
+
+ pythonProcess.stderr.on('data', (data) => {
+ console.error(`Python Error (${robotId}):`, data.toString());
+ });
+
+ this.robots.set(robotId, { pythonProcess });
+ }
+
+ stopPythonProcess(robotId) {
+ const robot = this.robots.get(robotId);
+ if (robot && robot.pythonProcess) {
+ robot.pythonProcess.kill();
+ this.robots.delete(robotId);
+ }
+ }
+
+ registerSerialConnection(robotId, ws) {
+ this.serialConnections.set(robotId, ws);
+ // Python 프로세스가 없다면 시작
+ if (!this.robots.has(robotId)) {
+ this.startPythonProcess(robotId);
+ }
+ }
+
+ removeSerialConnection(robotId) {
+ this.serialConnections.delete(robotId);
+ // 연결된 브라우저가 없으면 Python 프로세스도 종료
+ if (!this.serialConnections.has(robotId)) {
+ this.stopPythonProcess(robotId);
+ }
+ }
+
+ sendCommand(robotId, command) {
+ const robot = this.robots.get(robotId);
+ if (robot && robot.pythonProcess) {
+ robot.pythonProcess.stdin.write(JSON.stringify(command) + '\n');
+ return true;
+ }
+ return false;
+ }
+}
+
+const robotManager = new RobotManager();
+
+// WebSocket 연결 처리
+wss.on('connection', (ws, req) => {
+ const robotId = req.url.split('/')[2]; // /robot/{robotId}
+
+ if (!robotId) {
+ ws.close();
+ return;
+ }
+
+ console.log(`Serial connection established for robot ${robotId}`);
+ robotManager.registerSerialConnection(robotId, ws);
+
+ // 시리얼 데이터 수신 처리
+ ws.on('message', (message) => {
+ try {
+ const data = JSON.parse(message);
+ if (data.type === 'serial') {
+ // 시리얼 데이터를 Python 프로세스로 전달
+ robotManager.sendCommand(robotId, { type: 'serial', data: data.data });
+ }
+ } catch (error) {
+ console.error(`Error processing message from robot ${robotId}:`, error);
+ }
+ });
+
+ ws.on('close', () => {
+ console.log(`Serial connection closed for robot ${robotId}`);
+ robotManager.removeSerialConnection(robotId);
+ });
+});
+
+// REST API 엔드포인트
+app.post('/api/robots/:robotId/command', (req, res) => {
+ const { robotId } = req.params;
+ const command = req.body;
+
+ if (robotManager.sendCommand(robotId, command)) {
+ res.json({ success: true });
+ } else {
+ res.status(404).json({ error: 'Robot not connected' });
+ }
+});
+
+const PORT = process.env.PORT || 3000;
+server.listen(PORT, () => {
+ console.log(`Server running on port ${PORT}`);
+});
+
+```
+
+```python
+# robot_controller.py
+import sys
+import json
+import asyncio
+from time import sleep
+
+class RobotController:
+ def __init__(self):
+ self.command_queue = asyncio.Queue()
+ self.serial_data = None
+
+ async def process_command(self, command):
+ try:
+ cmd_type = command.get('type')
+
+ if cmd_type == 'serial':
+ # 시리얼 데이터 저장
+ self.serial_data = command.get('data')
+ return {'status': 'success', 'type': 'serial_stored'}
+
+ if cmd_type == 'move':
+ # 시리얼 연결을 통해 로봇으로 명령 전송
+ if self.serial_data:
+ # 실제로는 여기서 시리얼 데이터를 사용하여 로봇과 통신
+ params = command.get('params', {})
+ return {
+ 'status': 'success',
+ 'command': cmd_type,
+ 'params': params
+ }
+ else:
+ return {'status': 'error', 'message': 'No serial connection'}
+
+ return {'status': 'error', 'message': 'Unknown command'}
+
+ except Exception as e:
+ return {'status': 'error', 'message': str(e)}
+
+ async def run(self):
+ while True:
+ try:
+ line = await self.get_input()
+ if not line:
+ continue
+
+ command = json.loads(line)
+ result = await self.process_command(command)
+
+ print(json.dumps(result))
+ sys.stdout.flush()
+
+ except Exception as e:
+ print(json.dumps({'status': 'error', 'message': str(e)}))
+ sys.stdout.flush()
+
+ async def get_input(self):
+ return await asyncio.get_event_loop().run_in_executor(None, sys.stdin.readline)
+
+if __name__ == '__main__':
+ controller = RobotController()
+ asyncio.get_event_loop().run_until_complete(controller.run())
+
+```
+
+```javascript
+// web-client/serial-client.js
+class DobotSerialClient {
+ constructor(serverUrl) {
+ this.serverUrl = serverUrl;
+ this.port = null;
+ this.reader = null;
+ this.writer = null;
+ this.ws = null;
+ this.robotId = null;
+ }
+
+ async connect(robotId) {
+ this.robotId = robotId;
+
+ // 웹시리얼 연결
+ try {
+ this.port = await navigator.serial.requestPort();
+ await this.port.open({ baudRate: 115200 });
+
+ this.reader = this.port.readable.getReader();
+ this.writer = this.port.writable.getWriter();
+
+ // 서버와 웹소켓 연결
+ this.ws = new WebSocket(`${this.serverUrl}/robot/${robotId}`);
+
+ // 시리얼 데이터 읽기 시작
+ this.startReading();
+
+ return true;
+ } catch (error) {
+ console.error('Connection failed:', error);
+ return false;
+ }
+ }
+
+ async startReading() {
+ while (true) {
+ try {
+ const { value, done } = await this.reader.read();
+ if (done) {
+ break;
+ }
+ // 시리얼 데이터를 서버로 전송
+ if (this.ws && this.ws.readyState === WebSocket.OPEN) {
+ this.ws.send(JSON.stringify({
+ type: 'serial',
+ data: Array.from(value)
+ }));
+ }
+ } catch (error) {
+ console.error('Error reading serial:', error);
+ break;
+ }
+ }
+ }
+
+ async writeToSerial(data) {
+ if (this.writer) {
+ await this.writer.write(new Uint8Array(data));
