Merge branch 'master' of https://github.com/robotical/ricjs

Author: NikTheGeek1

package-lock.json

@@ -1,6 +1,6 @@
 {
     "name": "@robotical/ricjs",
-    "version": "1.16.2",
+    "version": "1.16.4",
     "description": "Javascript/TS library for Robotical RIC",
     "author": "Rob Dobson <rob@dobson.com>",
     "repository": {

package.json

@@ -92,7 +92,17 @@ export default class RICChannelWebSerial implements RICChannel {
         this._port = port;
       }
       // Connect
-      await this._port.open({ baudRate: 115200 });
+      try {
+        RICLog.info("opening port");
+        await this._port.open({ baudRate: 115200 });
+      } catch (err: any){
+        if (err.name == "InvalidStateError"){
+            RICLog.debug(`Opening port failed - already open ${err}`);
+        } else {
+            RICLog.error(`Opening port failed: ${err}`);
+            throw err;
+        }
+    }
 
       this._isConnected = true;
 

src/RICChannelWebSerial.ts

@@ -179,10 +179,22 @@ export default class RICSystem {
   async calibrate(
     cmd: string,
     jointList: Array<string>,
-    jointNames: { [key: string]: string }
+    jointNames: { [key: string]: string },
+    servoControllers: {[key: string]: string} = {
+      "LeftHip": "LeftHip",
+      "LeftTwist": "LeftHip",
+      "LeftKnee": "LeftHip",
+      "RightHip": "RightHip",
+      "RightTwist": "RightHip",
+      "RightKnee": "RightHip",
+      "LeftArm": "LeftArm",
+      "RightArm": "LeftArm",
+      "Eyes": "LeftArm"
+    }
   ) {
     let overallResult = true;
     if (cmd === "set") {
+      const controllerArray: Array<string> = [];
       // Set calibration
       for (const jnt of jointList) {
         try {
@@ -194,8 +206,10 @@ export default class RICSystem {
           // saving the calibration... (For the new servo boards it is necessary
           // to send a "save" command after the calibration ones or any servo
           // parameter changes in order to save any changes made into nonvolatile storage)
-          const saveCalibCmd = `elem/${jnt}/saveparams`;
-          await this._ricMsgHandler.sendRICRESTURL<RICOKFail>(saveCalibCmd);
+          // log it now, and we'll do the saveparams commands once we've updated all the joints
+          // the saveparams function is not instant as the flash write takes a few ms
+          if (jnt in servoControllers && !controllerArray.includes(servoControllers[jnt]))
+            controllerArray.push(servoControllers[jnt])
           if (rsl.rslt != "ok") overallResult = false;
         } catch (error) {
           console.log(`calibrate failed on joint ${jnt}`, error);
@@ -206,6 +220,14 @@ export default class RICSystem {
         //await new Promise(resolve => setTimeout(resolve, 3000));
       }
 
+      // on newer (batch4+) robots with stm32 servo controllers it is necessary to send a saveparams command once per servo controller
+      for (const cID in controllerArray){
+        const saveCalibCmd = `elem/${controllerArray[cID]}/saveparams`;
+        const rslt = await this._ricMsgHandler.sendRICRESTURL<RICOKFail>(saveCalibCmd);
+        if (rslt.rslt != "ok") overallResult = false;
+        await new Promise(resolve => setTimeout(resolve, 200));
+      }
+
       // ensure all joints are enabled
       for (const jnt in jointNames) {
         try {