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/**
* Dynamixel Web Serial - Low-level serial port I/O only.
* Protocol logic handled in Python (dynamixel.py).
*/
const PANEL_HTML = `
<div class="dxl-card" id="dxl-panel">
<h3>Dynamixel XL330 Control (Web Serial)</h3>
<p class="camera-hint">
Use Chrome/Edge desktop. Click Connect to pick your serial/USB adapter.
</p>
<div class="dxl-row">
<label for="dxl-baud">Baud</label>
<select id="dxl-baud">
<option value="57600">57600</option>
<option value="115200">115200</option>
<option value="1000000" selected>1000000</option>
<option value="2000000">2000000</option>
</select>
<button class="dxl-btn" id="dxl-connect">Connect serial</button>
</div>
<div class="dxl-status" id="dxl-status">Web Serial idle.</div>
</div>
`;
class DxlWebSerial {
constructor(statusNode) {
this.statusNode = statusNode;
this.port = null;
this.writer = null;
this.reader = null;
this.connected = false;
}
status(msg) {
if (this.statusNode) this.statusNode.textContent = msg;
}
async connect(baud) {
if (!("serial" in navigator)) {
this.status("Web Serial not supported.");
return false;
}
if (this.connected) {
await this.disconnect();
}
try {
this.port = await navigator.serial.requestPort();
await this.port.open({ baudRate: Number(baud) });
this.writer = this.port.writable.getWriter();
this.reader = this.port.readable.getReader();
this.connected = true;
this.status(`Connected at ${baud} bps.`);
return true;
} catch (err) {
console.error(err);
this.status(`Connect failed: ${err.message}`);
this.connected = false;
return false;
}
}
async disconnect() {
try {
if (this.writer) this.writer.releaseLock();
if (this.reader) this.reader.releaseLock();
if (this.port) await this.port.close();
} catch (err) {
console.warn("Close error", err);
} finally {
this.writer = null;
this.reader = null;
this.port = null;
this.connected = false;
this.status("Disconnected.");
}
}
async writeBytes(bytes) {
if (!this.writer) throw new Error("Not connected.");
await this.writer.write(new Uint8Array(bytes));
}
async readPacket(timeoutMs = 800) {
if (!this.reader) throw new Error("No reader");
const deadline = Date.now() + timeoutMs;
const buf = [];
while (Date.now() < deadline) {
const { value, done } = await this.reader.read();
if (done) break;
if (value) buf.push(...value);
// Look for Dynamixel Protocol 2.0 header and extract complete packet
for (let i = 0; i < buf.length - 7; i += 1) {
if (
buf[i] === 0xff &&
buf[i + 1] === 0xff &&
buf[i + 2] === 0xfd &&
buf[i + 3] === 0x00
) {
const len = buf[i + 5] | (buf[i + 6] << 8);
const end = i + 7 + len - 1;
if (buf.length >= end + 1) {
return buf.slice(i, end + 1);
}
}
}
}
throw new Error("No response");
}
}
// Global instance - expose on window for access from Gradio event handlers
let dxlSerial = null;
window.dxlSerial = null;
function mountDxlPanel() {
const host = document.getElementById("dxl-panel-host");
if (!host) return;
// If already mounted, just ensure window.dxlSerial exists
if (host.dataset.mounted === "1") {
if (!window.dxlSerial) {
const statusEl = document.getElementById("dxl-status");
if (statusEl) {
dxlSerial = new DxlWebSerial(statusEl);
window.dxlSerial = dxlSerial;
}
}
return;
}
host.dataset.mounted = "1";
host.innerHTML = PANEL_HTML;
const statusEl = document.getElementById("dxl-status");
const connectBtn = document.getElementById("dxl-connect");
const baudSelect = document.getElementById("dxl-baud");
dxlSerial = new DxlWebSerial(statusEl);
window.dxlSerial = dxlSerial; // Expose globally
connectBtn?.addEventListener("click", async () => {
const baud = Number(baudSelect.value);
if (dxlSerial.connected) {
await dxlSerial.disconnect();
connectBtn.textContent = "Connect serial";
connectBtn.classList.remove("primary");
} else {
const connected = await dxlSerial.connect(baud);
if (connected) {
connectBtn.textContent = "Disconnect";
connectBtn.classList.add("primary");
}
}
});
}
function mountWhenReady() {
mountDxlPanel();
const observer = new MutationObserver(() => {
mountDxlPanel();
});
observer.observe(document.body, { childList: true, subtree: true });
const pollInterval = setInterval(() => {
const host = document.getElementById("dxl-panel-host");
if (host && !host.dataset.mounted) {
const rect = host.getBoundingClientRect();
if (rect.width > 0 && rect.height > 0) {
mountDxlPanel();
}
}
if (host?.dataset.mounted === "1") {
clearInterval(pollInterval);
}
}, 500);
}
if (document.readyState === "loading") {
document.addEventListener("DOMContentLoaded", mountWhenReady);
} else {
mountWhenReady();
}
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