+ }
+ }
+
+ async disconnect() {
+ if (this.reader) {
+ await this.reader.cancel();
+ this.reader = null;
+ }
+ if (this.writer) {
+ await this.writer.close();
+ this.writer = null;
+ }
+ if (this.port) {
+ await this.port.close();
+ this.port = null;
+ }
+ if (this.ws) {
+ this.ws.close();
+ this.ws = null;
+ }
+ }
+
+ // Blockly 명령어 실행
+ async executeBlocklyCommand(blocklyCmd) {
+ const command = this.translateBlocklyCommand(blocklyCmd);
+ if (!command) return;
+
+ try {
+ const response = await fetch(
+ `${this.serverUrl}/api/robots/${this.robotId}/command`,
+ {
+ method: 'POST',
+ headers: {
+ 'Content-Type': 'application/json',
+ },
+ body: JSON.stringify(command),
+ }
+ );
+
+ if (!response.ok) {
+ throw new Error('Command failed');
+ }
+
+ return await response.json();
+ } catch (error) {
+ console.error('Failed to execute command:', error);
+ throw error;
+ }
+ }
+
+ translateBlocklyCommand(blocklyCmd) {
+ const commandMap = {
+ 'move_forward': { type: 'move', params: { x: 10, y: 0, z: 0 } },
+ 'move_backward': { type: 'move', params: { x: -10, y: 0, z: 0 } },
+ 'grip_open': { type: 'grip', params: { grip: false } },
+ 'grip_close': { type: 'grip', params: { grip: true } },
+ };
+
+ return commandMap[blocklyCmd] || null;
+ }
+}
+
+```
+
+이 구현의 주요 특징은 다음과 같습니다:
+
+1. **중앙 서버에서 실행되는 컴포넌트**:
+ - Node.js 서버
+ - Python 컨트롤러
+ - 로봇 관리자
+
+2. **클라이언트에서 실행되는 컴포넌트**:
+ - Web Serial API를 사용한 시리얼 통신
+ - WebSocket 클라이언트
+
+작동 방식:
+
+1. 브라우저에서 Web Serial API를 통해 로봇과 시리얼 연결
+2. 시리얼 연결 정보를 WebSocket을 통해 서버로 전송
+3. 서버는 해당 로봇을 위한 Python 프로세스 시작
+4. Blockly 명령어는 서버의 REST API를 통해 전송
+5. 서버의 Python 프로세스가 명령어를 처리하고 시리얼 데이터를 통해 로봇 제어
+
+사용 방법:
+
+1. 서버 설정:
+```bash
+# 서버 설치
+npm install express ws cors
+
+# Python 환경 설정
+pip install pyserial
+
+# 서버 실행
+node index.js
+```
+
+2. 클라이언트 연결:
+```html
+
+
+```
+
+이 방식의 장점:
+1. 모든 로직이 서버에서 실행되어 관리가 용이
+2. 클라이언트는 시리얼 통신만 담당
+3. 여러 로봇을 중앙에서 제어 가능
+4. 업데이트와 유지보수가 쉬움
+
+단점:
+1. 서버 부하가 증가할 수 있음
+2. 네트워크 지연이 발생할 수 있음
+3. 서버 장애 시 전체 시스템 영향
+
+실제 구현 시 고려사항:
+1. 에러 처리 강화
+2. 재연결 로직 추가
+3. 로깅 시스템 구현
+4. 보안 설정 추가
+5. 모니터링 시스템 구축
+
+이 방식으로 구현하면 대부분의 로직을 서버에서 처리하면서도, Web Serial API를 통해 로봇과의 직접 통신이 가능합니다.
\ No newline at end of file
diff --git a/dobot-serial/main/src/logger.ts b/dobot-serial/main/src/logger.ts
new file mode 100644
index 0000000..f90047e
--- /dev/null
+++ b/dobot-serial/main/src/logger.ts
@@ -0,0 +1 @@
+export const logger = console
diff --git a/dobot-serial/main/src/theme/ThemeRegistry.tsx b/dobot-serial/main/src/theme/ThemeRegistry.tsx
new file mode 100644
index 0000000..0003b7d
--- /dev/null
+++ b/dobot-serial/main/src/theme/ThemeRegistry.tsx
@@ -0,0 +1,18 @@
+'use client'
+
+import * as React from 'react'
+import { ThemeProvider } from '@mui/material/styles'
+import CssBaseline from '@mui/material/CssBaseline'
+import { AppRouterCacheProvider } from '@mui/material-nextjs/v14-appRouter'
+import theme from './theme'
+
+export default function ThemeRegistry({ children }: { children: React.ReactNode }) {
+ return (
+
+
+
+ {children}
+
+
+ )
+}
diff --git a/dobot-serial/main/src/theme/theme.ts b/dobot-serial/main/src/theme/theme.ts
new file mode 100644
index 0000000..91aef6c
--- /dev/null
+++ b/dobot-serial/main/src/theme/theme.ts
@@ -0,0 +1,20 @@
+import { createTheme } from '@mui/material/styles'
+
+const theme = createTheme({
+ palette: {
+ mode: 'light',
+ },
+ components: {
+ MuiAlert: {
+ styleOverrides: {
+ root: ({ ownerState }) => ({
+ ...(ownerState.severity === 'info' && {
+ backgroundColor: '#60a5fa',
+ }),
+ }),
+ },
+ },
+ },
+})
+
+export default theme
diff --git a/dobot-serial/main/src/util/gen-id.ts b/dobot-serial/main/src/util/gen-id.ts
new file mode 100644
index 0000000..b48fb84
--- /dev/null
+++ b/dobot-serial/main/src/util/gen-id.ts
@@ -0,0 +1,5 @@
+let seq = 1
+
+export function genId(): string {
+ return (seq++).toString(36).replace('-', '_')
+}
diff --git a/dobot-serial/main/src/util/misc.ts b/dobot-serial/main/src/util/misc.ts
new file mode 100644
index 0000000..662bace
--- /dev/null
+++ b/dobot-serial/main/src/util/misc.ts
@@ -0,0 +1,43 @@
+export function sleepAsync(ms: number): Promise {
+ return new Promise((resolve) => {
+ setTimeout(resolve, ms)
+ })
+}
+
+export function errmsg(err: any): string {
+ if (!err) return 'unknown'
+ if (typeof err === 'string') return err
+ if (typeof err['message'] === 'string') {
+ return err['message']
+ }
+ return err.toString()
+}
+
+export function arrayIndexOf(src: Uint8Array, needle: Uint8Array): number {
+ const needleLen = needle.length
+ if (src.length < needleLen) return -1
+ for (let i = 0; i < src.length - needleLen + 1; i++) {
+ let found = true
+ for (let k = 0; k < needle.length; k++) {
+ if (src[i + k] !== needle[k]) {
+ found = false
+ break
+ }
+ }
+ if (found) {
+ return i
+ }
+ }
+ return -1
+}
+
+export function arrayConcat(arr1: Uint8Array, arr2: Uint8Array): Uint8Array {
+ const result = new Uint8Array(arr1.length + arr2.length)
