fixing for phone

Author: NikTheGeek1

examples/dashboard/src/ConnManager.ts

@@ -1,9 +1,16 @@
 import { RaftConnector, RaftEventFn, RaftLog, RaftSystemUtils, RaftSysTypeManager } from "../../../src/main";
 import SettingsManager from "./SettingsManager";
+import SystemTypeCog from "./SystemTypeCog/SystemTypeCog";
+import SystemTypeGeneric from "./SystemTypeGeneric/SystemTypeGeneric";
+import SystemTypeMarty from "./SystemTypeMarty/SystemTypeMarty";
 
 const sysTypeManager = RaftSysTypeManager.getInstance();
 const settingsManager = SettingsManager.getInstance();
 
+sysTypeManager.addSystemType('Cog', () => new SystemTypeCog());
+sysTypeManager.addSystemType('Marty', () => new SystemTypeMarty());
+sysTypeManager.addDefaultSystemType(() => new SystemTypeGeneric());
+
 export default class ConnManager {
 
   // Singleton

examples/dashboard/src/Main.tsx

@@ -12,16 +12,10 @@ import StatusPanel from './StatusPanel';
 import DevicesPanel from './DevicesPanel';
 import CommandPanel from './CommandPanel';
 import LatencyTestPanel from './LatencyTestPanel';
-import SystemTypeCog from './SystemTypeCog/SystemTypeCog';
-import SystemTypeMarty from './SystemTypeMarty/SystemTypeMarty';
-import SystemTypeGeneric from './SystemTypeGeneric/SystemTypeGeneric';
 import SettingsManager from './SettingsManager';
 
 const sysTypeManager = RaftSysTypeManager.getInstance();
 const connManager = ConnManager.getInstance();
-sysTypeManager.addSystemType('Cog', () => new SystemTypeCog());
-sysTypeManager.addSystemType('Marty', () => new SystemTypeMarty());
-sysTypeManager.addDefaultSystemType(() => new SystemTypeGeneric());
 
 export default function Main() {
   const [connectionStatus, setConnectionStatus] = useState<RaftConnEvent>(

examples/dashboard/src/SystemTypeMarty/SystemTypeMarty.ts

@@ -24,7 +24,7 @@ export default class SystemTypeMarty implements RaftSystemType {
 
   // Latest data from servos, IMU, etc
   private _ricStateInfo: RICStateInfo = new RICStateInfo();
-  getRICStateInfo(): RICStateInfo {
+  getStateInfo(): RICStateInfo {
     return this._ricStateInfo;
   }
 

src/RaftChannelBLE.native.ts

@@ -61,6 +61,9 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
   private _requestedBatchAckSize = 10;
   private _requestedFileBlockSize = 500;
 
+  // Connected device UUID
+  private _connectedDeviceServiceUUID?: string;
+
   constructor() {
     RaftLog.debug('BLEChannel constructor');
 
@@ -79,6 +82,10 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
     }, true);
   }
 
+  setConnectedDeviceUUID(serviceUUID: string) {
+    this._connectedDeviceServiceUUID = serviceUUID;
+  }
+
   getBleManager(): BleManager {
     return _bleManager;
   }
@@ -204,7 +211,9 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
    *
    */
   async connect(discoveredDevice: DiscoveredDevice): Promise<boolean> {
-    RaftLog.debug('BLEChannel requested connection');
+    RaftLog.debug('BLEChannel requested connection ' + JSON.stringify(discoveredDevice));
+    this._connectedDeviceServiceUUID = discoveredDevice.serviceUUIDs ? discoveredDevice.serviceUUIDs[0] : undefined;
+
     this._retryConnectionIfLost = false;
     this._bleScanner.scanningStop();
 
@@ -352,9 +361,13 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
     }
     // Monitor the inbound characteristic
     try {
-      if (this._bleDevice && this._bleDevice.serviceUUIDs) {
+      if (this._bleDevice) {
+        if (!this._connectedDeviceServiceUUID) {
+          RaftLog.error('BLEChannel _configDeviceConnection - no connected device service UUID');
+          return false;
+        }
         this._bleSubscrOnRx = this._bleDevice.monitorCharacteristicForService(
-          this._bleDevice.serviceUUIDs[0],
+          this._connectedDeviceServiceUUID,
           this._respUUID,
           (error: BleError | null, characteristic: Characteristic | null) => {
             this._onMsgRx(error, characteristic);
@@ -520,8 +533,12 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
       const msgFrameBase64 = RaftUtils.btoa(msg);
 
       try {
-        await this._bleDevice.writeCharacteristicWithoutResponseForService(
-          this._bleDevice.serviceUUIDs ? this._bleDevice.serviceUUIDs[0] : this._serviceUUIDs[0],
+        if (!this._connectedDeviceServiceUUID) {
+          RaftLog.error('BLEChannel sendTxMsg - no connected device service UUID');
+          return false;
+        }
+        await this._bleDevice!.writeCharacteristicWithoutResponseForService(
+          this._connectedDeviceServiceUUID,
           this._cmdUUID,
           msgFrameBase64!,
         );
@@ -559,8 +576,12 @@ export default class RaftChannelPhoneBLE implements RaftChannel {
       const msgFrameBase64 = RaftUtils.btoa(msg);
 
       try {
+        if (!this._connectedDeviceServiceUUID) {
+          RaftLog.error('BLEChannel sendTxMsgNoAwait - no connected device service UUID');
+          return false;
+        }
         this._bleDevice!.writeCharacteristicWithoutResponseForService(
-          this._bleDevice.serviceUUIDs ? this._bleDevice.serviceUUIDs[0] : this._serviceUUIDs[0],
+          this._connectedDeviceServiceUUID,
           this._cmdUUID,
           msgFrameBase64!,
         );