+ result.set(arr1)
+ result.set(arr2, arr1.length)
+ return result
+}
+
+export function chr(ch: string): number {
+ return ch.charCodeAt(0)
+}
diff --git a/dobot-serial/main/tsconfig.json b/dobot-serial/main/tsconfig.json
new file mode 100644
index 0000000..5c394bc
--- /dev/null
+++ b/dobot-serial/main/tsconfig.json
@@ -0,0 +1,21 @@
+{
+ "extends": "@repo/typescript-config/nextjs.json",
+ "compilerOptions": {
+ "plugins": [
+ {
+ "name": "next",
+ },
+ ],
+ "baseUrl": ".",
+ "paths": {
+ "@/*": ["src/*"],
+ },
+ "noImplicitAny": false,
+ // 아래 문제를 해결하기 위해 declaration:false로 설정
+ // The inferred type of 'X' cannot be named without a reference
+ "declaration": false,
+ "declarationMap": false,
+ },
+ "include": ["next-env.d.ts", "next.config.js", "**/*.ts", "**/*.tsx", ".next/types/**/*.ts"],
+ "exclude": ["node_modules"],
+}
diff --git a/dobot-serial/package-lock.json b/dobot-serial/package-lock.json
new file mode 100644
index 0000000..e320e8f
--- /dev/null
+++ b/dobot-serial/package-lock.json
@@ -0,0 +1,898 @@
+{
+ "name": "codiny-hw-marty",
+ "requires": true,
+ "lockfileVersion": 1,
+ "dependencies": {
+ "@aashutoshrathi/word-wrap": {
+ "version": "1.2.6",
+ "resolved": "https://registry.npmjs.org/@aashutoshrathi/word-wrap/-/word-wrap-1.2.6.tgz",
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+ "dev": true
+ },
+ "@eslint-community/eslint-utils": {
+ "version": "4.4.0",
+ "dev": true,
+ "requires": {
+ "eslint-visitor-keys": "^3.3.0"
+ }
+ },
+ "@eslint-community/regexpp": {
+ "version": "4.10.0",
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+ "dev": true
+ },
+ "@eslint/eslintrc": {
+ "version": "2.1.4",
+ "dev": true,
+ "requires": {
+ "ajv": "^6.12.4",
+ "debug": "^4.3.2",
+ "espree": "^9.6.0",
+ "globals": "^13.19.0",
+ "ignore": "^5.2.0",
+ "import-fresh": "^3.2.1",
+ "js-yaml": "^4.1.0",
+ "minimatch": "^3.1.2",
+ "strip-json-comments": "^3.1.1"
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+ "dev": true
+ }
+ }
+ },
+ "@eslint/js": {
+ "version": "8.56.0",
+ "dev": true
+ },
+ "@humanwhocodes/config-array": {
+ "version": "0.11.14",
+ "resolved": "https://registry.npmjs.org/@humanwhocodes/config-array/-/config-array-0.11.14.tgz",
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+ "dev": true,
+ "requires": {
+ "@nodelib/fs.scandir": "2.1.5",
+ "fastq": "^1.6.0"
+ }
+ },
+ "@ungap/structured-clone": {
+ "version": "1.2.0",
+ "resolved": "https://registry.npmjs.org/@ungap/structured-clone/-/structured-clone-1.2.0.tgz",
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diff --git a/dobot-serial/package.json b/dobot-serial/package.json
new file mode 100644
index 0000000..c90d42a
--- /dev/null
+++ b/dobot-serial/package.json
@@ -0,0 +1,18 @@
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+}
diff --git a/dobot-serial/pnpm-lock.yaml b/dobot-serial/pnpm-lock.yaml
new file mode 100644
index 0000000..51b936d
--- /dev/null
+++ b/dobot-serial/pnpm-lock.yaml
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+ /type-check@0.4.0:
+ resolution: {integrity: sha512-XleUoc9uwGXqjWwXaUTZAmzMcFZ5858QA2vvx1Ur5xIcixXIP+8LnFDgRplU30us6teqdlskFfu+ae4K79Ooew==}
+ engines: {node: '>= 0.8.0'}
+ dependencies:
+ prelude-ls: 1.2.1
+ dev: true
+
+ /type-fest@0.20.2:
+ resolution: {integrity: sha512-Ne+eE4r0/iWnpAxD852z3A+N0Bt5RN//NjJwRd2VFHEmrywxf5vsZlh4R6lixl6B+wz/8d+maTSAkN1FIkI3LQ==}
+ engines: {node: '>=10'}
+ dev: true
+
+ /type-fest@0.6.0:
+ resolution: {integrity: sha512-q+MB8nYR1KDLrgr4G5yemftpMC7/QLqVndBmEEdqzmNj5dcFOO4Oo8qlwZE3ULT3+Zim1F8Kq4cBnikNhlCMlg==}
+ engines: {node: '>=8'}
+ dev: true
+
+ /type-fest@0.8.1:
+ resolution: {integrity: sha512-4dbzIzqvjtgiM5rw1k5rEHtBANKmdudhGyBEajN01fEyhaAIhsoKNy6y7+IN93IfpFtwY9iqi7kD+xwKhQsNJA==}
+ engines: {node: '>=8'}
+ dev: true
+
+ /typed-array-buffer@1.0.2:
+ resolution: {integrity: sha512-gEymJYKZtKXzzBzM4jqa9w6Q1Jjm7x2d+sh19AdsD4wqnMPDYyvwpsIc2Q/835kHuo3BEQ7CjelGhfTsoBb2MQ==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ call-bind: 1.0.7
+ es-errors: 1.3.0
+ is-typed-array: 1.1.13
+ dev: true
+
+ /typed-array-byte-length@1.0.1:
+ resolution: {integrity: sha512-3iMJ9q0ao7WE9tWcaYKIptkNBuOIcZCCT0d4MRvuuH88fEoEH62IuQe0OtraD3ebQEoTRk8XCBoknUNc1Y67pw==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ call-bind: 1.0.7
+ for-each: 0.3.3
+ gopd: 1.0.1
+ has-proto: 1.0.3
+ is-typed-array: 1.1.13
+ dev: true
+
+ /typed-array-byte-offset@1.0.2:
+ resolution: {integrity: sha512-Ous0vodHa56FviZucS2E63zkgtgrACj7omjwd/8lTEMEPFFyjfixMZ1ZXenpgCFBBt4EC1J2XsyVS2gkG0eTFA==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ available-typed-arrays: 1.0.7
+ call-bind: 1.0.7
+ for-each: 0.3.3
+ gopd: 1.0.1
+ has-proto: 1.0.3
+ is-typed-array: 1.1.13
+ dev: true
+
+ /typed-array-length@1.0.6:
+ resolution: {integrity: sha512-/OxDN6OtAk5KBpGb28T+HZc2M+ADtvRxXrKKbUwtsLgdoxgX13hyy7ek6bFRl5+aBs2yZzB0c4CnQfAtVypW/g==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ call-bind: 1.0.7
+ for-each: 0.3.3
+ gopd: 1.0.1
+ has-proto: 1.0.3
+ is-typed-array: 1.1.13
+ possible-typed-array-names: 1.0.0
+ dev: true
+
+ /typescript@5.4.5:
+ resolution: {integrity: sha512-vcI4UpRgg81oIRUFwR0WSIHKt11nJ7SAVlYNIu+QpqeyXP+gpQJy/Z4+F0aGxSE4MqwjyXvW/TzgkLAx2AGHwQ==}
+ engines: {node: '>=14.17'}
+ hasBin: true
+ dev: true
+
+ /unbox-primitive@1.0.2:
+ resolution: {integrity: sha512-61pPlCD9h51VoreyJ0BReideM3MDKMKnh6+V9L08331ipq6Q8OFXZYiqP6n/tbHx4s5I9uRhcye6BrbkizkBDw==}
+ dependencies:
+ call-bind: 1.0.7
+ has-bigints: 1.0.2
+ has-symbols: 1.0.3
+ which-boxed-primitive: 1.0.2
+ dev: true
+
+ /undici-types@5.26.5:
+ resolution: {integrity: sha512-JlCMO+ehdEIKqlFxk6IfVoAUVmgz7cU7zD/h9XZ0qzeosSHmUJVOzSQvvYSYWXkFXC+IfLKSIffhv0sVZup6pA==}
+ dev: true
+
+ /update-browserslist-db@1.0.15(browserslist@4.23.0):
+ resolution: {integrity: sha512-K9HWH62x3/EalU1U6sjSZiylm9C8tgq2mSvshZpqc7QE69RaA2qjhkW2HlNA0tFpEbtyFz7HTqbSdN4MSwUodA==}
+ hasBin: true
+ peerDependencies:
+ browserslist: '>= 4.21.0'
+ dependencies:
+ browserslist: 4.23.0
+ escalade: 3.1.2
+ picocolors: 1.0.0
+ dev: true
+
+ /uri-js@4.4.1:
+ resolution: {integrity: sha512-7rKUyy33Q1yc98pQ1DAmLtwX109F7TIfWlW1Ydo8Wl1ii1SeHieeh0HHfPeL2fMXK6z0s8ecKs9frCuLJvndBg==}
+ dependencies:
+ punycode: 2.3.1
+ dev: true
+
+ /validate-npm-package-license@3.0.4:
+ resolution: {integrity: sha512-DpKm2Ui/xN7/HQKCtpZxoRWBhZ9Z0kqtygG8XCgNQ8ZlDnxuQmWhj566j8fN4Cu3/JmbhsDo7fcAJq4s9h27Ew==}
+ dependencies:
+ spdx-correct: 3.2.0
+ spdx-expression-parse: 3.0.1
+ dev: true
+
+ /which-boxed-primitive@1.0.2:
+ resolution: {integrity: sha512-bwZdv0AKLpplFY2KZRX6TvyuN7ojjr7lwkg6ml0roIy9YeuSr7JS372qlNW18UQYzgYK9ziGcerWqZOmEn9VNg==}
+ dependencies:
+ is-bigint: 1.0.4
+ is-boolean-object: 1.1.2
+ is-number-object: 1.0.7
+ is-string: 1.0.7
+ is-symbol: 1.0.4
+ dev: true
+
+ /which-builtin-type@1.1.3:
+ resolution: {integrity: sha512-YmjsSMDBYsM1CaFiayOVT06+KJeXf0o5M/CAd4o1lTadFAtacTUM49zoYxr/oroopFDfhvN6iEcBxUyc3gvKmw==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ function.prototype.name: 1.1.6
+ has-tostringtag: 1.0.2
+ is-async-function: 2.0.0
+ is-date-object: 1.0.5
+ is-finalizationregistry: 1.0.2
+ is-generator-function: 1.0.10
+ is-regex: 1.1.4
+ is-weakref: 1.0.2
+ isarray: 2.0.5
+ which-boxed-primitive: 1.0.2
+ which-collection: 1.0.2
+ which-typed-array: 1.1.15
+ dev: true
+
+ /which-collection@1.0.2:
+ resolution: {integrity: sha512-K4jVyjnBdgvc86Y6BkaLZEN933SwYOuBFkdmBu9ZfkcAbdVbpITnDmjvZ/aQjRXQrv5EPkTnD1s39GiiqbngCw==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ is-map: 2.0.3
+ is-set: 2.0.3
+ is-weakmap: 2.0.2
+ is-weakset: 2.0.3
+ dev: true
+
+ /which-typed-array@1.1.15:
+ resolution: {integrity: sha512-oV0jmFtUky6CXfkqehVvBP/LSWJ2sy4vWMioiENyJLePrBO/yKyV9OyJySfAKosh+RYkIl5zJCNZ8/4JncrpdA==}
+ engines: {node: '>= 0.4'}
+ dependencies:
+ available-typed-arrays: 1.0.7
+ call-bind: 1.0.7
+ for-each: 0.3.3
+ gopd: 1.0.1
+ has-tostringtag: 1.0.2
+ dev: true
+
+ /which@2.0.2:
+ resolution: {integrity: sha512-BLI3Tl1TW3Pvl70l3yq3Y64i+awpwXqsGBYWkkqMtnbXgrMD+yj7rhW0kuEDxzJaYXGjEW5ogapKNMEKNMjibA==}
+ engines: {node: '>= 8'}
+ hasBin: true
+ dependencies:
+ isexe: 2.0.0
+ dev: true
+
+ /word-wrap@1.2.5:
+ resolution: {integrity: sha512-BN22B5eaMMI9UMtjrGd5g5eCYPpCPDUy0FJXbYsaT5zYxjFOckS53SQDE3pWkVoWpHXVb3BrYcEN4Twa55B5cA==}
+ engines: {node: '>=0.10.0'}
+ dev: true
+
+ /wrap-ansi@7.0.0:
+ resolution: {integrity: sha512-YVGIj2kamLSTxw6NsZjoBxfSwsn0ycdesmc4p+Q21c5zPuZ1pl+NfxVdxPtdHvmNVOQ6XSYG4AUtyt/Fi7D16Q==}
+ engines: {node: '>=10'}
+ dependencies:
+ ansi-styles: 4.3.0
+ string-width: 4.2.3
+ strip-ansi: 6.0.1
+ dev: true
+
+ /wrap-ansi@8.1.0:
+ resolution: {integrity: sha512-si7QWI6zUMq56bESFvagtmzMdGOtoxfR+Sez11Mobfc7tm+VkUckk9bW2UeffTGVUbOksxmSw0AA2gs8g71NCQ==}
+ engines: {node: '>=12'}
+ dependencies:
+ ansi-styles: 6.2.1
+ string-width: 5.1.2
+ strip-ansi: 7.1.0
+ dev: true
+
+ /wrappy@1.0.2:
+ resolution: {integrity: sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==}
+ dev: true
+
+ /yallist@3.1.1:
+ resolution: {integrity: sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==}
+ dev: true
+
+ /yaml@1.10.2:
+ resolution: {integrity: sha512-r3vXyErRCYJ7wg28yvBY5VSoAF8ZvlcW9/BwUzEtUsjvX/DKs24dIkuwjtuprwJJHsbyUbLApepYTR1BN4uHrg==}
+ engines: {node: '>= 6'}
+
+ /yocto-queue@0.1.0:
+ resolution: {integrity: sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==}
+ engines: {node: '>=10'}
+ dev: true
diff --git a/dobot-serial/pnpm-workspace.yaml b/dobot-serial/pnpm-workspace.yaml
new file mode 100644
index 0000000..446f46b
--- /dev/null
+++ b/dobot-serial/pnpm-workspace.yaml
@@ -0,0 +1,3 @@
+packages:
+ - "main"
+ - "sub/*"
diff --git a/dobot-serial/sub/eslint-config/README.md b/dobot-serial/sub/eslint-config/README.md
new file mode 100644
index 0000000..8b42d90
--- /dev/null
+++ b/dobot-serial/sub/eslint-config/README.md
@@ -0,0 +1,3 @@
+# `@turbo/eslint-config`
+
+Collection of internal eslint configurations.
diff --git a/dobot-serial/sub/eslint-config/library.js b/dobot-serial/sub/eslint-config/library.js
new file mode 100644
index 0000000..09e6052
--- /dev/null
+++ b/dobot-serial/sub/eslint-config/library.js
@@ -0,0 +1,59 @@
+const { resolve } = require('node:path')
+
+const project = resolve(process.cwd(), 'tsconfig.json')
+
+console.log('tsconfig.json location:', project)
+/** @type {import("eslint").Linter.Config} */
+module.exports = {
+ extends: [
+ 'eslint:recommended',
+ 'prettier',
+ require.resolve('@vercel/style-guide/eslint/typescript'),
+ 'eslint-config-turbo',
+ ],
+ globals: {
+ React: true,
+ JSX: true,
+ },
+ env: {
+ node: true,
+ },
+ plugins: ['only-warn', '@typescript-eslint'],
+ settings: {
+ 'import/resolver': {
+ typescript: {
+ project,
+ },
+ },
+ },
+ ignorePatterns: [
+ // Ignore dotfiles
+ '.*.js',
+ 'node_modules/',
+ 'dist/',
+ ],
+ overrides: [
+ {
+ files: ['*.js?(x)', '*.ts?(x)'],
+ },
+ ],
+ rules: {
+ 'no-unused-vars': 'off',
+ 'no-new-func': 'off',
+ 'func-names': 'off',
+ 'no-console': 'off',
+ 'no-undef': 'off',
+ '@typescript-eslint/ban-ts-comment': 'off',
+ '@typescript-eslint/consistent-type-imports': [
+ 'warn',
+ {
+ prefer: 'type-imports',
+ disallowTypeAnnotations: true,
+ fixStyle: 'separate-type-imports',
+ },
+ ],
+ '@typescript-eslint/no-unused-vars': 'off',
+ '@typescript-eslint/no-explicit-any': 'off',
+ '@typescript-eslint/no-shadow': 'off',
+ },
+}
diff --git a/dobot-serial/sub/eslint-config/next.js b/dobot-serial/sub/eslint-config/next.js
new file mode 100644
index 0000000..d637f75
--- /dev/null
+++ b/dobot-serial/sub/eslint-config/next.js
@@ -0,0 +1,55 @@
+const { resolve } = require('node:path')
+
+const project = resolve(process.cwd(), 'tsconfig.json')
+
+/** @type {import("eslint").Linter.Config} */
+module.exports = {
+ extends: [
+ 'eslint:recommended',
+ 'prettier',
+ require.resolve('@vercel/style-guide/eslint/react'),
+ require.resolve('@vercel/style-guide/eslint/next'),
+ 'eslint-config-turbo',
+ ],
+ globals: {
+ React: true,
+ JSX: true,
+ },
+ env: {
+ node: true,
+ browser: true,
+ },
+ plugins: ['only-warn', '@typescript-eslint'],
+ settings: {
+ 'import/resolver': {
+ typescript: {
+ project,
+ },
+ },
+ },
+ ignorePatterns: [
+ // Ignore dotfiles
+ '.*.js',
+ 'node_modules/',
+ ],
+ overrides: [{ files: ['*.js?(x)', '*.ts?(x)'] }],
+ rules: {
+ 'no-unused-vars': 'off',
+ 'no-new-func': 'off',
+ 'func-names': 'off',
+ 'no-console': 'off',
+ 'no-undef': 'off',
+ '@typescript-eslint/ban-ts-comment': 'off',
+ '@typescript-eslint/consistent-type-imports': [
+ 'warn',
+ {
+ prefer: 'type-imports',
+ disallowTypeAnnotations: true,
+ fixStyle: 'separate-type-imports',
+ },
+ ],
+ '@typescript-eslint/no-unused-vars': 'off',
+ '@typescript-eslint/no-explicit-any': 'off',
+ '@typescript-eslint/no-shadow': 'off',
+ },
+}
diff --git a/dobot-serial/sub/eslint-config/package.json b/dobot-serial/sub/eslint-config/package.json
new file mode 100644
index 0000000..b2b1b26
--- /dev/null
+++ b/dobot-serial/sub/eslint-config/package.json
@@ -0,0 +1,19 @@
+{
+ "name": "@repo/eslint-config",
+ "version": "0.0.0",
+ "private": true,
+ "files": [
+ "library.js",
+ "next.js",
+ "react-internal.js"
+ ],
+ "devDependencies": {
+ "@vercel/style-guide": "^5.1.0",
+ "eslint-config-turbo": "^1.11.3",
+ "eslint-config-prettier": "^9.1.0",
+ "eslint-plugin-only-warn": "^1.1.0",
+ "@typescript-eslint/parser": "^6.17.0",
+ "@typescript-eslint/eslint-plugin": "^6.17.0",
+ "typescript": "^5.3.3"
+ }
+}
\ No newline at end of file
diff --git a/dobot-serial/sub/eslint-config/react-internal.js b/dobot-serial/sub/eslint-config/react-internal.js
new file mode 100644
index 0000000..f47c84e
--- /dev/null
+++ b/dobot-serial/sub/eslint-config/react-internal.js
@@ -0,0 +1,77 @@
+const { resolve } = require('node:path')
+
+const project = resolve(process.cwd(), 'tsconfig.json')
+
+/*
+ * This is a custom ESLint configuration for use with
+ * internal (bundled by their consumer) libraries
+ * that utilize React.
+ *
+ * This config extends the Vercel Engineering Style Guide.
+ * For more information, see https://github.com/vercel/style-guide
+ *
+ */
+
+/** @type {import("eslint").Linter.Config} */
+module.exports = {
+ extends: [
+ 'eslint:recommended',
+ 'prettier',
+ require.resolve('@vercel/style-guide/eslint/react'),
+ require.resolve('@vercel/style-guide/eslint/typescript'),
+ 'eslint-config-turbo',
+ ],
+ plugins: ['only-warn', '@typescript-eslint'],
+ globals: {
+ React: true,
+ JSX: true,
+ },
+ env: {
+ browser: true,
+ },
+ settings: {
+ 'import/resolver': {
+ typescript: {
+ project,
+ },
+ },
+ },
+ ignorePatterns: [
+ // Ignore dotfiles
+ '.*.js',
+ 'node_modules/',
+ 'dist/',
+ ],
+ overrides: [
+ // Force ESLint to detect .tsx files
+ { files: ['*.js?(x)', '*.ts?(x)'] },
+ ],
+ rules: {
+ 'no-unused-vars': 'off',
+ 'no-new-func': 'off',
+ 'func-names': 'off',
+ 'no-console': 'off',
+ 'no-undef': 'off',
+ '@typescript-eslint/ban-ts-comment': 'off',
+ '@typescript-eslint/consistent-type-imports': [
+ 'warn',
+ {
+ prefer: 'type-imports',
+ disallowTypeAnnotations: true,
+ fixStyle: 'separate-type-imports',
+ },
+ ],
+ '@typescript-eslint/no-unused-vars': 'off',
+ '@typescript-eslint/no-explicit-any': 'off',
+ '@typescript-eslint/no-unsafe-return': 'off',
+ '@typescript-eslint/explicit-function-return-type': 'off',
+ '@typescript-eslint/no-unnecessary-condition': 'off',
+ '@typescript-eslint/no-floating-promises': 'off',
+ '@typescript-eslint/naming-convention': 'off',
+ 'turbo/no-undeclared-env-vars': 'off',
+ '@typescript-eslint/no-unsafe-member-access': 'off',
+ '@typescript-eslint/no-unsafe-call': 'off',
+ '@typescript-eslint/no-shadow': 'off',
+ 'react/jsx-sort-props': 'off',
+ },
+}
diff --git a/dobot-serial/sub/typescript-config/base.json b/dobot-serial/sub/typescript-config/base.json
new file mode 100644
index 0000000..b9e6ed6
--- /dev/null
+++ b/dobot-serial/sub/typescript-config/base.json
@@ -0,0 +1,25 @@
+{
+ "$schema": "https://json.schemastore.org/tsconfig",
+ "display": "Default",
+ "compilerOptions": {
+ "declaration": true,
+ "declarationMap": true,
+ "esModuleInterop": true,
+ "incremental": false,
+ "isolatedModules": true,
+ "lib": [
+ "es2022",
+ "DOM",
+ "DOM.Iterable"
+ ],
+ "module": "NodeNext",
+ "moduleDetection": "force",
+ "moduleResolution": "NodeNext",
+ "noUncheckedIndexedAccess": false,
+ "resolveJsonModule": true,
+ "skipLibCheck": true,
+ "strict": true,
+ "strictNullChecks": true,
+ "target": "ES2022"
+ }
+}
diff --git a/dobot-serial/sub/typescript-config/nextjs.json b/dobot-serial/sub/typescript-config/nextjs.json
new file mode 100644
index 0000000..44f4289
--- /dev/null
+++ b/dobot-serial/sub/typescript-config/nextjs.json
@@ -0,0 +1,13 @@
+{
+ "$schema": "https://json.schemastore.org/tsconfig",
+ "display": "Next.js",
+ "extends": "./base.json",
+ "compilerOptions": {
+ "plugins": [{ "name": "next" }],
+ "module": "ESNext",
+ "moduleResolution": "Bundler",
+ "allowJs": true,
+ "jsx": "preserve",
+ "noEmit": true
+ }
+}
diff --git a/dobot-serial/sub/typescript-config/package.json b/dobot-serial/sub/typescript-config/package.json
new file mode 100644
index 0000000..27c0e60
--- /dev/null
+++ b/dobot-serial/sub/typescript-config/package.json
@@ -0,0 +1,9 @@
+{
+ "name": "@repo/typescript-config",
+ "version": "0.0.0",
+ "private": true,
+ "license": "MIT",
+ "publishConfig": {
+ "access": "public"
+ }
+}
diff --git a/dobot-serial/sub/typescript-config/react-library.json b/dobot-serial/sub/typescript-config/react-library.json
new file mode 100644
index 0000000..a755ffe
--- /dev/null
+++ b/dobot-serial/sub/typescript-config/react-library.json
@@ -0,0 +1,8 @@
+{
+ "$schema": "https://json.schemastore.org/tsconfig",
+ "display": "React Library",
+ "extends": "./base.json",
+ "compilerOptions": {
+ "jsx": "react-jsx",
+ }
+}
diff --git a/dobot-serial/sub/typescript-config/vite.json b/dobot-serial/sub/typescript-config/vite.json
new file mode 100644
index 0000000..eb9eaff
--- /dev/null
+++ b/dobot-serial/sub/typescript-config/vite.json
@@ -0,0 +1,24 @@
+{
+ "$schema": "https://json.schemastore.org/tsconfig",
+ "extends": "./base.json",
+ "Display": "Vite",
+ "compilerOptions": {
+ "allowJs": true,
+ "esModuleInterop": true,
+ "jsx": "react",
+ "lib": [
+ "dom",
+ "dom.iterable",
+ "esnext"
+ ],
+ "module": "ESNext",
+ "noEmit": true,
+ "resolveJsonModule": true,
+ "skipLibCheck": true,
+ "target": "ESNext",
+ "types": [
+ "vite/client",
+ "node"
+ ]
+ }
+}
diff --git a/dobot-serial/sub/ui/.eslintrc.cjs b/dobot-serial/sub/ui/.eslintrc.cjs
new file mode 100644
index 0000000..e40b1c3
--- /dev/null
+++ b/dobot-serial/sub/ui/.eslintrc.cjs
@@ -0,0 +1,11 @@
+/** @type {import("eslint").Linter.Config} */
+module.exports = {
+ root: true,
+ extends: ['@repo/eslint-config/react-internal.js'],
+ parser: '@typescript-eslint/parser',
+ parserOptions: {
+ project: './tsconfig.json',
+ sourceType: 'module',
+ tsconfigRootDir: __dirname,
+ },
+};
diff --git a/dobot-serial/sub/ui/package.json b/dobot-serial/sub/ui/package.json
new file mode 100644
index 0000000..67cc05b
--- /dev/null
+++ b/dobot-serial/sub/ui/package.json
@@ -0,0 +1,35 @@
+{
+ "name": "@repo/ui",
+ "version": "1.0.0",
+ "private": true,
+ "main": "./src/index.ts",
+ "types": "./src/index.ts",
+ "scripts": {
+ "lint": "eslint . --max-warnings 20",
+ "type-check": "tsc --pretty --noEmit"
+ },
+ "devDependencies": {
+ "@ktaicoder/hw-pet": "^1.2.9",
+ "@mui/icons-material": "^5.15.17",
+ "@mui/material": "^5.15.17",
+ "@repo/eslint-config": "workspace:*",
+ "@repo/typescript-config": "workspace:*",
+ "@types/eslint": "^8.44.7",
+ "@types/node": "^18.19.0",
+ "@types/react": "^18.3.2",
+ "@types/react-dom": "^18.3.0",
+ "clsx": "^2.1.0",
+ "eslint": "^8.57.0",
+ "next": "^14.2.3",
+ "react": "^18.3.1",
+ "typescript": "^5.3.3"
+ },
+ "peerDependencies": {
+ "@ktaicoder/hw-pet": "^1.2.9",
+ "@mui/icons-material": "^5",
+ "@mui/material": "^5",
+ "clsx": "^2",
+ "next": "^14",
+ "react": "^18"
+ }
+}
\ No newline at end of file
diff --git a/dobot-serial/sub/ui/src/components/ConnectButton.tsx b/dobot-serial/sub/ui/src/components/ConnectButton.tsx
new file mode 100644
index 0000000..0e0db38
--- /dev/null
+++ b/dobot-serial/sub/ui/src/components/ConnectButton.tsx
@@ -0,0 +1,105 @@
+import type { ConnectionState } from '@ktaicoder/hw-pet'
+import type { SxProps } from '@mui/material'
+import { Box, ButtonBase } from '@mui/material'
+import { clsx } from 'clsx'
+import { flatSx } from '../util'
+
+interface Props {
+ sx?: SxProps
+ className?: string
+ style?: React.CSSProperties
+ connectionState: ConnectionState
+ onClickDisconnectBtn: React.MouseEventHandler
+ onClickConnectBtn: React.MouseEventHandler
+}
+
+export function ConnectButton(props: Props) {
+ const { sx, className, style, connectionState, onClickConnectBtn, onClickDisconnectBtn } = props
+
+ return (
+ <>
+ {connectionState === 'connected' && (
+
+ Connected
+
+ )}
+
+ {connectionState === 'disconnected' && (
+
+ Disconnected
+
+ )}
+
+ {connectionState === 'connecting' && (
+
+ Connecting...
+
+ )}
+ >
+ )
+}
+
+const rootSx: SxProps = {
+ display: 'flex',
+ justifyContent: 'center',
+ alignItems: 'center',
+ height: 40,
+ mx: 'auto',
+ mt: 1,
+ bgcolor: 'primary.main',
+ color: '#fff',
+ boxShadow: 3,
+ maxWidth: 200,
+ borderRadius: 1,
+ fontWeight: 400,
+ fontSize: '1.1rem',
+ '&.x_connected': {
+ bgcolor: 'primary.main',
+ borderRadius: '20px / 50%',
+ fontWeight: 500,
+ fontSize: '1.15rem',
+ position: 'relative',
+ '&::before': {
+ position: 'absolute',
+ top: '50%',
+ right: 12,
+ transform: 'translateY(-50%)',
+ content: '"×"',
+ fontSize: '0.9rem',
+ },
+ },
+ '&.x_disconnected': {
+ bgcolor: 'secondary.main',
+ position: 'relative',
+ '&::before': {
+ position: 'absolute',
+ top: '50%',
+ right: 12,
+ transform: 'translateY(-50%)',
+ content: '"☝"',
+ fontSize: '0.9rem',
+ },
+ },
+ '&.x_connecting': {
+ bgcolor: '#e91e63',
+ borderRadius: 1,
+ boxShadow: 'none',
+ maxWidth: '90%',
+ },
+}
diff --git a/dobot-serial/sub/ui/src/components/HardwareImageBox.tsx b/dobot-serial/sub/ui/src/components/HardwareImageBox.tsx
new file mode 100644
index 0000000..2bb93de
--- /dev/null
+++ b/dobot-serial/sub/ui/src/components/HardwareImageBox.tsx
@@ -0,0 +1,37 @@
+import type { SxProps } from '@mui/material'
+import { Box } from '@mui/material'
+import clsx from 'clsx'
+import { flatSx } from '../util'
+
+interface Props {
+ sx?: SxProps
+ className?: string
+ style?: React.CSSProperties
+ src: string
+}
+
+export function HardwareImageBox(props: Props) {
+ const { sx, className, style, src } = props
+ return (
+
+
+
+ )
+}
diff --git a/dobot-serial/sub/ui/src/components/HardwareNameBox.tsx b/dobot-serial/sub/ui/src/components/HardwareNameBox.tsx
new file mode 100644
index 0000000..fd814d9
--- /dev/null
+++ b/dobot-serial/sub/ui/src/components/HardwareNameBox.tsx
@@ -0,0 +1,38 @@
+import type { SxProps } from '@mui/material'
+import { Typography } from '@mui/material'
+import { flatSx } from '../util'
+import clsx from 'clsx'
+
+interface Props {
+ sx?: SxProps
+ className?: string
+ style?: React.CSSProperties
+ title: string
+}
+
+export function HardwareNameBox(props: Props) {
+ const { sx, className, style, title } = props
+ return (
+
+ {title}
+
+ )
+}
diff --git a/dobot-serial/sub/ui/src/components/MediaIconBox.tsx b/dobot-serial/sub/ui/src/components/MediaIconBox.tsx
new file mode 100644
index 0000000..bde3f98
--- /dev/null
+++ b/dobot-serial/sub/ui/src/components/MediaIconBox.tsx
@@ -0,0 +1,31 @@
+import type { SxProps } from '@mui/material'
+import { Stack } from '@mui/material'
+import clsx from 'clsx'
+import React from 'react'
+import { flatSx } from '../util'
+
+interface Props {
+ sx?: SxProps
+ className?: string
+ style?: React.CSSProperties
+ children?: React.ReactNode
+ mediaIcon: string
+}
+
+export function MediaIconBox(props: Props) {
+ const { sx, className, style, mediaIcon, children } = props
+ return (
+
+
+ {children}
+
+ )
+}
diff --git a/dobot-serial/sub/ui/src/components/index.ts b/dobot-serial/sub/ui/src/components/index.ts
new file mode 100644
index 0000000..baeeb07
--- /dev/null
+++ b/dobot-serial/sub/ui/src/components/index.ts
@@ -0,0 +1,4 @@
+export * from './ConnectButton'
+export * from './HardwareImageBox'
+export * from './HardwareNameBox'
+export * from './MediaIconBox'
diff --git a/dobot-serial/sub/ui/src/hooks/index.ts b/dobot-serial/sub/ui/src/hooks/index.ts
new file mode 100644
index 0000000..c816de3
--- /dev/null
+++ b/dobot-serial/sub/ui/src/hooks/index.ts
@@ -0,0 +1 @@
+export * from './usePet'
diff --git a/dobot-serial/sub/ui/src/hooks/usePet.ts b/dobot-serial/sub/ui/src/hooks/usePet.ts
new file mode 100644
index 0000000..2ca65db
--- /dev/null
+++ b/dobot-serial/sub/ui/src/hooks/usePet.ts
@@ -0,0 +1,66 @@
+'use client'
+
+import type {
+ ConnectionState,
+ HPetCommandRunnerClassType,
+ IHPetCommandRunner,
+} from '@ktaicoder/hw-pet'
+import { HPet, HPetNotifyEventKeys } from '@ktaicoder/hw-pet'
+import type { ReadonlyURLSearchParams } from 'next/navigation'
+import { useEffect, useMemo, useState } from 'react'
+
+interface Result {
+ pet: HPet | undefined
+ commandRunner: T | undefined
+ connectionState: ConnectionState
+}
+
+export function usePet>(
+ hwId: string,
+ commandRunnerClass: C,
+ searchParams: ReadonlyURLSearchParams,
+): Result> {
+ const iframeToken = useMemo(() => getIframeToken(searchParams.get('iframeToken')), [searchParams])
+ const [connectionState, setConnectionState] = useState('disconnected')
+ const [commandRunner, setCommandRunner] = useState>()
+ const [petInstance, setPetInstance] = useState()
+
+ useEffect(() => {
+ const pet = new HPet({
+ iframeToken,
+ hwId,
+ commandRunnerClass,
+ })
+ pet.notifyEvents.on(HPetNotifyEventKeys.CommandRunner.stateChanged, (data) => {
+ const { state, commandRunner } = data
+ if (state === 'started') {
+ setCommandRunner(commandRunner as InstanceType)
+ } else {
+ setCommandRunner(undefined)
+ }
+ })
+ pet.notifyEvents.on(HPetNotifyEventKeys.connectionStateChanged, setConnectionState)
+
+ pet.start()
+ setPetInstance(pet)
+ return () => {
+ // all event listeners will be automatically removed
+ pet.stop()
+ setCommandRunner(undefined)
+ }
+ }, [hwId, iframeToken, commandRunnerClass])
+
+ return useMemo(
+ () => ({ pet: petInstance, commandRunner, connectionState }),
+ [petInstance, commandRunner, connectionState],
+ )
+}
+
+export function getIframeToken(iframeToken: string | null): string {
+ if (iframeToken) {
+ return iframeToken
+ }
+
+ console.log('invalid iframeToken:', iframeToken)
+ return 'unknown'
+}
diff --git a/dobot-serial/sub/ui/src/index.ts b/dobot-serial/sub/ui/src/index.ts
new file mode 100644
index 0000000..7f7e7ed
--- /dev/null
+++ b/dobot-serial/sub/ui/src/index.ts
@@ -0,0 +1,3 @@
+export * from './components'
+export * from './hooks'
+export * from './util'
diff --git a/dobot-serial/sub/ui/src/util/event-utils.ts b/dobot-serial/sub/ui/src/util/event-utils.ts
new file mode 100644
index 0000000..4be5f3f
--- /dev/null
+++ b/dobot-serial/sub/ui/src/util/event-utils.ts
@@ -0,0 +1,33 @@
+export const isTabKeyEvent = (e: React.KeyboardEvent): boolean => {
+ return !e.shiftKey && e.key === 'Tab'
+}
+
+export const isEnterOrTabKeyEvent = (e: React.KeyboardEvent): boolean => {
+ return e.key === 'Enter' || (!e.shiftKey && e.key === 'Tab')
+}
+
+export const isEnterKeyEvent = (e: React.KeyboardEvent): boolean => {
+ return e.key === 'Enter'
+}
+
+export const isEscapeKeyEvent = (e: React.KeyboardEvent): boolean => {
+ return e.key === 'Escape'
+}
+
+export const isTouchEvent = (event: MouseEvent | TouchEvent): event is TouchEvent => {
+ // eslint-disable-next-line @typescript-eslint/prefer-optional-chain
+ return Boolean((event as TouchEvent).touches && (event as TouchEvent).touches.length)
+}
+
+export const isMouseEvent = (event: MouseEvent | TouchEvent): event is MouseEvent => {
+ return Boolean(
+ ((event as MouseEvent).clientX || (event as MouseEvent).clientX === 0) &&
+ ((event as MouseEvent).clientY || (event as MouseEvent).clientY === 0),
+ )
+}
+
+export const blurEventTarget = (event: any) => {
+ if (typeof event.target?.blur === 'function') {
+ event.target.blur()
+ }
+}
diff --git a/dobot-serial/sub/ui/src/util/index.ts b/dobot-serial/sub/ui/src/util/index.ts
new file mode 100644
index 0000000..a707be4
--- /dev/null
+++ b/dobot-serial/sub/ui/src/util/index.ts
@@ -0,0 +1,4 @@
+export * from './event-utils'
+export * from './misc-utils'
+export * from './sx-props'
+export * from './type-check'
diff --git a/dobot-serial/sub/ui/src/util/misc-utils.ts b/dobot-serial/sub/ui/src/util/misc-utils.ts
new file mode 100644
index 0000000..85d0f7e
--- /dev/null
+++ b/dobot-serial/sub/ui/src/util/misc-utils.ts
@@ -0,0 +1,90 @@
+export function sleepAsync(milli: number): Promise {
+ return new Promise((resolve) => {
+ setTimeout(resolve, milli)
+ })
+}
+
+export function isValidURL(str: string | null | undefined): boolean {
+ if (typeof str !== 'string') return false
+ if (str.length === 0) return false
+ try {
+ return Boolean(new URL(str))
+ } catch (e) {
+ return false
+ }
+}
+
+const queryElement = (el: HTMLElement | Document | null | undefined, selector: string) => {
+ if (!el) return null
+ return el.querySelector(selector)
+}
+
+export const requestFocusSelector = (
+ parent: HTMLElement | Document | undefined | null,
+ selector: string,
+ delay = -1,
+) => {
+ if (!parent) return
+ if (delay < 0) {
+ const elem = parent.querySelector(selector)
+ elem?.focus()
+ return
+ }
+
+ setTimeout(() => {
+ const elem = parent.querySelector(selector)
+ elem?.focus()
+ }, delay)
+}
+
+export const requestSelector = (
+ el: HTMLElement | Document | null | undefined,
+ selector: string,
+ callback: (elemnt: HTMLElement) => unknown,
+ timeout = -1,
+) => {
+ if (timeout < 0) {
+ const element = queryElement(el, selector)
+ if (element) {
+ callback(element as HTMLElement)
+ }
+ return
+ }
+
+ setTimeout(() => {
+ const element = queryElement(el, selector)
+ if (element) {
+ callback(element as HTMLElement)
+ }
+ }, timeout)
+}
+
+export function isWebSerialSupportBrowser(): boolean {
+ return window.navigator && 'serial' in window.navigator
+}
+
+export function isTouchDevice(): boolean {
+ return (
+ typeof window !== 'undefined' &&
+ typeof navigator !== 'undefined' &&
+ ('ontouchstart' in window || navigator.maxTouchPoints > 0)
+ )
+}
+
+export function matchesOrClosest(
+ target: Element,
+ selector: string,
+): T | undefined {
+ const found = target.matches(selector) ? target : target.closest(selector)
+ if (found) {
+ return found as T
+ }
+ return undefined
+}
+
+export function cancelCtx(ctx?: { canceled: boolean; cancel?: () => void }) {
+ if (!ctx) return
+ if (ctx.canceled) return
+ ctx.canceled = true
+ ctx.cancel?.()
+}
diff --git a/dobot-serial/sub/ui/src/util/sx-props.ts b/dobot-serial/sub/ui/src/util/sx-props.ts
new file mode 100644
index 0000000..f2a32c8
--- /dev/null
+++ b/dobot-serial/sub/ui/src/util/sx-props.ts
@@ -0,0 +1,15 @@
+import type { SxProps, Theme } from '@mui/material'
+
+/**
+ * Creates an array by flattening SxProps
+ * @param sxArray - array of SxProps
+ * @returns SxProps
+ */
+export function flatSx(
+ ...sxArray: (SxProps | undefined | false | null)[]
+): SxProps {
+ return sxArray
+ .filter(Boolean) // filter undefined
+ .flatMap((sx) => (Array.isArray(sx) ? sx : [sx ?? false]))
+ .filter((it) => it !== false)
+}
diff --git a/dobot-serial/sub/ui/src/util/type-check.ts b/dobot-serial/sub/ui/src/util/type-check.ts
new file mode 100644
index 0000000..9eb05db
--- /dev/null
+++ b/dobot-serial/sub/ui/src/util/type-check.ts
@@ -0,0 +1,9 @@
+export const isObject = (value: unknown): value is Record =>
+ value !== null && typeof value === 'object'
+export const isFunction = (value: unknown): value is (...args: any) => any =>
+ typeof value === 'function'
+
+export const isString = (value: unknown): value is string => typeof value === 'string'
+export const isBoolean = (value: unknown): value is boolean => typeof value === 'boolean'
+export const isNumber = (value: unknown): value is number => typeof value === 'number'
+export const isUndef = (value: unknown): value is undefined => typeof value === 'undefined'
diff --git a/dobot-serial/sub/ui/tsconfig.json b/dobot-serial/sub/ui/tsconfig.json
new file mode 100644
index 0000000..49ad490
--- /dev/null
+++ b/dobot-serial/sub/ui/tsconfig.json
@@ -0,0 +1,8 @@
+{
+ "extends": "@repo/typescript-config/react-library.json",
+ "compilerOptions": {
+ "outDir": "dist",
+ },
+ "include": ["src", ".eslintrc.cjs"],
+ "exclude": ["node_modules", "dist"],
+}
diff --git a/dobot-serial/tsconfig.json b/dobot-serial/tsconfig.json
new file mode 100644
index 0000000..c8a018d
--- /dev/null
+++ b/dobot-serial/tsconfig.json
@@ -0,0 +1,3 @@
+{
+ "extends": "@repo/typescript-config/base.json"
+}
diff --git a/dobot-serial/turbo.json b/dobot-serial/turbo.json
new file mode 100644
index 0000000..1d34d7c
--- /dev/null
+++ b/dobot-serial/turbo.json
@@ -0,0 +1,20 @@
+{
+ "$schema": "https://turbo.build/schema.json",
+ "globalDependencies": ["**/.env.*local", "**/.env.production", "**/.env"],
+ "globalEnv": [
+ "NEXT_PUBLIC_BASE_PATH",
+ "NEXT_PUBLIC_PRODUCTION",
+ "NEXT_PUBLIC_DEBUG"
+ ],
+ "pipeline": {
+ "build": {
+ "dependsOn": ["^build"],
+ "outputs": [".next/**", "!.next/cache/**"]
+ },
+ "lint": {},
+ "dev": {
+ "cache": false,
+ "persistent": true
+ }
+ }
+}